Robots / Models

ROS 2 robot

On-board by ROS 2

Any ROS 2 robot that drives on cmd_vel (geometry_msgs/Twist): TurtleBot 3 or 4, a Jackal, a home-built base. The OpenVibe Node's ros2 driver reaches it through rosbridge (or as a ROS 2 node with rclpy): drive, a camera from a JPEG CompressedImage topic, the distance ahead from a laser scan or range sensor, and the battery. Mecanum and omni bases are ros2.holonomic.

Add this robot ROS 2 driver guide

How it connects

On-board. The OpenVibe Node runs on the robot's own computer and drives its hardware.

  1. Any ROS 2 robot that drives on cmd_vel: TurtleBot 3 or 4, a Jackal, your own base.
  2. On the robot run a rosbridge server, then paste the pairing command on the robot or a computer beside it; the installer sets up the ros2 driver.
  3. Set your topics and safe speeds (cmd_vel, the camera's CompressedImage, max_linear) in the Node's config.json.

Its panel

Laid out from its profile (ros2.diffdrive):

  • Camera
  • Drive
  • Distance ahead
  • Battery
  • Drives
  • Live camera
  • Range finder
  • Battery

Safety

Every command passes Bot's gate: roles, the owner's limits and cooldowns, and a latched e-stop only the owner clears. The device stops the motors by itself when commands stop arriving, without asking the network.