Basic Functions

Basic interface and functions for MiRo, to avoid re-inventing the wheel with every MiRo project.

For development of standard operations such as movement, turning (eventually using the kinematic chain), sensation, etc; new MiRo projects should be able to refer to a standard function here rather than having to re-code the same basic interactions anew each time.

Usage

MiRo-ROS interface

The MiRo-ROS interface allows you to easily interface with the robot without re-implementing ROS setup for each project. Getting MiRo moving, illuminated, and making noise is as easy as:

import miro_ros_interface as mri
miro_pub = mri.MiRoPublishers()
miro_pub.pub_cmd_vel_ms(left=0.2, right=0.2)
miro_pub.pub_illum(front="red", rear="blue")
miro_pub.pub_tone(frequency=300, volume=30, duration=50)

Sensor data can be read with (for example):

import miro_ros_interface as mri
miro_sen = mri.MiRoSensors()
print(miro_sen.light)
print(miro_sen.cliff)

See the MiRo-E ROS technical interface document for more information on available ROS data.