raspimouse_description

raspimouse_description

(opens in a new tab)

ROS package with URDF description macro for Raspberry Pi Mouse (opens in a new tab)

Image: display_launch (opens in a new tab)

This ROS package was separated from rt-net/raspimouse_sim (opens in a new tab). See details from rt-net/raspimouse_sim#42 (opens in a new tab).

Table of Contents

• raspimouse_description
  • Table of Contents
  • Supported ROS distributions
    • ROS 2
  • Requirements
  • Installation
    • Binary Installation
    • Source Build
  • QuickStart
  • License
  • Contributing

Supported ROS distributions

ROS 2

• Humble (humble (opens in a new tab))
• Jazzy (jazzy (opens in a new tab))
• Lyrical Luth (feature/support-lyrical (opens in a new tab))

Requirements

• Raspberry Pi Mouse
  • Summary (opens in a new tab)
  • RT Robot Shop (opens in a new tab)
• Linux OS
  • Ubuntu Desktop 24.04
• ROS 2
  • Lyrical Luth (opens in a new tab)

Installation

Binary Installation

sudo apt install ros-$ROS_DISTRO-raspimouse-description

Source Build

# Create workspace directory
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src

# Clone package
git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_description

# Install dependencies
rosdep install -r -y -i --from-paths .

# Build & Install
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

QuickStart

Display a Raspberry Pi Mouse robot model on RViz2 with the following command:

ros2 launch raspimouse_description display.launch.py

You can also display a LiDAR mounted robot model with the following command:

ros2 launch raspimouse_description display.launch.py lidar:=rplidar

The lidar option supports urg, lds, and rplidar.

Similarly, display an RGB Camera mounted robot model with the following command:

ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true

Image: mouse_with_rgb_camera.png (opens in a new tab)

The RGB Camera can be pointed down with the following command:

ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true camera_downward:=true

Image: mouse_with_rgb_camera_downward.png (opens in a new tab)

License

(C) 2016-2025 RT Corporation <support@rt-net.jp (opens in a new tab)>

Each file is licensed as stated in their headers.
If no license is specified, the file is licensed under the MIT License.
The full license text is available in the LICENSE (opens in a new tab) file or at opensource.orghttps://opensource.org/license/MIT (opens in a new tab).

Acknowledgements

Special thanks to gbiggs.github.iohttps://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html (opens in a new tab)

The file robotis_lds01.stl (opens in a new tab) is released from ROBOTIS and licensed under the Apache License 2.0 (opens in a new tab). The original file is released in turtlebot3_description package (opens in a new tab).

Contributing

• This software is open source, but its development is not open.
• This software is essentially provided as open source software on an “AS IS” (in its current state) basis.
• No free support is available for this software.
• Requests for bug fixes and corrections of typographical errors are always accepted; however, requests for additional features will be subject to our internal guidelines. For further details, please refer to the Contribution Guidelines (opens in a new tab).