The "whill" is a ROS2 package for WHILL Model CR2.

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

• Host device
  • Linux OS: Ubuntu 22.04
  • ROS2: Humble Hawksbill (humble)
• Target device
  • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

1. Download projects
2. Configure your serial port
3. Build project
4. Launch
   4-(A). With the bringup package
   4-(B). With 'run' command
   

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

colcon build --packages-up-to whill
. install/setup.bash

ros2 launch whill_bringup whill_launch.py

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ros2 service call /whill/set_power_srv whill_msgs/SetPower '{p0: 1}'

ros2 service call /whill/set_power_srv whill_msgs/SetPower '{p0: 0}'

ros2 topic pub -r 12 /whill/controller/joy sensor_msgs/Joy "{axes:[0, 0.25]}"

ros2 topic pub -r 12 /whill/controller/cmd_vel geometry_msgs/Twist '{linear: {x: 0}, angular: {z: 0.785}}'

ros2 service call /whill/set_speed_profile_srv whill_msgs/SetSpeedProfile '{s1: 4, fm1: 60, fa1: 32, fd1: 96, rm1: 20, ra1: 24, rd1: 64, tm1: 35, ta1: 56, td1: 72}'

Copyright (c) 2024 WHILL, Inc.

This repository is licensed under the MIT License, see LICENSE for details.