ROS Driver for E-Puck Robot

ROS Driver for e-puck robot. It is based on the pyePuck library.

This driver is maintained by the Verlab Laboratory at Universidade Federal de Minas Gerais.

Requirements

Libraries

• Python Bluetooth or Pybluez

• Python Image Library (PIL)

  $ sudo apt-get install libbluetooth-dev python-setuptools python-imaging python-bluez

E-puck robots must run the webots firmware (resources/firmware/webots-firmware-1.4.4.hex).

How to use the epuck driver

Run the epuck driver with the e-puck's MAC address (eg. 10:00:E8:6C:D7:E8)

$ roslaunch epuck_driver epuck_controller.launch epuck_address:='MAC'

Test teleoperating with the keyboard (the package ros-indigo-turtlebot-teleop must be installed)

$ roslaunch epuck_driver epuck_teleop.launch

Some useful bluetooth commands

To find the nearby bluetooth devices and get their MAC address:

$ hcitool scan

To automatically set the bluetooth password when you start the epuck_controller.launch (the XXXX is the password, eg. 1515)

$ bluetooth-agent XXX &

You can also edit or create a file in /var/lib/bluetooth/XX:XX:XX:XX:XX:XX/pincodes (XX:XX:XX:XX:XX:XX is your bluetooth MAC address) and add:

<MAC address epuck> <PASSWORD>

And restart the bluetooth service:

$ sudo service bluetooth restart