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turtlebot: pointcloud_to_laserscan | turtlebot_bringup | turtlebot_description | turtlebot_driver | turtlebot_node

Package Summary

ROS bindings for the Turtlebot/Roomba driver. This is based on otl_roomba driver by OTL, ported to use turtlebot_driver instead. This also contains a 'bonus' feature from the turtlebot driver by Xuwen Cao and Morgan Quigley.

Nodes

turtlebot_node

turtlebot_node provides output from the turtlebot_driver over ROS and includes the diagnostics, gyro, and laptop battery integration.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

~sensor_state (turtlebot_node/TurtlebotSensorState) ~odom (nav_msgs/Odometry) ~imu/data (sensor_msgs/Imu) /diagnostics (diagnostic_msgs/DiagnosticArray)

Services

~set_digital_outputs (turtlebot_node/SetDigitalOutputs) ~set_operation_mode (turtlebot_node/SetTurtlebotMode)

Parameters

~port (string, default: /dev/ttyUSB0) ~update_rate (float, default: 30.0) ~drive_mode (string, default: twist) ~gyro_scale_correction (double, default: 1.35) ~odom_angular_scale_correction (double, default: 1.0) ~odom_linear_scale_correction (double, default: 1.0) ~cmd_vel_timeout (double, default: 0.6) ~stop_motors_on_bump (bool, default: True) ~min_abs_yaw_vel (float, default: None) ~bonus (bool, default: False)

laptop_battery_monitor

laptop_battery_monitor provides the laptop battery status to the diagnostics.

Published Topics

/diagnostics (diagnostic_msgs/DiagnosticArray)

kinect_breaker_enabler

kinect_breaker_enabler enables the kinect breaker (0) for powering the kinect by putting the create in full mode and turning breaker 0 on.


2011-11-19 12:37