dora-kit-car control

Introduce

Dora Kit Car is a DORA node for controlling a differential-drive mobile robot to move forward/backward and turn left/right. Developed in Rust with Python API support.

Highlights

Compatible with the ROS geometry_msgs/Twist.msg format, utilizing only:
linear.x (positive: forward movement, negative: backward movement)
angular.z (positive: left turn, negative: right turn)

Raw Message Definition

Accepts an array of six f64's

six f64 array [x, y, z, rx, ry, rz] only used x, rz

see https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html

Environment

Adds an environment variable SERIAL_PORT to specify the serial port for the car device, with /dev/ttyUSB0 as the default value

Demo Video

Getting Started

nodes:
  - id: keyboard-listener # Run on car
    build: pip install dora-keyboard
    path: dora-keyboard
    inputs:
      tick: dora/timer/millis/10
    outputs:
      - twist # for example [2.0,0.0,0.0,0.0,0.0,1.0]

  - id: car
    build: pip install dora-kit-car
    path: dora-kit-car
    inputs:
      keyboard: keyboard-listener/twist
    env:
      SERIAL_PORT: /dev/ttyUSB0

License

The MIT License (MIT)

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