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Package Summary

Implements a node which reads sensor data from Robotino and broadcasts it. It also implements a few services.

• Author: indorewala@servicerobotics.eu
• License: BSD
• Repository: robotino-ros-pkg
• Source: svn http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_node

Overview

The robotino_node package implements the robotino_node node which interfaces the Robotino API2 with ROS. The robotino_node publishes the data from Robotino on various topics and also implements a few services. The robotino_node is also subscribed to a few topics to receive set values.

ROS Nodes

robotino_node

Subscribed Topics

set_bha_pressures (robotino_msgs/SetBHAPressures)

• Set pressure values for the Bionic Handling Assistant

set_digital_values (robotino_msgs/DigitalReadings)

• Set digital values for digital output on Robotino

set_grappler_axes (robotino_msgs/SetGrapplerAxes)

• Set the grappler axes on Robotino

cmd_vel (geometry_msgs/Twist)

• Set the velocities for Robotino

Published Topics

analog_readings (robotino_msgs/AnalogReadings)

• Readings from the analog sensors on Robotino

bumper (std_msgs/Bool)

• Readings from the bumper sensor on Robotino

image_raw* (sensor_msgs/Image, sensor_msgs/CameraInfo)

• Images from the camera(s) on Robotino

bha_readings (robotino_msgs/BHAReadings)

• Readings from the Bionic Handling Assistant on Robotino

digital_readings (robotino_msgs/DigitalReadings)

• Readings from the digital sensors on Robotino

digital_readings (robotino_msgs/DigitalReadings)

• Readings from the digital sensors on Robotino

distance_sensors (sensor_msgs/PointCloud)

• Readings from the distance sensors on Robotino

gripper_state (robotino_msgs/GripperState)

• Readings from the gripper on Robotino

encoder_readings (robotino_msgs/EncoderReadings)

• Encoder readings from Robotino

grappler_readings (robotino_msgs/GrapplerReadings)

• Readings from the grappler on Robotino

kinect (sensor_msgs/PointCloud2)

• Readings from the Kinect sensor on Robotino

scan* (sensor_msgs/LaserScan)

• Readings from the laser range finder on Robotino

motor_readings (robotino_msgs/MotorReadings)

• Readings from the motors on Robotino

north_star (robotino_msgs/NorthStarReadings)

• Readings from the north-star sensor on Robotino

odom (nav_msgs/Odometry)

• Readings from the north-star sensor on Robotino

power_readings (robotino_msgs/PowerReadings)

• Power readings from Robotino

Services

set_gripper_state (robotino_msgs/SetGripperState)

• Service to open or close the gripper

set_encoder_position (robotino_msgs/SetEncoderPosition)

• Service to set the encoder position

reset_odometry (robotino_msgs/ResetOdometry)

• Service to reset the odometry

Parameters

~hostname (string, default: 192.168.5.5)

• Robotino's IP Address

~max_linear_vel (double, default: 0.2)

• Maximum linear velocity in m/s

~min_linear_vel (double, default: 0.05)

• Minimum linear velocity in m/s

~max_angular_vel (double, default: 1.0)

• Maximum angular velocity in rad/s

~min_angular_vel (double, default: 0.1)

• Minimum angular velocity in rad/s

~downsample_kinect (bool, default: true)

• Set true to downsample the pointcloud from the Kinect sensor

~leaf_size_kinect (double, default: 0.05)

• The leafsize to be used for the Voxel grid for downsampling

Usage

roslaunch robotino_node robotino_node.launch