The B21 is a robot which uses the RFlex driver.


  • Ring of 24 sonar sensors on its base
  • Ring of 24 sonar sensors on its body
  • Ring of 24 IR sensors on its body
  • 2 bumps sensors per panel
    • 12 on body, 16 on base


Controls B21 type robots. Awesomely.

Subscribed Topics

~cmd_vel (geometry_msgs/Twist)
  • Motor Commands
~cmd_accel (std_msgs/Float32)
  • Translational acceleration
~cmd_sonar_power (std_msgs/Bool)
  • Turns the sonar on and off
~cmd_brake_power (std_msgs/Bool)
  • Turns the brake on and off

Published Topics

~sonar_cloud_base (sensor_msgs/PointCloud)
  • Point Cloud from Base. Uses base reference frame.
~sonar_cloud_body (sensor_msgs/PointCloud)
  • Point Cloud from Body. Uses body reference frame.
~sonar_power (std_msgs/Bool)
  • Broadcasts whether sonar is on
~brake_power (std_msgs/Bool)
  • Broadcasts whether brake is on
~voltage (std_msgs/Float32)
  • Current battery voltage
~odom (nav_msgs/Odometry)
  • Current odometry
~plugged_in (std_msgs/Bool)
  • Whether or not the robot's battery is plugged in


~port (String, default: /dev/ttyUSB0)
  • Filename of port that the robot is connected on
~rate (Integer, default: 10)
  • Main loop rate in hertz

Wiki: rflex/B21 (last edited 2010-02-17 00:06:55 by DavidLu)