Only released in EOL distros:
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.
- Author: Ken Conley, Melonee Wise
- License: BSD
- Repository: turtlebot-ros-pkg
- Source: hg https://kforge.ros.org/turtlebot/turtlebot
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.
- Author: Ken Conley, Melonee Wise
- License: BSD
- Source: hg https://kforge.ros.org/turtlebot/turtlebot (branch: electric-devel)
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.
- Author: Ken Conley, Melonee Wise
- License: BSD
- Source: hg https://kforge.ros.org/turtlebot/turtlebot (branch: default)
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.
- Author: Ken Conley, Melonee Wise
- License: BSD
- Source: hg https://kforge.ros.org/turtlebot/turtlebot (branch: default)
Contents
Nodes
turtlebot_node
turtlebot_node provides output from the turtlebot_driver over ROS and includes the diagnostics, gyro, and laptop battery integration.Parameters
~port (string, default: /dev/ttyUSB0)- Linux USB device from which to read the data.
- The desired drive mode (twist, turtle, or drive).
- twist : Takes a geometry_msgs/Twist message and is navigation compatible.
- turtle : Takes a turtlebot_node/Turtle message and is turtlesim compatible.
- drive : Takes a turtlebot_node/Drive message which drives the TurtleBot as described in the iRobot Create manual. EOM } 2{ name = ~bonus type = bool default = False desc = Plays Mario Bros. theme song. } 3{ name = ~has_gyro type = bool default = True desc = Enables or disables the gyro. }
- } pub{
- 0{ name = ~sensor_state type = turtlebot_node/TurtlebotSensorState desc = The sensor state updated at 10Hz. } 1{ name = ~odom type = nav_msgs/Odometry desc = The odometry of the robot based on the gyro and sensor_state. } 2{ name = ~imu/data type = sensor_msgs/Imu desc = The angular velocity and integrated position of the gryo. } 3{ name = /diagnostics type = diagnostic_msgs/DiagnosticArray desc = The system diagnostic information published at 1Hz. }
- 0{ name = ~set_operation_mode type = turtlebot_node/SetTurtlebotMode desc << EOM
- passive: The robot can only be charged in this mode but cannot be commanded in this mode.
- safe: The robot cannot be commanded in this mode or be charged in this mode.
- full: The robot cannot be charged in this mode but can be commanded. EOM
- } 1{ name = ~set_digital_outputs type = turtlebot_node/SetDigitalOutputs desc = Enables and disables the three digital outputs. }
