Controlling an NXT Robot with Robot Operating System

It took some puzzling to find a matching os and ros release. This seems to be the latest versions which work together:

• Ubuntu 10.04.4 LTS (Lucid Lynx) - Installed in a vmware environment on my macbook
• ROS Electric

Install ROS

• http://wiki.ros.org/electric/Installation/Ubuntu

Install NXT

• http://wiki.ros.org/Robots/NXT/electric

Test run

vi robot.launch

nxt_robot:
 - type: motor
   name: r_wheel_joint
   port: PORT_A
   desired_frequency: 20.0

 - type: motor
   name: l_wheel_joint
   port: PORT_B
   desired_frequency: 20.0

 - type: motor
   name: m_wheel_joint
   port: PORT_C
   desired_frequency: 1.0

 - type: gyro
   name: gyro
   frame_id: gyro_link
   port: PORT_3
   offset: 0
   desired_frequency: 20.0

 - type: ultrasonic
   frame_id: ultrasonic_link
   name: ultrasonic_sensor
   port: PORT_2
   spread_angle: 0.2
   min_range: 0.01
   max_range: 2.5
   desired_frequency: 5.0

 - type: color
   frame_id: color_link
   name: color_sensor
   port: PORT_1
   desired_frequency: 10.0

roscore:

roscore

roslaunch:

roslaunch nxt_robot_sensor_car robot.launch

rxgraph:

rxgraph

nxt_teleop:

rosmake nxt_teleop
roslaunch nxt_teleop teleop_keyboard.launch

This should make it possible to control the robot with the arrow keys