The robotino_node package implements the robotino_node node which interfaces the Robotino API2 with ROS. The robotino_node publishes the data from Robotino on various topics and also implements a few services. The robotino_node is also subscribed to a few topics to receive set values.

NOTE: Kinect Support has been removed in the catkin packages. For Kinect please use the openni packages externally.

ROS Nodes


Subscribed Topics

set_digital_values (robotino_msgs/DigitalReadings)
  • Set digital values for digital output on Robotino
cmd_vel (geometry_msgs/Twist)
  • Set the velocities for Robotino

Published Topics

analog_readings (robotino_msgs/AnalogReadings)
  • Readings from the analog sensors on Robotino
bumper (std_msgs/Bool)
  • Readings from the bumper sensor on Robotino
image_raw* (sensor_msgs/Image,)
  • Images from the camera(s) on Robotino
digital_readings (robotino_msgs/DigitalReadings)
  • Readings from the digital sensors on Robotino
distance_sensors (sensor_msgs/PointCloud)
  • Readings from the distance sensors on Robotino
gripper_state (robotino_msgs/GripperState)
  • Readings from the gripper on Robotino
encoder_readings (robotino_msgs/EncoderReadings)
  • Encoder readings from Robotino
scan* (sensor_msgs/LaserScan)
  • Readings from the laser range finder on Robotino
motor_readings (robotino_msgs/MotorReadings)
  • Readings from the motors on Robotino
odom (nav_msgs/Odometry)
  • Readings from the north-star sensor on Robotino
power_readings (robotino_msgs/PowerReadings)
  • Power readings from Robotino


set_gripper_state (robotino_msgs/SetGripperState)
  • Service to open or close the gripper
set_encoder_position (robotino_msgs/SetEncoderPosition)
  • Service to set the encoder position
reset_odometry (robotino_msgs/ResetOdometry)
  • Service to reset the odometry


~hostname (string, default:
  • Robotino's IP Address
~max_linear_vel (double, default: 0.2)
  • Maximum linear velocity in m/s
~min_linear_vel (double, default: 0.05)
  • Minimum linear velocity in m/s
~max_angular_vel (double, default: 1.0)
  • Maximum angular velocity in rad/s
~min_angular_vel (double, default: 0.1)
  • Minimum angular velocity in rad/s


roslaunch robotino_node robotino_node.launch hostname:=IPADDRESS_OF_ROBOTINO

Wiki: robotino_node (last edited 2016-06-21 07:50:26 by SebastianDenz)