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Only released in EOL distros:   electric fuerte groovy

Nodes

turtlebot_node

turtlebot_node provides output from the turtlebot_driver over ROS and includes the diagnostics, gyro, and laptop battery integration.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

• The desired velocity of the robot. The type of this message is determined by the drive_mode parameter. Default is geometry_msgs/Twist.

Published Topics

~sensor_state (turtlebot_node/TurtlebotSensorState)

• The sensor state updated at 10Hz.

odom (nav_msgs/Odometry)

• The odometry of the robot based on the gyro and sensor_state.

imu/data (sensor_msgs/Imu)

• The angular velocity and integrated position of the gryo.

/diagnostics (diagnostic_msgs/DiagnosticArray)

• The system diagnostic information published at 1Hz.

Services

~set_digital_outputs (turtlebot_node/SetDigitalOutputs)

• Enables and disables the three digital outputs.

~set_operation_mode (turtlebot_node/SetTurtlebotMode)

• Set the operation mode of the iRobot Create. The message values for digital out and operation mode are found in turtlebot_node/TurtlebotSensorState.
• 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.

Parameters

~port (string, default: /dev/ttyUSB0)

• Linux USB device from which to read the data.

~update_rate (float, default: 30.0)

• Rate, in Hz, at which to communicate with the Create.

~drive_mode (string, default: twist)

• 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.

~gyro_scale_correction (double, default: 1.35)

• Scaling factor for correct gyro operation.

~odom_angular_scale_correction (double, default: 1.0)

• A correction applied to the computation of the rotation in the odometry.

~odom_linear_scale_correction (double, default: 1.0)

• A correction applied to the computation of the translation in odometry.

~cmd_vel_timeout (double, default: 0.6)

• If a new command isn't received within this many seconds, the Create is stopped.

~stop_motors_on_bump (bool, default: True)

• If True, then disallow forward motion if any bumper or wheeldrop sensor is activated (backing up and rotating are allowed).

~min_abs_yaw_vel (float, default: None)

• If defined, it is the minimum (non-zero) absolute rotational velocity, in radians / second, that will be commanded. Set this parameter if you want to avoid commanding very low rotational velocities, which can cause trouble with odometry.

~bonus (bool, default: False)

• Plays Mario Bros. theme song.

~publish_tf (bool, default: False)

• Causes node to publish TF for odom to base_link, use only when no gyro exists.

~odom_frame (string, default: odom)

• Name of the odometry TF frame.

~base_frame (string, default: base_footprint)

• Name of the base TF frame.

~robot_type (string, default: create)

• The type of the robot. Can be set to create or roomba at the moment.

laptop_battery_monitor.py

laptop_battery_monitor.py provides the laptop battery status to the diagnostics.

Published Topics

/diagnostics (diagnostic_msgs/DiagnosticArray)

• The laptop battery diagnostic information published at 1Hz.

laptop_charge (turtlebot_node/LaptopChargeStatus)

• Machine readable laptop charge status at 1Hz.

kinect_breaker_enabler

kinect_breaker_enabler enables the kinect breaker (0) for powering the kinect by putting the create in full mode and turning breaker 0 on.