mercury_x1_ros

Use of Mercury X1 mobile chassis ROS

Package Download and Install

$ git clone https://github.com/elephantrobotics/mercury_x1_ros.git mercury_x1_ros/src
$ cd ~/mercury_x1_ros/turn_on_mercury_robot/scripts
$ ./apt_install.sh
$ cd ~/mercury_x1_ros
$ catkin_make
$ source devel/setup.bash

Bottom car keyboard control

1. First start the car’s underlying communication program:

$ roslaunch turn_on_mercury_robot turn_on_mercury_robot.launch

2. Then start the keyboard control program:

$ roslaunch mercury_x1_teleop keyboard_teleop.launch

Bottom handle control

1. First start the car’s underlying communication program:

$ roslaunch turn_on_mercury_robot turn_on_mercury_robot.launch

2. Then start the handle control program:

$ roslaunch mercury_x1_ps2 mercury_x1_ps2.launch

Chassis car + upper body robotic arm control

1. First start the car's underlying communication program and map building:

$ roslaunch turn_on_mercury_robot mapping.launch

2. Then Loading display chassis car + upper body robot arm urdf model:

$ roslaunch turn_on_mercury_robot slider_control.launch

3. Then Turn on upper body robotic arm control:

$ rosrun turn_on_mercury_robot slider_control.py

4. Finally, start the chassis car keyboard control program:

$ roslaunch mercury_x1_teleop keyboard_teleop.launch