(this also should go on both)
With just this simple robot, you can begin to learn how
to accomplish advanced robotics tasks and begin to learn
the subtleties of autonomous navigation. Because of the
Neato’s XV- 11 LIDAR unit, you can simultaneously
accomplish localization and obstacle avoidance.
Support for webcams and the Raspberry Pi camera are
available through ROS nodes. I have gotten teleop via a
Bluetooth joystick to work through the laptop, but not
directly on the Pi.
Please note that though the Pi has four USB slots, there
is seldom enough power to run more than the Botvac
interface and a Wi-Fi dongle. A typical USB webcam will
draw too much current and crash the Pi.
With a Wi-Fi connected phone and some ingenuity, you
should be able to issue voice commands. This way, you can
call up your home robot from the office and ask it to find
The Botvac is a little underpowered for bringing you a
snack from the kitchen, but when the next more powerful
platform is available, you’ll know just how to program it.
Terminal output from launching startup nodes.
roslaunch bv80bot_node bv80bot_njoy.launch &
On the laptop, type:
If nothing is found, type:
sudo apt-get install
On the Botvac, turn on the Pi, and sign on via a
terminal window from the laptop.
I like to launch a custom base only node on the Pi:
roslaunch bv80bot_node bv80bot_njoy.launch
(refer to the code listings)
You should hear the Neato LIDAR unit start to spin.
On the laptop, open up another terminal window and
set up the ROS_IP and ROS_MASTER_URI environment
variables via the ‘export’ command.
Test to see if you are getting topics (rostopic list) and
scans (rostopic echo /scan).
Finally, launch teleop:
You should now be able to drive your robot.
If you open RVIZ in another window, you should see
the LIDAR returns.
For the finest in robots,
parts, and services, go to
com and click on
Robo-Links. ;; ;;;;;;;;;;;;
SERVO 01.2017 57
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