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    ROS Software Maintainer: ROBOTIS

    ROBOTIS e-Manual

    ROS API

    turtlebot3_core

    Subscribed Topics

    cmd_vel (geometry_msgs/Twist)
    • Control the translational and rotational speed of the robot unit in m/s, rad/s
    motor_power (std_msgs/Bool)
    • Dynamixel Torque On/Of
    reset (std_msgs/Empty)
    • Reset Odometry and IMU Data. If you want to publish reset topic, type rostopic pub /reset std_msgs/Empty "{}"
    sound (turtlebot3_msgs/Sound)
    • Output Beep Sound

    Published Topics

    battery_state (sensor_msgs/BatteryState)
    • Contains battery voltage and status
    cmd_vel_rc100 (geometry_msgs/Twist)
    • Control the translational and rotational speed of the robot with RC100 controller, unit in m/s, rad/s
    diagnostics (diagnostic_msgs/DiagnosticArray)
    • Contains self diagnostic information
    imu (sensor_msgs/Imu)
    • Topic that includes the attitude of the robot based on the acceleration and gyro sensor
    joint_states (sensor_msgs/JointState)
    • The state of a set of torque controlled joints
    magnetic_field (sensor_msgs/MagneticField)
    • Measurement of the Magnetic Field vector at a specific location
    odom (nav_msgs/Odometry)
    • Contains the Turtlebot3’s odometry information based on the encoder and IMU
    sensor_state (turtlebot3_msgs/SensorState)
    • Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs
    tf (tf2_msgs/tfMessage)
    • Contains the coordinate transformation such as base_footprint and odom
    version_info (turtlebot3_msgs/VersionInfo)
    • Contains the Turtlebot3 hardware, firmware,and software information. You need a turtlebot3_msgs

    Parameters

    ~baud (int, default: 115200)
    • This is baud rate for serial communication
    ~port (string, default: /dev/ttyACM0)
    • Name of serial port

    turtlebot3_diagnostics

    Subscribed Topics

    imu (sensor_msgs/Imu)
    • Topic that includes the attitude of the robot based on the acceleration and gyro sensor
    scan (sensor_msgs/LaserScan)
    • Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3
    sensor_state (turtlebot3_msgs/SensorState)
    • Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs
    version_info (turtlebot3_msgs/VersionInfo)
    • Contains the Turtlebot3 hardware, firmware,and software information. You need a turtlebot3_msgs

    Published Topics

    diagnostics (diagnostic_msgs/DiagnosticArray)
    • Contains self diagnostic information

    turtlebot3_lds

    Published Topics

    rpms (std_msgs/Uint16)
    • LDS rotation speed.
    scan (sensor_msgs/LaserScan)
    • Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3

    Parameters

    ~frame_id (string, default: base_scan)
    • Set up coordinate of the LDS
    ~port (string, default: /dev/ttyUSB0)
    • Name of serial port

    Wiki: turtlebot3_bringup (2019-10-25 15:21:25由esteve編輯)

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