Overview

This stack contains applications that use the nxt_lejos API.

Either nxt_lejos_proxy or nxt_lejos_lcp_proxy must be running to provide the API.

The current applications are:

• nxt_lejos_bumper_car
• nxt_lejos_monitor
• nxt_lejos_speech_control

nxt_lejos_bumper_car

The bumper car needs to be a robot that has differential steering and an ultrasonic sensor. It uses the dns_command topic to send motion commands to the robot and the ultrasonic_sensor topic to read the distance to obstacles. The robot drives forward until it detects an obstacle and then drives backwards a bit and turns to the left to try to avoid the obstacle.

Start the application by:

roscd nxt_lejos_bumper_car
roslaunch bumper_car.launch

nxt_lejos_monitor

This is a general purpose GUI monitor for robots running the leJOS NXT ROS API.

It shows the current battery level, the current value of all sensors, and the robot's pose and velocity.

Start the application by:

roscd nxt_lejos_monitor
roslaunch monitor.launch

nxt_lejos_speech_control

This allows you to control a robot by speech commands. It uses the dns_command topic to send motion commands to the robot. Commands include "forward", "backward", "left", "right" and "stop".

It needs a similar robot to the bumper car application.