This driver has only been tested on Ubuntu 18.04. I wrote this so that I could use Vector to mop my floor and try out ROS2. Just tape a piece of tissue to his arm and you're good to go.
- Setup Anki Vector for the SDK as in the documentation.
- Clone this repo
- Have fun with the mopper node
vector_ros2_interfaces ros-crystal-vision-opencv ros-crystal-cv-bridge
$ sudo apt-get install ros-crystal-vision-opencv $ sudo apt-get install ros-crystal-cv-bridge
$ mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src $ git clone https://github.com/CtfChan/vector_ros2.git $ git clone https://github.com/CtfChan/vector_ros2_interfaces.git $ cd ~/ros2_ws $ colcon build --symlink-install $ source ~/ros2_ws/install/setup.bash && source ~/ros2_ws/install/local_setup.bash
# Pane 1 $ ros2 run vector_ros2 vision # Pane 2 $ ros2 run vector_ros2 movement # Pane 3 $ ros2 run vector_ros2 mopper
Testing the rostopics
$ ros2 topic pub -r 10 vector/cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' $ ros2 topic pub -r 10 vector/cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'
Testing the rosservice
$ ros2 service call /vector/lift_height vector_ros2_interfaces/LiftHeight '{desired_height: 0.0}' $ ros2 service call /vector/head_angle vector_ros2_interfaces/HeadAngle '{desired_angle: 11}'