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turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_sounds | turtlebot_teleop

Package Summary

turtlebot_actions provides several basic actionlib actions for the TurtleBot.

• Author: Helen Oleynikova, Melonee Wise
• License: BSD
• Repository: turtlebot-ros-pkg
• Source: hg https://kforge.ros.org/turtlebot/turtlebot_apps

Nodes

turtlebot_move_action_server

Provides an action server for moving the TurtleBot through a certain distance and rotation.

Published Topics

turtlebot_node/cmd_vel (geometry_msgs/Twist)

• Topic to publish drive commands to.

Parameters

~base_frame (string, default: base_link)

• TF frame name for the center of the base.

~odom_frame (string, default: odom)

• TF frame name for the odometry frame.

~turn_rate (double, default: 0.75)

• Maximum turn rate, in rad/s.

~forward_rate (double, default: 0.25)

• Maximum forward rate, in m/s.

Required tf Transforms

odom_frame → base_frame

• The transform we use to determine how far the robot has moved.

Actions

TurtlebotMove.action

#goal definition
float32 turn_distance     # in radians, ccw = +, cw = -
float32 forward_distance  # in meters, forward = +, backward = -
---
#result definition
float32 turn_distance
float32 forward_distance
---
#feedback
float32 turn_distance
float32 forward_distance

FindFiducial.action

#goal definition
uint8   CHESSBOARD = 1
uint8   CIRCLES_GRID = 2
uint8   ASYMMETRIC_CIRCLES_GRID =3

string    camera_name       # name of the camera 
uint8     pattern_width     # number of objects across
uint8     pattern_height    # number of objects down
float32   pattern_size      # size the object pattern (square size or circle size)
uint8     pattern_type      # type of pattern (CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID)
---
#result definition
geometry_msgs/PoseStamped pose
---
#feedback