Marty the Robot

This is the package to enable Marty the Robot to utilise ROS, both through roscpp and rospy.

There are two core classes that enable this:

MartyCore, which handles servo initialisation and instantiates the Marty ROS node, as well as providing access to core methods such as setting servo positions.
CmdServer, which allows the Marty to execute commands sent to it remotely, via a socket open on a predefined port.

Topics

/diagnostics - provides diagnostics information
/marty/accel - provides X, Y, Z accelerometer data
/marty/battery - returns the current battery voltage
/marty/chatter - returns miscellaneous information from the Rick
/marty/enable_motors - used to determine when to enable/disable ALL servos, Boolean (true = servos enabled, false = servos disabled)
/marty/enable_motors_array - used to selectively enable/disable servos, Bool array (size 9)
/marty/falling - returns current stability of the robot (true = robot is falling/has fallen, false = stable)
/marty/gpios - returns the current state of the GPIOs within the robot
/marty/joint_states - returns the current state of the robot's joints
/marty/keyframe_file - used to specify a filename containing some servo keyframes
/marty/keyframes - used to set desired servo actuation frames
/marty/motor_currents - returns the current servo motor currents
/marty/servo - used to specify a servo ID and a corresponding command for it to move
/marty/servo_array - used to specify a map of servo IDs with corresponding commands
/marty/servo_positions - returns an array of current servo positions
/marty/servos_enabled - returns a Bool array of enabled servos
/marty/socket_cmd - used to communicate low-level socket commands to the Rick via rosserial
/marty/sound - used to output a desired speaker tonal range and duration
/marty/sound_file - used to set the name of a sound file to play