ROSBot 3: Enquiry about configuring mecanum drive

Software
1

Hello,

I recently got my hands on a ROSBot 3 Pro and I’ve been following the instructions for the wheel swap to use it with the mecanum wheels. My question is, do I need to create a new docker compose file for adding the mecanum parameter or is there an existing docker compose file somewhere in the ROSBot that I need to edit?

2

Hello @Rohit,

After changing the wheels to mecanum, you need to start the system with the mecanum argument to start the appropriate controller that allows driving in the y-axis direction.

Both when working in docker and with natively built code, you need to add the mecanum:=True argument. You can also use an environment variable to override the default MECANUM value in compose.yaml.

command: >
  ros2 launch rosbot_bringup bringup.launch.py
    mecanum:=${MECANUM:-False}

If you are working with snap, execute:

snap set rosbot driver.mecanum=True

Regards