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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for TurtleBot3

ROS API

turtlebot3_core

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

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

motor_power (std_msgs/Bool)

• Dynamixel Torque On/Of

reset (std_msgs/Empty)

• Reset Odometry and IMU Data. If you want to publish reset topic, type rostopic pub /reset std_msgs/Empty "{}"

sound (turtlebot3_msgs/Sound)

• Output Beep Sound

Published Topics

battery_state (sensor_msgs/BatteryState)

• Contains battery voltage and status

cmd_vel_rc100 (geometry_msgs/Twist)

• Control the translational and rotational speed of the robot with RC100 controller, unit in m/s, rad/s

diagnostics (diagnostic_msgs/DiagnosticArray)

• Contains self diagnostic information

imu (sensor_msgs/Imu)

• Topic that includes the attitude of the robot based on the acceleration and gyro sensor

joint_states (sensor_msgs/JointState)

• The state of a set of torque controlled joints

magnetic_field (sensor_msgs/MagneticField)

• Measurement of the Magnetic Field vector at a specific location

odom (nav_msgs/Odometry)

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

sensor_state (turtlebot3_msgs/SensorState)

• Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs

tf (tf2_msgs/tfMessage)

• Contains the coordinate transformation such as base_footprint and odom

version_info (turtlebot3_msgs/VersionInfo)

• Contains the Turtlebot3 hardware, firmware,and software information. You need a turtlebot3_msgs

Parameters

~baud (int, default: 115200)

• This is baud rate for serial communication

~port (string, default: /dev/ttyACM0)

• Name of serial port

turtlebot3_diagnostics

Subscribed Topics

imu (sensor_msgs/Imu)

• Topic that includes the attitude of the robot based on the acceleration and gyro sensor

scan (sensor_msgs/LaserScan)

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

sensor_state (turtlebot3_msgs/SensorState)

• Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs

version_info (turtlebot3_msgs/VersionInfo)

• Contains the Turtlebot3 hardware, firmware,and software information. You need a turtlebot3_msgs

Published Topics

diagnostics (diagnostic_msgs/DiagnosticArray)

• Contains self diagnostic information

turtlebot3_lds

Published Topics

rpms (std_msgs/Uint16)

• LDS rotation speed.

scan (sensor_msgs/LaserScan)

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

Parameters

~frame_id (string, default: base_scan)

• Set up coordinate of the LDS

~port (string, default: /dev/ttyUSB0)

• Name of serial port