ROS Nodes


ROS interface to the kinematics and the basic sensors of EduArt's IOTbot.

Subscribed Topics

joy (sensor_msgs/Joy)
  • Subscriber to standard ROS Joy message. The concept is adjusted to an Extreme 3D Pro. Alternatively, the ROS package iotbot_virtual_joy can be used.
vel/teleop (geometry_msgs/Twist)
  • Subscriber to standard ROS Twist message.

Published Topics

rpm (std_msgs/Float32MultiArray)
  • Revolution speed of wheels in RPM.
tof (std_msgs/Float32MultiArray)
  • Distance measurements of the infrared sensors integrated in the lighting concept.
voltage (std_msgs/Float32)
  • Battery voltage
imu (sensor_msgs/Imu)
  • Measurements of integrated IMU


enable (std_srvs/SetBool)
  • enables the drive.

Basic Installation

This package is intended to be used on the Siemens SIMATIC IOT2050 gateway. It is the core component of the IOTbot. For low-level interfacing the MRAA library is used. For ROS installation instructions on the IOT2050, please consult the page https://github.com/EduArt-Robotik/iotbot.

Wiki: iotbot (last edited 2022-02-09 13:54:03 by StefanMay)