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ROBOTIS e-Manual

• ROBOTIS e-Manual for TurtleBot3

ROS API

detect_lane

Subscribed Topics

detect/image_input/compressed (sensor_msgs/CompressedImage)

• Compressed image input that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/image_input (sensor_msgs/Image)

• Image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

Published Topics

detect/image_output/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub2/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1 (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub2 (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/yellow_line_reliability (std_msgs/UInt8)

• Yellow line reliability which will be calculated in every sequences of line detection. That will be done under counting each of color points.

detect/white_line_reliability (std_msgs/UInt8)

• White line reliability which will be calculated in every sequences of line detection. That will be done under counting each of color points.

Dynamic Reconfigure

• DetectLaneParams.cfg :

  #------------------ parameter for HSL detection of withe lane ------------------#
  gen.add("hue_white_l",         int_t,   0,   "hue_white_l",         0,   0, 179)
  gen.add("hue_white_h",         int_t,   0,   "hue_white_h",         179, 0, 179)
  gen.add("saturation_white_l",  int_t,   0,   "saturation_white_l",  0,   0, 255)
  gen.add("saturation_white_h",  int_t,   0,   "saturation_white_h",  255, 0, 255)
  gen.add("lightness_white_l",   int_t,   0,   "lightness_white_l",   0,   0, 255)
  gen.add("lightness_white_h",   int_t,   0,   "lightness_white_h",   255, 0, 255)
  
   ------------------ parameter for HSL detection of yellow lane -----------------#
  gen.add("hue_yellow_l",        int_t,   0,   "hue_yellow_l",        0,   0, 179)
  gen.add("hue_yellow_h",        int_t,   0,   "hue_yellow_h",        179, 0, 179)
  gen.add("saturation_yellow_l", int_t,   0,   "saturation_yellow_l", 0,   0, 255)
  gen.add("saturation_yellow_h", int_t,   0,   "saturation_yellow_h", 255, 0, 255)
  gen.add("lightness_yellow_l",  int_t,   0,   "lightness_yellow_l",  0,   0, 255)
  gen.add("lightness_yellow_h",  int_t,   0,   "lightness_yellow_h",  255, 0, 255)

detect_level

Subscribed Topics

detect/image_input/compressed (sensor_msgs/CompressedImage)

• Compressed image input that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/image_input (sensor_msgs/Image)

• Image input that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/level_crossing_order (std_msgs/UInt8)

• Level crossing node trigger

control/level_crossing_finished (std_msgs/UInt8)

• Finished level crossing node trigger

Published Topics

detect/image_output/compressed (sensor_msgs/CompressedImage)

• Compressed image output that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1/compressed (sensor_msgs/CompressedImag)

• Image output that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output (sensor_msgs/Image)

• Image output that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1 (sensor_msgs/Image)

• Image output that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/level_crossing_stamped (std_msgs/UInt8)

• Progress of level crossing on internal side of this node

control/level_crossing_start (std_msgs/UInt8)

• Level crossing control node trigger

control/max_vel (std_msgs/Float64)

• Maximum x axis linear speed

Dynamic Reconfigure

• DetectLevelParams.cfg :

  #------------------ parameter for HSL detection of red color ------------------#
  gen.add("hue_red_l",           int_t,   0,   "hue_red_l",           0,   0, 179)
  gen.add("hue_red_h",           int_t,   0,   "hue_red_h",           179, 0, 179)
  gen.add("saturation_red_l",    int_t,   0,   "saturation_red_l",    0,   0, 255)
  gen.add("saturation_red_h",    int_t,   0,   "saturation_red_h",    255, 0, 255)
  gen.add("lightness_red_l",     int_t,   0,   "lightness_red_l",     0,   0, 255)
  gen.add("lightness_red_h",     int_t,   0,   "lightness_red_h",     255, 0, 255)

detect_parking

Subscribed Topics

detect/parking_lot_order (std_msgs/UInt8)

• Parking node trigger

detect/scan (sensor_msgs/LaserScan)

• Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3

control/parking_finished (std_msgs/UInt8)

• Finished parking node trigger

detect/image_input/compressed (sensor_msgs/CompressedImage)

• Compressed image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/image_input (sensor_msgs/Image)

• Image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

Published Topics

detect/image_output/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/parking_lot_stamped (std_msgs/UInt8)

