turtlebot_node provides output from the turtlebot_driver over ROS and includes the diagnostics, gyro, and laptop battery integration.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • The desired velocity of the robot. The type of this message is determined by the drive_mode parameter. Default is geometry_msgs/Twist.

Published Topics

~sensor_state (turtlebot_node/TurtlebotSensorState)
  • The sensor state updated at 10Hz.
odom (nav_msgs/Odometry)
  • The odometry of the robot based on the gyro and sensor_state.
imu/data (sensor_msgs/Imu)
  • The angular velocity and integrated position of the gryo.
/diagnostics (diagnostic_msgs/DiagnosticArray)
  • The system diagnostic information published at 1Hz.


~set_digital_outputs (turtlebot_node/SetDigitalOutputs)
  • Enables and disables the three digital outputs.
~set_operation_mode (turtlebot_node/SetTurtlebotMode)
  • Set the operation mode of the iRobot Create. The message values for digital out and operation mode are found in turtlebot_node/TurtlebotSensorState.
  • passive: The robot can only be charged in this mode but cannot be commanded in this mode.
  • safe: The robot cannot be commanded in this mode or be charged in this mode.
  • full: The robot cannot be charged in this mode but can be commanded.


~port (string, default: /dev/ttyUSB0)
  • Linux USB device from which to read the data.
~update_rate (float, default: 30.0)
  • Rate, in Hz, at which to communicate with the Create.
~drive_mode (string, default: twist) ~gyro_scale_correction (double, default: 1.35)
  • Scaling factor for correct gyro operation.
~odom_angular_scale_correction (double, default: 1.0)
  • A correction applied to the computation of the rotation in the odometry.
~odom_linear_scale_correction (double, default: 1.0)
  • A correction applied to the computation of the translation in odometry.
~cmd_vel_timeout (double, default: 0.6)
  • If a new command isn't received within this many seconds, the Create is stopped.
~stop_motors_on_bump (bool, default: True)
  • If True, then disallow forward motion if any bumper or wheeldrop sensor is activated (backing up and rotating are allowed).
~min_abs_yaw_vel (float, default: None)
  • If defined, it is the minimum (non-zero) absolute rotational velocity, in radians / second, that will be commanded. Set this parameter if you want to avoid commanding very low rotational velocities, which can cause trouble with odometry.
~bonus (bool, default: False)
  • Plays Mario Bros. theme song.
~publish_tf (bool, default: False)
  • Causes node to publish TF for odom to base_link, use only when no gyro exists.
~odom_frame (string, default: odom)
  • Name of the odometry TF frame.
~base_frame (string, default: base_footprint)
  • Name of the base TF frame.
~robot_type (string, default: create)
  • The type of the robot. Can be set to create or roomba at the moment. provides the laptop battery status to the diagnostics.

Published Topics

/diagnostics (diagnostic_msgs/DiagnosticArray)
  • The laptop battery diagnostic information published at 1Hz.
laptop_charge (turtlebot_node/LaptopChargeStatus)
  • Machine readable laptop charge status at 1Hz.


kinect_breaker_enabler enables the kinect breaker (0) for powering the kinect by putting the create in full mode and turning breaker 0 on.

Wiki: turtlebot_node (last edited 2012-02-23 09:21:30 by Lorenz Mösenlechner)