• Diff for "nxt_ros"
Differences between revisions 23 and 24
⇤ ← Revision 23 as of 2010-08-19 00:33:04 →
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Editor: wim
Comment:
← Revision 24 as of 2010-08-19 00:39:12 → ⇥
Size: 4440
Editor: wim
Comment:
Deletions are marked like this. Additions are marked like this.
Line 10: Line 10:
name=Motor
desc=ROS API for the NXT motor
pub{
0.name= ~joint_state
0.type= sensor_msgs/JointState
0.desc= The current effort, position, and velocity of the servo motors.
}
sub{
}
param {
0.name= ~nxt_robot/type
0.default= None
0.type= string
0.desc= The type should be set to "motor".
1.name= ~nxt_robot/port
1.default=None
1.type= string
1.desc= This should be one of the brick ports: PORT_A, PORT_B or PORT_C.
2.name= ~nxt_robot/desired_frequency
2.default=None
2.type= double
2.desc= The desired update frequency for the actuator and sensor.
3.name= ~nxt_robot/name
3.default=None
3.type= string
3.desc= The topic name for the sensor data.
4.name= ~nxt_robot/frame_id
4.default=None
4.type= string
4.desc= The frame that the sensor data is published in.
}
}
}}}
{{attachment:motor.jpg||width="200"}}






{{{
#!clearsilver CS/NodeAPI
node.0 {
Line 20: Line 63:
0.desc= The type should be set to !UltrasonicSensor. 0.desc= The type should be set to "ultrasonic".
Line 60: Line 103:
0.desc= The type should be set to !TouchSensor. 0.desc= The type should be set to "touch".
Line 100: Line 143:
0.desc= The type should be set to !ColorSensor. 0.desc= The type should be set to "color".
Line 139: Line 182:
0.desc= The type should be set to !GyroSensor. 0.desc= The type should be set to "gyro".

Only released in EOL distros:  

nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin

Package LinksDependencies (5)
Used by (5)

Package Summary

No API documentation

The nxt_ros package provides the bindings between the NXT world and the ROS world. This package will create a ROS topic for each NXT sensor, and publish the sensor's data on this topic. The package also creates a topic for each NXT motor, which allows you to command the motor from ROS. The nxt_ros bindings talk directly to the NXT brick, either over USB or over Bluetooth (note that the Bluetooth connection is currently too slow to be very useful). Binding an NXT robot to ROS only requires a single configuration file.

nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin
Package LinksDependencies (5)
Used by (5)

Package Summary

Documented

The nxt_ros package provides the bindings between the NXT world and the ROS world. This package will create a ROS topic for each NXT sensor, and publish the sensor's data on this topic. The package also creates a topic for each NXT motor, which allows you to command the motor from ROS. The nxt_ros bindings talk directly to the NXT brick, either over USB or over Bluetooth (note that the Bluetooth connection is currently too slow to be very useful). Binding an NXT robot to ROS only requires a single configuration file.

Contents

  1. ROS API
    1. Motor
      1. Published Topics
      2. Parameters
    2. Ultrasonic Sensor
      1. Published Topics
      2. Parameters
    3. Touch Sensor
      1. Published Topics
      2. Parameters
    4. Color Sensor
      1. Published Topics
      2. Parameters
    5. Gyro Sensor
      1. Published Topics
      2. Parameters

ROS API

Motor

ROS API for the NXT motor

Published Topics

~joint_state (sensor_msgs/JointState)
  • The current effort, position, and velocity of the servo motors.

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "motor".
~nxt_robot/port (string, default: None)
  • This should be one of the brick ports: PORT_A, PORT_B or PORT_C.
~nxt_robot/desired_frequency (double, default: None)
  • The desired update frequency for the actuator and sensor.
~nxt_robot/name (string, default: None)
  • The topic name for the sensor data.
~nxt_robot/frame_id (string, default: None)
  • The frame that the sensor data is published in.

Ultrasonic Sensor

ROS API for the ultrasonic sensor

Published Topics

~<name> (nxt_msgs/Range)

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "ultrasonic".
~nxt_robot/port (string, default: None)
  • This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
~nxt_robot/desired_frequency (double, default: None)
  • The desired update frequency for the sensor.
~nxt_robot/name (string, default: None)
  • The topic name for the sensor data.
~nxt_robot/frame_id (string, default: None)
  • The frame that the sensor data is published in.

Touch Sensor

ROS API for the touch sensor

Published Topics

~<name> (nxt_msgs/Contact)
  • The state of the touch sensor (touching or not).

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "touch".
~nxt_robot/port (string, default: None)
  • This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
~nxt_robot/desired_frequency (double, default: None)
  • The desired update frequency for the sensor.
~nxt_robot/name (string, default: None)
  • The topic name for the sensor data.
~nxt_robot/frame_id (string, default: None)
  • The frame that the sensor data is published in.

Color Sensor

ROS API for the color sensor

Published Topics

~<name> (nxt_msgs/Color)
  • Color value measured from the color sensor.

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "color".
~nxt_robot/port (string, default: None)
  • This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
~nxt_robot/desired_frequency (double, default: None)
  • The desired update frequency for the sensor.
~nxt_robot/name (string, default: None)
  • The topic name for the sensor data.
~nxt_robot/frame_id (string, default: None)
  • The frame that the sensor data is published in.

Gyro Sensor

ROS API for the gyro sensor

Published Topics

~<name> (sensor_msgs/Imu)
  • Rotation rate data from the gyro sensor.

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "gyro".
~nxt_robot/port (string, default: None)
  • This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
~nxt_robot/desired_frequency (double, default: None)
  • The desired update frequency for the sensor.
~nxt_robot/name (string, default: None)
  • The topic name for the sensor data.
~nxt_robot/frame_id (string, default: None)
  • The frame that the sensor data is published in.

Wiki: nxt_ros (last edited 2010-10-14 00:15:13 by KenConley)

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