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Ros API

Kobuki Nodelet

Provides a control loop and exposes ros api for the kobuki_driver.

Subscribed Topics

~commands/motor_power (kobuki_msgs/MotorPower)

• Turn on/off Kobuki's motors.

~commands/external_power (kobuki_msgs/ExternalPower)

• Turn on/off Kobuki's external power sources.

~commands/reset_odometry (std_msgs/Empty)

• Resets Kobuki odometry

~commands/sound (kobuki_msgs/Sound)

• Sends a command for playing sounds.

~commands/led1 (kobuki_msgs/Led)

• Sends a command for controlling the first programmable LED's color.

~commands/led2 (kobuki_msgs/Led)

• Sends a command for controlling the second programmable LED's color.

~commands/digital_output (kobuki_msgs/DigitalOutput)

• Sets values for the digital output ports.

~commands/velocity (geometry_msgs/Twist)

• Sets the desired velocity of the robot.

Published Topics

odom (nav_msgs/Odometry)

• The odometry of the robot based on the gyro and motor encoders.

diagnostics (diagnostic_msgs/DiagnosticArray)

• The system diagnostic information published at 1Hz.

joint_states (sensor_msgs/JointState)

• Updated state for wheel joints.

~events/button (kobuki_msgs/ButtonEvent)

• Provides a button event, generated whenever a button is pressed or released.

~events/bumper (kobuki_msgs/BumperEvent)

• Provides a bumper event, generated whenever a bumper is pressed or released.

~events/cliff (kobuki_msgs/CliffEvent)

• Provides a cliff sensor event, generated whenever the robot approaches or moves away from a cliff.

~events/wheel_drop (kobuki_msgs/WheelDropEvent)

• Provides a wheel drop event, generated whenever a wheel is dropped (robot fell or was raised) or raised (normal condition).

~events/power_system (kobuki_msgs/PowerSystemEvent)

• Power system events, generated by important changes in the power system, like plug/unplug to charger, low/critical battery levels or battery charge completed.

~events/robot_state (kobuki_msgs/RobotStateEvent)

• Provides a robot state event, generated whenever the robot gets online/offline.

~events/digital_input (kobuki_msgs/DigitalInputEvent)

• Generated whenever digital input ports state changes.

~sensors/imu_data (sensor_msgs/Imu)

• Gyroscope data messages. Provides both heading and angular velocity.

~sensors/imu_data_raw (sensor_msgs/Imu)

• Raw data of 3D Gyroscope. Provides angular velocity of x-, y-, and z-axis. But not provides linear accelerations and orientation.

~sensors/dock_ir (kobuki_msgs/DockInfraRed)

• Docking base ir sensors messages. Generated on the proximity of the docking base to assist the automatic docking.

~sensors/core (kobuki_msgs/SensorState)

• Kobuki sensor data messages. This topic provides detailed information about the entire state package that is transmitted at 50Hz from the robot.

~version_info (kobuki_msgs/VersionInfo)

• Contains unique device id, version info and available features for the kobuki platform. Useful for compatibility checking and introspection.

Parameters

~device_port (string, default: /dev/kobuki)

• Linux USB device port; robots are factory-flashed with '/dev/kobuki', but this name can be easily changed (check kobuki_ftdi package for details).

~wheel_left_joint_name (string, default: wheel_left_joint)

• Published name of left wheel joint state.

~wheel_right_joint_name (string, default: wheel_right_joint)

• Published name of right wheel joint state.

~battery_capacity (double, default: 16.5)

• Battery voltage at full charge.

~battery_low (double, default: 13.5)

• Battery voltage at first warning (15%).

~battery_dangerous (double, default: 13.2)

• Battery voltage at critical level (5%).

~cmd_vel_timeout (double, default: 0.6)

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

~publish_tf (bool, default: False)

• Causes node to publish TF from odom to base_link. In most cases this transform is published by robot_pose_ekf; use only when this package is not used.

~odom_frame (string, default: odom)

• Name of the odometry TF frame.

~base_frame (string, default: base_footprint)

• Name of the base TF frame.

~acceleration_limiter (bool, default: false)

• Enable if you want the kobuki to do minimal acceleration smooth to velocity command inputs. Alternatively use a proper velocity smoother as a nodelet alongside the kobuki nodelet.

Report a Bug

Use github to report bugs or request features.