turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

Package Summary

This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.

turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

Package Summary

This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

turtlebot3_marker_server

Subscribed Topics

turtlebot3_marker_server (visualization_msgs/InteractiveMarkerFeedback)
  • The status of an interactive marker was modified by the user

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Control the translational and rotational speed of the robot unit in m/s, rad/s.
turtlebot3_marker_server/update (visualization_msgs/InteractiveMarkerUpdate)
  • Topic that the top-level message for sending data from the interactive marker server to the client (i.e. rviz).
turtlebot3_marker_server/update_full (visualization_msgs/InteractiveMarkerInit)
  • Topic that initialize to avoid receiving duplicate data.

robot_state_publisher

Subscribed Topics

joint_states (sensor_msgs/JointState)
  • The state of a set of torque controlled joints.

Published Topics

tf (tf2_msgs/TFMessage)
  • Contains the coordinate transformation such as base_footprint and odom.
tf_static (tf2_msgs/TFMessage)
  • Topic has same format as "/tf", however it is expected that any transform on this topic can be considered true for all time.

turtlebot3_obstacle

Subscribed Topics

scan (sensor_msgs/LaserScan)
  • Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3.

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Control the translational and rotational speed of the robot unit in m/s, rad/s.

turtlebot3_pointop_key

Subscribed Topics

odom (nav_msgs/Odometry)
  • Contains the Turtlebot3’s odometry information based on the encoder and IMU.

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Control the translational and rotational speed of the robot unit in m/s, rad/s.

turtlebot3_client

Action Subscribed Topics

turtlebot3/result (turtlebot3_example/turtlebot3ActionResult)

  • Result of goal state.

Action Published Topics

turtlebot3/goal (turtlebot3_example/turtlebot3ActionGoal)

  • Goal of the patrol route, count and area.

turtlebot3_server

Action Subscribed Topics

turtlebot3_server/goal (turtlebot3_example/turtlebot3ActionGoal)

  • Goal of the patrol route, count and area.

Action Published Topics

turtlebot3_server/result (turtlebot3_example/turtlebot3ActionResult)

  • Result of goal state.
turtlebot3_server/feedback (turtlebot3_example/turtlebot3ActionFeedback)
  • return to current patrol count

Subscribed Topics

joint_states (sensor_msgs/JointState)
  • The state of a set of torque controlled joints.
odom (nav_msgs/Odometry)
  • Contains the Turtlebot3’s odometry information based on the encoder and IMU.

Wiki: turtlebot3_example (last edited 2018-04-06 08:58:11 by Gilbert)