Kangaroo x2 Motion Controller

Hey , I need help with setting up Kangaroo .

We are using Kangaroo for ROS (SLAM enabled Robots) , Kangaroo is supposed to help us with the Localization .

I want some instructions on how to use this .

I have successfully used sabertooth 2x32 vai USB cable . The code is listed below ,sabertooth dip switch configuration is (On off on on on on 1-6).

USB cable connected directly (No ttl cable or Arduino in between).

Using the below script one can control a differential drive bot which uses sabertooth 2x32.

I have been hunting for information regarding the use of kangaroo x2 along with sabertooth , i promise to make a good tutorial for the same as i am finding not much material is available related to this .

Kangaroo can handle PID based position/speed control . Kangaroo can also supposedly give back the encoder data (yet to figure out all of that ).

Please see if you could give me some insights on how to use ROS with the above configuration.

#!/usr/bin/env python
#import arduinoserial
from pysabertooth import Sabertooth
from std_msgs.msg import String
from geometry_msgs.msg import Twist, Pose
import rospy , time
import serial.tools.list_ports as port
#import pylcdlib
print "\nInit sabertooth....\n"

print "\nDetecting sabertooth....\n"
portlist = list(port.comports())
print portlist
address = ''
for p in portlist:
print p
if 'Sabertooth' in str(p):
address = str(p).split(" ")
print "\nAddress found @"
print address[0]
speed1 = 0
speed2 = 0

saber = Sabertooth(address[0], baudrate=9600, address=128, timeout=0.1)

def translate(value, leftMin, leftMax, rightMin, rightMax):
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin

# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)

# Convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)

def callback(data):
#print data
saber.text('m1:startup')
saber.text('1,p100')
saber.text('md:1000\r\n')

saber.text('m2:startup')
saber.text('r1:1940\r\n')
saber.text('r2:1940\r\n')
speed = translate(data.linear.x,-1,1,-100,100)
#speed = translate(data.linear.x,-1,1,-2047,2047)
SPEED = 'md: {}\r\n'.format(speed)
angle = translate(-data.angular.z,-1,1,100,-100)
#angle = str(translate(-data.angular.z,-1,1,2047,-2047))
ANGLE = 'mt: {}\r\n'.format(angle)
#saber.text('m1:startup')
#saber.drive(1,speed)
#saber.drive(2,speed)
if angle+speed > 100:
speed1 = 100
else :
speed1 = angle+ speed
if speed-angle < -100:
speed2 = -100
else :
speed2 = speed-angle
saber.drive(1,speed)
saber.drive(2,speed)

if(angle < 0):
print "negative"
saber.drive(1,speed2)
saber.drive(2,speed1)
elif (angle > 0):
print "positive"
saber.drive(1,speed2)
saber.drive(2,speed1)

#saber.text('m2:startup')
#MD: 0\r\n
print SPEED
print ANGLE

#saber.text(SPEED)

pass
#print message

def sabertoothStatusCallback(data):
print data
temperature = ('T [C]: {}'.format(saber.textGet('m2:gett')))

saber.textGet('T,start')
set_position = ('P : {}'.format(saber.textGet('T,p45')))

battery = ('battery [mV]: {}'.format(saber.textGet('m2:getb')))
print battery , temperature
#lcd.lcd_write(0x0C) #Cursor uitschakelen.
#lcd.lcd_write(0x01) #Scherm leegmaken.
#lcd.lcd_puts("Hallo", 1) #Tekst voor LCD display lijn 1.
#lcd.lcd_puts(" Wereld!", 2) #Tekst voor LCD display lijn 2.
#lcd.lcd_backlight(1) #Achterverlichting aanzetten.

def listener():


# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)

#rospy.Subscriber("/joy_teleop/cmd_vel", Twist, callback)
rospy.Subscriber("/cmd_vel", Twist, callback)
#sabertoothStatusCallback("as")
#rospy.Subscriber("/mastercmd_vel", Twist, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()

if __name__ == '__main__':
listener()

https://github.com/smd-ros-devel/kangaroo_x2_driver
This is a good start in the ROSification of kangaroo x2 .

https://github.com/hbrobotics/ros_arduino_bridge
This is a full stack implementation of odometry packages on Arduino .
(I am seeking for something like this for the Kangaroo+sabertooth/Syren configuration )

https://github.com/LillyCorp/sabertooth_2x32_kangaroo_x2_ros
(Link to the repository for ROS + Sabertooth + kangaroo x2)