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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.

NOTE: Kinect Support has been removed in the catkin packages. For Kinect please use the openni packages externally.

ROS Nodes

robotino_node

Subscribed Topics

set_digital_values (robotino_msgs/DigitalReadings)

• Set digital values for digital output 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,)

• Images from the camera(s) 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

scan* (sensor_msgs/LaserScan)

• Readings from the laser range finder on Robotino

motor_readings (robotino_msgs/MotorReadings)

• Readings from the motors 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

Usage

roslaunch robotino_node robotino_node.launch hostname:=IPADDRESS_OF_ROBOTINO