Commonplace Robotics Mover 4 - ROS - Robot Operating System; Direct Access Using the CAN Protocol

To Next Page

To Previous Page

8.2 ROS – Robot Operating System

The Willow Garage Robot Operating System (see www.ros.org) is wide spread in the

research community, especially when dealing with service robots. For the Mover4

packages are available to connect with the hardware and to command the robot by

joint and position messages. A RViz plugin and a moveIt interface are available.

The packages can be downloaded at

https://www.github.com/CPR-Robots

8.3 Direct Access using the CAN Protocol

It is also possible to directly access the Mover4 on CAN field bus level, using a

custom control software. The necessary protocol specification is found in the

following section.

Code examples can be found on the Wiki in the Interfacing section:

http://wiki.cpr-robots.com