Hardware Reference
In-Depth Information
NUMBER
COLOR
4
Yellow
5
Red
6
White
Pretty nifty, huh? Go ahead and disconnect the color sensor, as it might be left on after
the test script completes, and you don't want to burn it out.
Now that you know that the ROS environment is working with the NXT Intelligent Brick,
you can build a test robot model. There are a few different ways to do this, but the
simplest is to create a new ROS package and modify it.
First, use the roscmd tool to change into the nxt component directory, and then create
a new ROS package called my_nxt_robot with the aptly named roscreate-pkg com-
mand (you do not need to be root):
$ roscd nxt
$ roscreate-pkg my_nxt_robot rospy nxt_ros
Created package directory /opt/ros/groovy/share/nxt/my_nxt_robot
Created python source directory /opt/ros/groovy/share/nxt/my_nxt_robot/src
Created package file /opt/ros/groovy/share/nxt/my_nxt_robot/Makefile
Created package file /opt/ros/groovy/share/nxt/my_nxt_robot/manifest.xml
Created package file /opt/ros/groovy/share/nxt/my_nxt_robot/CMakeLists.txt
Created package file /opt/ros/groovy/share/nxt/my_nxt_robot/mainpage.dox
Please edit my_nxt_robot/manifest.xml and mainpage.dox to finish creating
your package
This command also tells roscreate_pkg that your new my_nxt_robot ROS package will
depend on rospy and nxt_ros .
Now, prepare the new my_nxt_robot ROS package with rosmake and change into the
directory:
$ rosmake
$ cd my_nxt_robot
You need to write out a configuration file, which will tell the NXT ROS bindings what
you have connected to the NXT Intelligent Brick. Open a file editor and save out the
following as robot.yaml :
nxt_robot:
- type: touch
frame_id: touch_frame
name: my_touch_sensor
 
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