<> <> ''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_panorama desc= This package is used [[http://wiki.ros.org/turtlebot_panorama|turtlebot_panorama]]. 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= panorama type= sensor_msgs/Image desc= publishes the stitched image with [[http://wiki.ros.org/image_transport|ImageTransport]] } } sub{ 0{ name= odom type= nav_msgs/Odometry desc= Contains the Turtlebot3’s odometry information based on the encoder and IMU. } 1{ name= camera/rgb/image_raw type= sensor_msgs/Image desc= This Topic contains an uncompressed image (0, 0) is at top-left corner of image. } } } }}} {{{ #!clearsilver CS/NodeAPI node.1 { name= raspicam_node desc= This package is used [[https://github.com/cedricve/raspicam|raspicam]]. pub{ 0{ name= camera_info type= sensor_msgs/CameraInfo desc= Topic that defines meta information for a camera. } 1{ name= image/compressed type= sensor_msgs/CompressedImage desc= Topic contains a compressed image. } } } }}} {{{ #!clearsilver CS/NodeAPI node.2 { name= republish desc= This package is used [[http://wiki.ros.org/image_transport|ImageTransport]]. pub{ 0{ name= camera/rgb/image_raw type= sensor_msgs/Image desc= This Topic contains an uncompressed image (0, 0) is at top-left corner of image. } } sub{ 0{ name= image/compressed type= sensor_msgs/CompressedImage desc= Topic contains a compressed image. } } } }}}