Revision 33 as of 2010-08-19 05:57:22

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Only released in EOL distros:  

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

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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
    2. Ultrasonic Sensor
    3. Touch Sensor
    4. Color Sensor
    5. Gyro Sensor
    6. Accelerometer Sensor
    7. Intensity Sensor

ROS API

Motor

ROS API for the NXT motor

Subscribed Topics

~<name> (nxt_msgs/JointCommand)
  • The joint effort to apply at the joint

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.

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.

Accelerometer Sensor

ROS API for the accelerometer sensor

Published Topics

~<name> (nxt_msgs/Accelerometer)
  • The three axis measured values form the accelerometer sensor.

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "accelerometer".
~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.

Intensity Sensor

ROS API for the intensity sensor

Published Topics

~<name> (nxt_msgs/Intensity)
  • Intensity value measured from the intensity sensor.

Parameters

~nxt_robot/type (string, default: None)
  • The type should be set to "intensity".
~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.

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