Questions about ros-gopigo - nodes, urdf, and other

pitosalas · June 25, 2020, 4:39pm

That GitHub repo seems to be indicated for ROS support so I was reading the code. I was not sure why the gopigo3_node.py talks about the servo which as I understood is an optional device.

Another question is that the .launch file doesn’t launch the other nodes. Is the intention that we modify that launch file and add the other nodes or is there some other intention?

Another question is that there’s no urdf for the robot. Is that somewhere?

Thanks!

cyclicalobsessive · July 29, 2020, 1:29pm

Disclaimer: I know nothing about ROS!

There is a urdf at:

github.com

iot-magi/gopigo3_navigation/blob/master/urdf/gopigo3.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from gopigo3.xacro                  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="gopigo3" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- <link name='map'>
  </link> -->
  <link name="odom"/>
  <link name="base_link">
    <inertial>
      <mass value="15.0"/>
      <origin rpy=" 0 0 0" xyz="0 0 0.036"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <collision name="collision">
      <origin rpy=" 0 0 0" xyz="0 0 0.036"/>
      <geometry>
        <box size=".22 .08 .003"/>
      </geometry>

This file has been truncated. show original

and complete “how to put ROS+LIDAR on GoPiGo3” at:

KeithW · August 9, 2020, 6:32pm

You can also look at the Robots/gopigo3 page on the ROS wiki. Bernardo Japon, who wrote the Hands on ROS for Robotics Programming book maintains it. There’s a link there to a package that has a URDF.
/K