<<PackageHeader(turtlebot3_example)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://turtlebot3.robotis.com/|ROBOTIS e-Manual for TurtleBot3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name= turtlebot3_marker_server

pub{
  0{
   name= cmd_vel
   type= geometry_msgs/Twist
   desc= Control the translational and rotational speed of the robot unit in m/s, rad/s.
  }
  1{
   name= turtlebot3_marker_server/update
   type= visualization_msgs/InteractiveMarkerUpdate
   desc= Topic that the top-level message for sending data from the interactive marker server to the client (i.e. rviz).
  }
  2{
   name= turtlebot3_marker_server/update_full
   type= visualization_msgs/InteractiveMarkerInit
   desc= Topic that initialize to avoid receiving duplicate data.
  }
}

sub{
  0{
   name= turtlebot3_marker_server
   type= visualization_msgs/InteractiveMarkerFeedback
   desc= The status of an interactive marker was modified by the user
  }
}
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name=robot_state_publisher

pub{
  0{
   name= tf
   type= tf2_msgs/TFMessage
   desc= Contains the coordinate transformation such as base_footprint and odom.
  }
  1{
   name= tf_static
   type= tf2_msgs/TFMessage
   desc= Topic has same format as "/tf", however it is expected that any transform on this topic can be considered true for all time.
  }
}

sub{
  0{
   name= joint_states
   type= sensor_msgs/JointState
   desc= The state of a set of torque controlled joints.
  }
}
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.2 {
name=turtlebot3_obstacle

pub{
  0{
   name= cmd_vel
   type= geometry_msgs/Twist
   desc= Control the translational and rotational speed of the robot unit in m/s, rad/s.
  }
}

sub{
  0{
   name= scan
   type= sensor_msgs/LaserScan
   desc= Topic that confirms the scan values of the [[http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/#overview|LiDAR]] mounted on the Turtlebot3.
  }
}
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.3 {
name=turtlebot3_pointop_key

pub{
  0{
   name= cmd_vel
   type= geometry_msgs/Twist
   desc= Control the translational and rotational speed of the robot unit in m/s, rad/s.
  }
}

sub{
  0{
   name= odom
   type= nav_msgs/Odometry
   desc= Contains the Turtlebot3’s odometry information based on the encoder and IMU.
  }
}
}
}}}
=== turtlebot3_client ===
==== Action Subscribed Topics ====
{{{
#!clearsilver CS/NodeAPI

sub{
  no_header= True
  0{
   name= turtlebot3/result
   type= turtlebot3_example/turtlebot3ActionResult
   desc= Result of goal state.
  }
}
}}}
==== Action Published Topics ====
{{{
#!clearsilver CS/NodeAPI

pub{
  no_header= True
  0{
   name= turtlebot3/goal
   type= turtlebot3_example/turtlebot3ActionGoal
   desc= Goal of the patrol route, count and area.
  }
}
}}}
=== turtlebot3_server ===
==== Action Subscribed Topics ====
{{{
#!clearsilver CS/NodeAPI

sub{
  no_header= True
  0{
   name= turtlebot3_server/goal
   type= turtlebot3_example/turtlebot3ActionGoal
   desc= Goal of the patrol route, count and area.
  }
}
}}}
==== Action Published Topics ====
{{{
#!clearsilver CS/NodeAPI

pub{
  no_header= True
  0{
   name= turtlebot3_server/result
   type= turtlebot3_example/turtlebot3ActionResult
   desc= Result of goal state.
  }
  1{
   name= turtlebot3_server/feedback
   type= turtlebot3_example/turtlebot3ActionFeedback
   desc= return to current patrol count
  }
}
}}}

{{{
#!clearsilver CS/NodeAPI

sub{
  0{
   name= joint_states
   type= sensor_msgs/JointState
   desc= The state of a set of torque controlled joints.
  }
  1{
   name= odom
   type= nav_msgs/Odometry
   desc= Contains the Turtlebot3’s odometry information based on the encoder and IMU.
  }
}
}}}