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ROBOTIS e-Manual

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

Wiki: turtlebot3_autorace_detect (last edited 2018-04-10 01:27:29 by Gilbert)