Manual

MiniSLAM
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [e-mail]
www.SuperDroidRobots.com
Revised: August 3, 2018 Page 10 of 13
The graph above shows all active topic advertisements and subscriptions during runtime. Any of these can be
echoed to view the corresponding ROS messages. In addition, the following topics are inactive but can be useful:
• /roboteq_driver/batt
o Should be monitored from time to time for robot battery voltage readings. If the readings are
consistently in the 22 Volt range, power off the robot and charge the batteries.
• /roboteq_driver/encoders
o Raw encoder values. Converted to position and velocity for the /roboteq_driver/wheelOdom
topic.
For a full list of the available topics execute the following command during runtime:
Configuration Options
This platform has multiple configuration options in the form of ROS parameters, adding new ROS packages, or
editing and rebuilding the current packages. Before making any changes, it is highly recommended to create a
new git branch inside the mini_slam_bot directory. To ssh into the BeagleBone Black, connect to the router, open
a terminal, and execute:
rostopic list
ssh -Y ubuntu@192.168.10.160