robomaster_ros

ROS1 driver for the Robomaster S1 and Robomaster EP through the official SDK. This driver was developed on ROS Noetic.

https://user-images.githubusercontent.com/32697515/189522146-94ccefc5-be5e-4870-9f92-52ee823af01c.mp4

Preparation

Robomaster EP

Connect the robot to the same WiFi as your PC. As far as I know, the SDK should be enabled by default.

Robomaster S1

On the S1, you need to have the device rooted. This is a fairly simple process for which you can find the tutorial on this Reddit post. Just follow the instructions in the README file in the provided folder.

Installation

Install the robomaster python sdk by

pip3 install robomaster

Install catkin tools by executing

sudo apt install python3-catkin-tools

Then, create a catkin workspace and clone this repo into it, together with its dependency catkin_simple

mkdir catkin_ws && cd catkin_ws && mkdir src
catkin init
git clone https://github.com/catkin/catkin_simple.git src/catkin_simple
git clone https://github.com/jukindle/robomaster_ros.git src/robomaster_ros

Then, install the ROS dependencies by

rosdep install --from-paths src --ignore-src -r -y

Finally, build the workspace

catkin build
source devel/setup.bash

Usage

As soon as the robot and the PC are connected to the same WiFi, you should be able to run the driver by

roslaunch robomaster_driver robomaster_driver.launch

In a second terminal, you can launch the teleoperation and visualizazion

roslaunch robomaster_driver teleop.launch

This will allow you to control the robot with an attached XBOX controller and see the state in rviz (together with the camera image!). Hold LB and control the linear velocities with the left and the angular velocity with the right stick.