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Only released in EOL distros:   electric

ROS API

ros_nxt

nxt_ros provides the ROS interface for the nxt. A robot.yaml file (checkout this tutorial) is used to configure nxt_ros for the sensors pulled into your nxt brick.

Published Topics

scan (sensor_msgs/LaserScan)

• Scan data from the laser.

diagnostics (diagnostic_msgs/DiagnosticStatus)

• Diagnostic status information.

Services

~self_test (diagnostic_msgs/SelfTest)

• Starts the Hokuyo self test, which runs a series of tests on the device. The laser stops publishing scans during the test, which takes about a minute. The result of the test is in the response returned by this service. At the conclusion of the test, the laser is returned to its normal operating mode.

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~min_ang (double, default: -π/2)

• The angle of the first range measurement in radians (range is [-π,π], though most devices have a smaller feasible range).

~max_ang (double, default: π/2)

• The angle of the last range measurement in radians (range is [-π,π], though most devices have a smaller feasible range).

~intensity (bool, default: false)

• Whether or not the hokuyo returns intensity values.

~cluster (int, default: 1)

• The number of adjacent range measurements to cluster into a single reading; the shortest reading from the cluster is reported.

~skip (int, default: 0)

• The number of scans to skip between each measured scan.

~port (string, default: /dev/ttyACM0)

• The port where the hokuyo device can be found.

~calibrate_time (bool, default: true)

• Whether the node should calibrate the hokuyo's time offset on startup. If true, the node will exchange of series of messages with the device in order to determine the time delay in the USB connection. This calibration step is necessary to produce accurate time stamps on scans.

~frame_id (string, default: laser)

• The frame in which laser scans will be returned. This frame should be at the optical center of the laser, with the x-axis along the zero degree ray, and the y-axis along the 90 degree ray.

~time_offset (double, default: 0.0)

• An offet to add to the timestamp before publication of a scan Range: -0.25 to 0.25 (New in release 1.0.1)

~allow_unsafe_settings (bool, default: False)

• Turn this on if you wish to use the UTM-30LX with an unsafe angular range. Turning this option on may cause occasional crashes or bad data. This option is a tempory workaround that will hopefully be removed in an upcoming driver version. (New in release 1.0.3)

Color Sensor Parameters

~max_ang_limit (double)

• Read only parameter indicating the smallest allowed value for ~min_ang on the currently connected device.

~max_ang_limit (double)

• Read only parameter indicating the largest allowed value for ~max_ang on the currently connected device.

~min_range (double)

• Read only parameter indicating the smallest distance that can be measured by the currently connected device.

~max_range (double)

• Read only parameter indicating the largest distance that can be measured by the currently connected device.