Contents
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
- Set the velocities for Robotino
Published Topics
analog_readings (robotino_msgs/AnalogReadings)- Readings from the analog sensors on Robotino
- Readings from the bumper sensor on Robotino
- Images from the camera(s) on Robotino
- Readings from the digital sensors on Robotino
- Readings from the distance sensors on Robotino
- Readings from the gripper on Robotino
- Encoder readings from Robotino
- Readings from the laser range finder on Robotino
- Readings from the motors on Robotino
- Readings from the north-star sensor on Robotino
- Power readings from Robotino
Services
set_gripper_state (robotino_msgs/SetGripperState)- Service to open or close the gripper
- Service to set the encoder position
- Service to reset the odometry
Parameters
~hostname (string, default: 192.168.5.5)- Robotino's IP Address
- Maximum linear velocity in m/s
- Minimum linear velocity in m/s
- Maximum angular velocity in rad/s
- Minimum angular velocity in rad/s
Usage
roslaunch robotino_node robotino_node.launch hostname:=IPADDRESS_OF_ROBOTINO
