fiware-ros-gopigo

This ros package acts as a bridge between FIWARE and ROS through MQTT.

Description

fiware2gopigo

This ROS node receives a command from FIWARE orion context broker through MQTT.

When receiving a command, this node publish a series of geometry_msgs/Twist messages to /cmd_vel topic.

gopigo

This ROS node subscribes for /cmd_vel topic.

When receiving a geometry_msgs/Twist message from its topic, this node controls motor1 and motor2 to operate gopigo according to the message.

Requirement

ROS kinetic

Install libraries

$ cd ~/gopigo_ws/src
$ git clone https://github.com/tech-sketch/fiware-ros-gopigo.git
$ cd fiware-ros-gopigo
$ /bin/bash update_tools_for_ubuntu.sh
$ pip install -r requirements/common.txt
$ pip install -r requirements/gopigo.txt

How to Run

1. ssh to gopigo and start roscore.

   terminal1:$ cd ~/gopigo_ws
   terminal1:$ source devel/setup.bash
   terminal1:$ roscore

2. configure config/params.yaml

   • set mqtt.host and mqtt.port
   • If necessary, set mqtt.cafile, mqtt.sername and mqtt.password

3. ssh to gopigo and start fiware-ros-turtlesim.

   terminal2:$ cd ~/gopigo_ws
   terminal2:$ source devel/setup.bash
   terminal2:$ roslaunch fiware-ros-gopigo fiware-ros-gopigo.launch

License

Apache License 2.0

Copyright

Copyright (c) 2018 TIS Inc.