whill

About

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.

Requirements

• 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)

Getting started

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

1. Download projects

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

2. Configure your serial port

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

3. Build project

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

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With 'run' command

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 APIs

Publish

Topic name	Message type	Work
/whill/states/model_cr2	whill_msgs/ModelCr2State	Notify WHILL states

Subscription

Topic name	Message type	Work
/whill/controller/joy	sensor_msgs/Joy	Give WHILL a virtual joystick input
/whill/controller/cmd_vel	geometry_msgs/Twist	Give WHILL a direct velocity input

Service

Service name	Message type	Work
/whill/set_power_srv	whill_msgs/SetPower	Turn WHILL power on/off
/whill/set_speed_profile_srv	whill_msgs/SetSpeedProfile	Change the speed profile of WHILL

Command examples

Power on WHILL

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

Power off WHILL

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

Move WHILL forward with virtual joystick inputs

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

Spin WHILL counterclockwise with direct velocity inputs

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

Change the speed profile of the serial control (default values for s1=4)

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}'

Packages

Package name	Explanation
whill	Meta package. Dependencies are described.
whill_bringup	Launch package. You can start WHILL node with this package.
whill_description	Description package. The URDF file is here.
whill_driver	Controller package. WHILL domains are implemented.
whill_examples	Examples. You can try demos with this package.
whill_msgs	Interfaces package. This package exists in a different repository.

License

Copyright (c) 2024 WHILL, Inc.

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