ROS Mobility Topics

This folder is a ROS package, containing all topics related to mobility.

Create Joystick topic

The Joystick topic contains fields used to control the movement of the Rover wheels and arms.

To use this topic, first create a package for mobility.

$ cd ~/catkin_ws
$ catkin_create_pkg mobility_topic std_msgs rospy

Then, use the following commands to compile the newly created package.

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Return to the src folder, and copy the following files and folders from Github repo to your newly created package.

$ cd ~/catkin_ws/src

Copy files package.xml, CMakeLists.txt
Copy folder msg

Again, compile the package.

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Publish and Subscribe the Joystick topic

Copy the scripts folder from the Github repo, and Execute the mobility and ESC python scripts, to publish (baseMobilityTalker.py) and subscribe (baseESC.py) the Joystick topic.