Volta

Version:1.1.0 ROS packages used to to run volta with hardware

• volta_base - Package contains files to connect to the robot and run the sensor driver.
• volta_control - Control configuration required for ROS control.
• volta_description - Volta Robot description (URDF files).
• volta_localization - Sensor fusion of wheel odometry and IMU data using the robot localization package.
• volta_msgs - contains ROS messages specific to volta such as the power board messages,..etc
• volta_navigation - Contains files required for running gmapping, amcl and move_base ROS packages.
• volta_teleoperation - Control the robot using keyboard or Joystick.
• volta_rules - Contains rules that ensures the USB peripherals are binded correctly

Steps to Launch Volta :

1. Mapping an environment with Volta

• Launch the move_base node by running:

$ roslaunch volta_base bringup.launch   

• Launch the sensors node by running:

$ roslaunch volta_base sensors.launch   

• To perform the mapping, launch the navigation package by running

$ roslaunch volta_navigation navigation.launch gmapping:=true  

• Launch the rviz visualization tool by running:

$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

• In order to control the robot, launch the teleoperation node by running:

$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true

• Once the mapping of the entire environment is completed, the map can be saved by running:

$ rosrun map_server map_saver –f <filename>

3. Navigation with Volta

• Launch the move_base node by running:

$ roslaunch volta_base bringup.launch   

• Launch the sensors node by running:

$ roslaunch volta_base bringup.launch   

• To perform the Autonomous navigation, launch the navigation package by running

$ roslaunch volta_navigation navigation.launch  

• Launch the rviz visualization tool by running:

$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map