Contents
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
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
- Dynamixel Torque On/Of
- Reset Odometry and IMU Data. If you want to publish reset topic, type rostopic pub /reset std_msgs/Empty "{}"
- Output Beep Sound
Published Topics
battery_state (sensor_msgs/BatteryState)- Contains battery voltage and status
- Control the translational and rotational speed of the robot with RC100 controller, unit in m/s, rad/s
- Contains self diagnostic information
- Topic that includes the attitude of the robot based on the acceleration and gyro sensor
- The state of a set of torque controlled joints
- Measurement of the Magnetic Field vector at a specific location
- Contains the Turtlebot3’s odometry information based on the encoder and IMU
- Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs
- Contains the coordinate transformation such as base_footprint and odom
- 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
- 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
- Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3
- Topic that contains the values of the sensors mounted on the Turtlebot3. You need a turtlebot3_msgs
- 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.
- 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
- Name of serial port