Only released in EOL distros:
Package Summary
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.
- Author: Wim Meeussen
- License: BSD
- Repository: foote-ros-pkg
- Source: hg https://stack-nxt.foote-ros-pkg.googlecode.com/hg
Package Summary
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.
- Author: Wim Meeussen
- License: BSD
- Source: hg https://stack-nxt.foote-ros-pkg.googlecode.com/hg (branch: default)
Contents
ROS API
The sections below describe how to configure the NXT to ROS bindings.
Example
Even though the API description looks quite complicated, it's very easy to configure the bindings. Here is an example configuration:
nxt_robot:
- type: motor
name: r_wheel_joint
port: PORT_A
desired_frequency: 20.0
- type: motor
name: l_wheel_joint
port: PORT_B
desired_frequency: 20.0
- type: gyro
name: gyro
frame_id: gyro_link
port: PORT_3
offset: 0
desired_frequency: 20.0
- type: ultrasonic
frame_id: ultrasonic_link
name: ultrasonic_sensor
port: PORT_2
spread_angle: 0.2
min_range: 0.01
max_range: 2.5
desired_frequency: 5.0
Motor
ROS API for the NXT motorSubscribed 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".
- This should be one of the brick ports: PORT_A, PORT_B or PORT_C.
- The desired update frequency for the actuator and sensor.
- The topic name for the sensor data.
Ultrasonic Sensor
ROS API for the ultrasonic sensorPublished Topics
~<name> (nxt_msgs/Range)Parameters
~nxt_robot/type (string, default: None)- The type should be set to "ultrasonic".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
- The angle that describes the cone shape of the ultrasonic beam.
- The minimum distance the ultrasonic sensor can measure (meters)
- The maximum distance the ultrasonic sensor can measure (meters)
Touch Sensor
ROS API for the touch sensorPublished 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".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
Color Sensor
ROS API for the color sensorPublished 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".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
Gyro Sensor
ROS API for the gyro sensorPublished 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".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
Accelerometer Sensor
ROS API for the accelerometer sensorPublished 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".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
Intensity Sensor
ROS API for the intensity sensorPublished 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".
- This should be one of the brick ports: PORT_1, PORT_2, PORT_3, or PORT_4.
- The desired update frequency for the sensor.
- The topic name for the sensor data.
- The frame that the sensor data is published in.
