Running ROS scripts
*This page will describe how to run ROS programs of Furo that are currently being used.*
Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes.
The joy_node script is to convert joystick value to digital value.
$ rosrun joy joy_node
The furo script is a topic is both a publisher as well as subscriber at the same time. Obtaining value from the joystick, converting it to a float data type and passes it to the motor controller.
$ rosrun learning_joy furo
The roboclaw.launch script is to control the motor controller that is connected to the wheels of FURO.
$ roslaunch roboclaw_node roboclaw.launch
The finalheadmotor.py script is a subscriber that receives value from joystick node and enables Furo's head movement.
$ rosrun head_motor finalheadmotor.py
The findface_publisher.py is a publisher that detects people's face and transfer the x,y coordinates of people's face to the face_tracks.py script.
$ rosrun facedetect findface_publisher.py
The face_tracks.py script is a subscriber that receives the x,y coordinate of a person's face and enable Furo to move toward the person.
$ rosrun head_motor face_tracks.py