CES2023

Simple Maneuverability Instructions for Mini Zetabot

• control.ipynb

• Running the cell code Ctrl + Enter

• Jupyter notebook with instructions for Forwards, Backwards, and Rotational movements

import rospy
import json
from std_msgs.msg import String,  Int32MultiArray
import time
import math

• Import in the necessary python libraries

move_pub = rospy.Publisher('/robot_command', String, queue_size=1)
sound = Int32MultiArray()
sound_pub = rospy.Publisher('robot_sound',Int32MultiArray, queue_size=1)
rospy.init_node('zetabot', anonymous=True)
time.sleep(1)

• Initialize zetabot as an object

def Forward():
    tmp = {"MoveDelta": 0.5}
    msg = json.dumps(tmp)
    rospy.loginfo("Sent: %s", msg)
    sound.data=[1,1,2]
    sound_pub.publish(sound)
    move_pub.publish(msg)

• Move the robot Forward for delta amount

• Forward()

def Backward():
    tmp = {"MoveDelta": -0.5}
    msg = json.dumps(tmp)
    rospy.loginfo("Sent: %s", msg)
    sound.data=[1,0,2]
    sound_pub.publish(sound)
    move_pub.publish(msg)

• Move the robot Backward for delta amount

• Backward()

def Rotation():
    tmp = {"TurnDelta": math.radians(180)}
    msg = json.dumps(tmp)
    rospy.loginfo("Sent: %s", msg)
    sound.data=[1,2,2]
    sound_pub.publish(sound)
    move_pub.publish(msg)

• Rotate the robot with a given radius. (example 180 degrees)

• Rotation()

def stop():
    tmp = {"Stop": 0}
    msg = json.dumps(tmp)
    rospy.loginfo("Sent: %s", msg)
    move_pub.publish(msg)

• Terminate the movement of the robot

• stop()