scuttle_bringup

Provides a convenient entrypoint for starting all the SCUTTLE related ROS nodes in the correct order.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.

1. ROS Noetic with the ros-noetic-navigation, ros-noetic-robot and ros-noetic-tf2 packages.
2. A working ROS workspace.
3. The scuttle_navigation package should be installed.
4. If launched on a physical SCUTTLE then the scuttle_driver package should be installed.
5. If launched via a systemd daemon then the teleop_twist_joy package should be installed.

Note: scuttle_bringup does not launch scuttle_slam by default because not all SCUTTLE robots come equipped with a LIDAR. Additionally the implementation of the Gmapping algorithm outputs a large amount of logs to the console that cannot be silenced easily. It is more appropriate to run this node separately and suppress the logs when they are not needed.

Usage

There are two different ways to launch scuttle_bringup depending on the reason for launching the SCUTTLE ROS nodes.

When launching the SCUTTLE ROS nodes manually it is recommended to use the launch/scuttle_bringup.launch file as follows

roslaunch scuttle_bringup scuttle_bringup.launch

This will launch all the required nodes for navigation with SCUTTLE using ROS.

When launching the SCUTTLE ROS nodes as part of the start-up process of a physical scuttle you can use the launch/scuttle_bringup_daemon.launch file. This will launch the navigation stack as well as an additional node for joystick control so that you can control the SCUTTLE with the provided joypad.