ROS package for the Robotic Fish.

Go to file

M. Stokroos 46ceb07ece update readme		2022-09-14 11:08:26 +02:00
launch	First commit	2022-09-14 10:58:29 +02:00
src	First commit	2022-09-14 10:58:29 +02:00
CMakeLists.txt	First commit	2022-09-14 10:58:29 +02:00
README.md	update readme	2022-09-14 11:08:26 +02:00
package.xml	First commit	2022-09-14 10:58:29 +02:00
rosgraph.png	First commit	2022-09-14 10:58:29 +02:00

README.md

ROFISH - ROS PACKAGE FOR ROBOTIC FISH

This ROS package controls two robotic fish (red and yellow) from two Logitech wireless Gamepad F710 controllers. The robotic fish are the Bionic Koi types from the Design Lab of the Peking University: https://en.ibdl.pku.edu.cn/news/highlights/895537.htm The right joy-handle controls the speed of the fish by pushing the handle forward. The right joy-handle also steers the fish by pushing the handle to the left or right.

Preparations

The project assumes a correct working ROS Noetic setup and workspace environment
Connect the two radios for the telemetry to the USB port
Connect the two dongles of the Gamepad controllers to the USB port
Turn on the red and the yellow robotic fish

Launch the package

start the roscore by typing 'roscore' in the terminal window.
Open a new terminal and launch the ROS package by typing: roslaunch rofish rofish_teleop_joy.launch

Diagnostics

Start the diagnostics in another terminal:

$ rostopic list
/diagnostics
/red/cmd_vel
/red/joy
/red/joy/set_feedback
/rosout
/rosout_agg
/yellow/cmd_vel
/yellow/joy
/yellow/joy/set_feedback

$ rosrun rqt_graph rqt_graph

Output from rqtgraph: