CaBot Drivers

Hardware interface packages for CaBot

Packges

Package	Description
cabot_base	launch configurations to bringup cabot hardware drivers
cabot_serial	node to communicate with Arduino/ESP32 microcontroller
motor_controller	motor driver and adapter
wireless_scanner_ros	WiFi/BLE scanner for ROS

Docker environment for test

• run the script to download dependencies

./setup-dependency.sh

• if you pull the latest docker images from docker hub, run the following command

docker compose --profile build pull

• if you build docker image, run the script to build image

./bake-docker.sh -i         # run docker image build for your platform

• if you run in development mode, run the script to build workspaces

./build-workspace.sh        # run workspace build
./build-workspace.sh -d     # run workspace debug build (symlink-install)

• run tests by following steps

# if you run docker container in production mode
docker compose run --rm driver-prod bash
# if you run docker container in development mode
docker compose run --rm driver-dev bash

# inside docker
source install/setup.bash
# run node for test

Topic/Service requirements works with cabot-navigation

Required services

• /cabot/set_touch_speed_active_mode (std_srvs/srv/SetBool, to control touch active mode)

Touch speed active mode	Touching	Not Touching
True	robot can move	robot cannot move
False	robot cannot move	robot can move

Required topics

• /cabot/event (std_msgs/msg/String, button events, needs to control cabot_ui)
• /cabot/odom_raw (nav_msgs/msg/Odometry, raw odometry)
• /cabot/imu/data (sensor_msgs/msg/Imu, IMU)
• /cabot/touch_speed_switched (std_msgs/msg/Float32, touch speed control)
• /velodyne_points (sensor_msgs/msg/Point2, expects this name even if you use different LiDAR from velodyne)
• /joint_states (sensor_msgs/msg/JointState, control shift)
• /tf (tf2_msgs/msg/TFMessage)
• /tf_static (tf2_msgs/msg/TFMessage)

Optional topics

• /cabot/pressure (sensor_msgs/msg/FluidPressure, better localization for multi story building)

Subscribers

• /cabot/cmd_vel (geometry_msgs/msg/Twist, motor control)
• /cabot/notification (std_msgs/msg/Int8, handle vibration)
• /cabot/pause_control (std_msgs/msg/Bool, optional, turn off motor loop contro)

License

MIT License