• Progress of parkig on internal side of this node

control/parking_start (std_msgs/UInt8)

• Started parking node trigger

control/max_vel (std_msgs/Float64)

• Maximum x axis linear speed

detect_sign

Subscribed Topics

detect/image_input/compressed (sensor_msgs/CompressedImage)

• Compressed image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/image_input (sensor_msgs/Image)

• Image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

Published Topics

detect/image_output/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/traffic_sign (std_msgs/UInt8)

• Decision traffic sign

detect_traffic_light

Subscribed Topics

detect/image_input/compressed (sensor_msgs/CompressedImage)

• Compressed image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch file

detect/image_input (sensor_msgs/Image)

• Image inputs that can vary based on every processes in the nodes. Every image input topics might be modified into designated names from the launch fil

control/traffic_light_finished (std_msgs/UInt8)

• Finished traffic light node trigger

Published Topics

detect/image_output/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub2/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub3/compressed (sensor_msgs/CompressedImage)

• Compressed image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub1 (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub2 (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/image_output_sub3 (sensor_msgs/Image)

• Image outputs that can vary based on every processes in the nodes. Every image output topics might be modified into designated names from the launch file

detect/traffic_light_stamped (std_msgs/UInt8)

• progress of traffic light

control/traffic_light_start (std_msgs/UInt8)

• Started traffic light node trigger

control/max_vel (std_msgs/Float64)

• Maximum x axis linear speed

Dynamic Reconfigure

• DetectLevelParams.cfg :

  #------------- parameter for HSL detection of traffic red light ---------------#
  gen.add("hue_red_l",           int_t,   0,   "hue_red_l",           0,   0, 179)
  gen.add("hue_red_h",           int_t,   0,   "hue_red_h",           179, 0, 179)
  gen.add("saturation_red_l",    int_t,   0,   "saturation_red_l",    0,   0, 255)
  gen.add("saturation_red_h",    int_t,   0,   "saturation_red_h",    255, 0, 255)
  gen.add("lightness_red_l",     int_t,   0,   "lightness_red_l",     0,   0, 255)
  gen.add("lightness_red_h",     int_t,   0,   "lightness_red_h",     255, 0, 255)
  
  #------------ parameter for HSL detection of traffic yellow light -------------#
  gen.add("hue_yellow_l",        int_t,   0,   "hue_yellow_l",        0,   0, 179)
  gen.add("hue_yellow_h",        int_t,   0,   "hue_yellow_h",        179, 0, 179)
  gen.add("saturation_yellow_l", int_t,   0,   "saturation_yellow_l", 0,   0, 255)
  gen.add("saturation_yellow_h", int_t,   0,   "saturation_yellow_h", 255, 0, 255)
  gen.add("lightness_yellow_l",  int_t,   0,   "lightness_yellow_l",  0,   0, 255)
  gen.add("lightness_yellow_h",  int_t,   0,   "lightness_yellow_h",  255, 0, 255)
  
  #------------ parameter for HSL detection of traffic green light --------------#
  gen.add("hue_green_l",         int_t,   0,   "hue_green_l",         0,   0, 179)
  gen.add("hue_green_h",         int_t,   0,   "hue_green_h",         179, 0, 179)
  gen.add("saturation_green_l",  int_t,   0,   "saturation_green_l",  0,   0, 255)
  gen.add("saturation_green_h",  int_t,   0,   "saturation_green_h",  255, 0, 255)
  gen.add("lightness_green_l",   int_t,   0,   "lightness_green_l",   0,   0, 255)
  gen.add("lightness_green_h",   int_t,   0,   "lightness_green_h",   255, 0, 255)

detect_tunnel

Subscribed Topics

detect/tunnel_order (std_msgs/UInt8)

• Tunnel node trigger

move_base/result (move_base_msgs/MoveBaseActionResult)

• Return the move action result

odom (sensor_msgs/Odometry)

• Contains the Turtlebot3’s odometry information based on the encoder and IMU

Published Topics

detect/tunnel_stamped (std_msgs/UInt8)

• Progress of tunnel

move_base_simple/goal (geometry_msgs/PoseStamped)

• Topic that goal position of tunnel exit

control/cmd_vel (geometry_msgs/Twist)

• Control the translational and rotational speed of the robot unit in m/s, rad/s

control/max_vel (std_msgs/Float64)

• Maximum x axis linear speed