Services available

Rosserial lib provides following services to control the mainboard.

/reset service

Service call resets odometry ( /odom ) and current velocity setpoint ( /cmd_vel ). Robot stops and resets its position info. Service call accepts no parameters.

If one moves robot after /reset call it can be seen that odometry data is non-zero, although wheels did not spin. That happens because robot uses IMU data to calculate its position.

/set_pid service

Service sets PID values for motor control algorithm. Message type is turtlebro/PidRegulator

float32 Ki
float32 Kp
float32 Kd
---
bool status

/board_info service

Service provides data on firmware version and MCU unique serial number

mcu_id:
  data: "0025001D3148501020333044"
firmware_version:
  data: "0.1_c32cfe6"

/start_motor service

Service starts LIDAR rotation ( RPLidar ). No parameters needed.

/stop_motor service

Service stops LIDAR rotation ( RPLidar ). No parameters needed.