ROS Support for EV3Dev-Java

Introduction

This library provide the support to integrate Sensors & Actuators on ROS.

ROS is Distributed system which provides:

• Topics
• Services
• Actions

The library only cover the first element, Topics.

Topics

Using this library, the user could publish & subscribe information to ROS for the following topics:

Topics Published

• battery (std_msgs.Float32)
• scan (sensor_msgs.LaserScan)

Topics Subscribed

• cmd_vel (geometry_msgs/Twist)

Applications

Teleoperation

Using information provided by the topic cmd_vel it could be possible to teleoperate the robot using ROS technologies.

SLAM

Publishing information about the robot and using other ROS Components like Google Cartographer, the robot could use map information provided by this component and improve the local navigation capabilities

Current status

At the moment, the library publish messages for the sensor RPLIDAR A2 on a ROS Instance.

To Start a ROS Session:

source /opt/ros/kinetic/setup.bash
cd catkin_ws
source install_isolated/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch