ROS package for WHILL Model CR

• Virtual WHILL joystick input. You can controll WHILL via this topic.

• Joystick status

• Wheel rotate position(rad) and rotation velocity(rad/s)

• IMU measured data.

• Battery information

• Ubuntu 16.04
• ROS kinetic

In your shell:

cd ~/catkin_ws
catkin_make
rospack profile

ros_whill package is sometimes not recognized if you not set "rospack profile". (After executed "rosrun ros_whill", you might see the error message "not found package".)

catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_whill"

Edit your ~/.bashrc (bash) or ~/.zshrc (zsh) to add this line:

export TTY_WHILL=/dev/[YOUR SERIAL PORT DEVICE]

Setting will be applied automatically from next shell starting or booting up.

In your shell:

(bash)

source ~/.bashrc

(zsh)

source ~/.zshrc

echo $TTY_WHILL  # -> Should be /dev/[YOUR SERIAL PORT DEVICE]

roslaunch ros_whill modelc.launch

roslaunch ros_whill modelc.launch serialport:=/dev/[YOUR SERIAL PORT DEVICE]

Edit

/lib/udev/rules.d/50-udev-default.rules

And add:

KERNEL=="ttyUSB[0-9]*", MODE="0666"

rosservice call /set_speed_profile {4, 15, 16, 64, 10, 16, 56, 10, 56, 72}