Differences

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--- avatar_furo_ros [2022/01/16 05:05] – created glee
+++ avatar_furo_ros [2022/06/27 01:52] (current) – glee
@@ Line 1: / Line 1: @@
 ====Running ROS scripts====
+*This page will describe how to run ROS programs of Furo that are currently being used.*
+\\
+\\
+{{akshay:jason_roscore1.png}}
+\\
+\\
+Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes.
+    $ roscore
+\\
+{{akshay:jason_rosrun_joy.png}}
+\\
+\\
+The joy_node script is to convert joystick value to digital value.
+    $ rosrun joy joy_node
+\\
+{{akshay:jason_learningjoy.png}}
+\\
+\\
+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
+\\
+{{akshay:jason_roboclaw.png}}
+\\
+\\
+The roboclaw.launch script is to control the motor controller that is connected to the wheels of FURO.
+    $ roslaunch roboclaw_node roboclaw.launch
+\\
+{{akshay:jason_headmotor.png}}
+\\
+\\
+The finalheadmotor.py script is a subscriber that receives value from joystick node and enables Furo's head movement.
+    $ rosrun head_motor finalheadmotor.py
+\\
+{{akshay:facedect_findace_publisher.png?400}}
+\\
+\\
+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
+\\
+{{akshay:head_motor_face_tracks.png?400}}
+\\
+\\
+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