CLEARPATH HUSKY A200 User Manual page 15

Clearpath Robotics provides an officially-supported Robot Operating System (ROS) driver for Husky
A200, based on the Python interface. ROS is a flexible, distributed architecture for controlling robotic
systems, and is a recommend method for controlling Husky. Using ROS, you can quickly take joystick
control of Husky.
A simple ROS-based tele-operation network is shown in Figure 7. The
interfaces with the joystick and produces ROS Joy messages. The
these Joy messages, applies scale factors and produces Twist messages. The Twist messages are
received by clearpath_base
joy_node
USB
Joystick
With a joystick connected directly to Husky's PC, and available on
roslaunch clearpath_teleop teleop_a200.launch
You should now be able to drive the robot from the connected joystick.
To drive remotely, set up a second ROS PC as the pilot's computer. It is from here that you will launch
teleop_a200.launch
Husky's PC rather than locally on the pilot's computer. To do this, you must specify in the launch file a
<machine> tag giving the details of the Husky computer's ROS installation. A typical configuration is as
follows:
<machine name="husky-pc" address="husky-pc" user="administrator"
ros-root="/opt/ros/cturtle/ros"
ros-package-path="/opt/ros/cturtle/stacks:
machine="husky-pc"
Then add
roslaunch teleop_a200.launch
For more details, consult the following pages on the official ROS wiki:

http://www.ros.org/wiki/ROS/NetworkSetup

http://www.ros.org/wiki/roslaunch/XML/node

http://www.ros.org/wiki/roslaunch/XML/machine
Clearpath Robotics Inc. ©2011 All Rights Reserved.
, which uses CCP to forward them as velocity commands to Husky.
clearpath_teleop
<Joy>
Figure 7: ROS Teleoperation Network
, but you will need to specify that the clearpath_base node run remotely on the
/home/administrator/ros-clearpath" />
<node>
to the
from the pilot machine!
joy_node
clearpath_teleop
<Twist>
/dev/js0
clearpath_base
tag which launches
15
is a device driver which
node consumes
clearpath_base
RS232
Husky A200
, launch the teleop script:
, and run