ROS-Thymio: thymio_driver reference =================================== Executable ---------- .. _thymio_driver: thymio_driver ~~~~~~~~~~~~~ Parameters ^^^^^^^^^^ .. _param-axis_length: axis_length """""""""""" :Type: float :Default: ``0.0915`` .. _param-ground_threshold: ground.threshold """""""""""""""" :Type: float] :Default: ``200`` left_wheel_joint """""""""""""""" :Type: string :Default: ``"left_wheel_joint"`` right_wheel_joint """"""""""""""""" :Type: string :Default: ``"right_wheel_joint"`` odom_frame """""""""" :Type: string :Default: ``"odom"`` odom_max_rate """"""""""""" :Type: float :Default: ``-1`` robot_frame """"""""""" :Type: string :Default: ``"base_link"`` tf_prefix """"""""" :Type: string :Default: ``""`` Publishers ^^^^^^^^^^^ Internal ``asebaros`` topics of type :ref:`Event` """""""""""""""""""""""""""""""""""""""""""""""""""""""" - ``/aseba/events/enable_comm: asebaros_msgs/msg/Event`` - ``/aseba/events/play_sound: asebaros_msgs/msg/Event`` - ``/aseba/events/play_system_sound: asebaros_msgs/msg/Event`` - ``/aseba/events/set_comm_payload: asebaros_msgs/msg/Event`` - ``/aseba/events/set_led: asebaros_msgs/msg/Event`` - ``/aseba/events/set_led_bottom_left: asebaros_msgs/msg/Event`` - ``/aseba/events/set_led_bottom_right: asebaros_msgs/msg/Event`` - ``/aseba/events/set_led_gesture: asebaros_msgs/msg/Event`` - ``/aseba/events/set_led_top: asebaros_msgs/msg/Event`` - ``/aseba/events/set_sound_threshold: asebaros_msgs/msg/Event`` - ``/aseba/events/set_speed: asebaros_msgs/msg/Event`` - ``/aseba/events/shutdown: asebaros_msgs/msg/Event`` .. _pub-all_buttons: All Buttons """"""""""" :topic: ``buttons`` :type: sensor_msgs/msg/Joy .. _pub-individual_buttons: Individual Buttons """"""""""""""""""" :Topic: ``buttons/{backward,center,forward,left,right}`` :Type: std_msgs/msg/Bool .. _pub-comm_rx: Proximity Communication Received """""""""""""""""""""""""""""""""" :Topic: ``comm/rx`` :Type: :ref:`Comm` .. _pub-ground: Ground Sensors """"""""""""""" :Topic: ``ground/{left,right}`` :Type: sensor_msgs/msg/Range .. _pub-imu: IMU """" :Topic: ``imu`` :Type: sensor_msgs/msg/Imu .. _pub-joints: Joint States """""""""""" :Topic: ``joint_states`` :Type: sensor_msgs/msg/JointState .. _odometry_pub: Odometry """""""""""" :Topic: ``odom`` :Type: nav_msgs/msg/Odometry .. _pub-proximity: Proximity Sensors """"""""""""""""" :Topic: ``proximity/{left,center_left,center,center_right,right,rear_left,rear_right}`` :Type: sensor_msgs/msg/Range .. _pub-proximity_scan: Proximity Sensors Scan """"""""""""""""""""""""""" :Topic: ``proximity/laser`` :Type: sensor_msgs/msg/LaserScan .. _pub-remote: Remote Controller """"""""""""""""" :Topic: ``remote`` :Type: std_msgs/msg/Int8 .. _pub-sound: Sound """"" :Topic: ``sound`` :Type: std_msgs/msg/Float32 .. _pub-tap: Tap """"" :Topic: ``tap`` :Type: std_msgs/msg/Empty .. _pub-temperature: Temperature """""""""""" :Topic: ``temperature`` :Type: sensor_msgs/msg/Temperature Subscribers ^^^^^^^^^^^ Internal ``asebaros`` topics of type :ref:`Event` """""""""""""""""""""""""""""""""""""""""""""""""""""""" - ``aseba/events/accelerometer`` - ``aseba/events/button_backward: asebaros_msgs/msg/Event`` - ``aseba/events/button_center: asebaros_msgs/msg/Event`` - ``aseba/events/button_forward: asebaros_msgs/msg/Event`` - ``aseba/events/button_left: asebaros_msgs/msg/Event`` - ``aseba/events/button_right: asebaros_msgs/msg/Event`` - ``aseba/events/buttons: asebaros_msgs/msg/Event`` - ``aseba/events/comm: asebaros_msgs/msg/Event`` - ``aseba/events/ground: asebaros_msgs/msg/Event`` - ``aseba/events/odometry: asebaros_msgs/msg/Event`` - ``aseba/events/proximity: asebaros_msgs/msg/Event`` - ``aseba/events/remote: asebaros_msgs/msg/Event`` - ``aseba/events/sound: asebaros_msgs/msg/Event`` - ``aseba/events/tap: asebaros_msgs/msg/Event`` - ``aseba/events/temperature: asebaros_msgs/msg/Event`` .. _sub-alarm: Alarm """""" :Topic: ``alarm`` :Type: std_msgs/msg/Bool .. _pub-speed: Velocity command """"""""""""""""" :Topic: ``cmd_vel`` :Type: geometry_msgs/msg/Twist .. _sub-comm_enable: Proximity Communication Enable """""""""""""""""""""""""""""" :Topic: ``comm/enable`` :Type: std_msgs/msg/Bool .. _sub-comm_tx: Proximity Communication Transmit """""""""""""""""""""""""""""""" :Topic: ``comm/tx`` :Type: std_msgs/msg/Int16 .. _sub-led: LED """ :Topic: ``led`` :Type: thymio_msgs/msg/Led .. _sub-body_led: Body LED """""""" :Topic: ``led/body/{bottom_left,bottom_right,top}`` :Type: std_msgs/msg/ColorRGBA .. _sub-led_gestures: LED Gestures """""""""""" :Topic: ``led/gesture`` :Type: ``thymio_msgs/msg/LedGesture`` :Topic: ``led/gesture/alive`` :Type: std_msgs/msg/Empty :Topic: ``led/gesture/blink`` :Type: std_msgs/msg/Float32 :Topic: ``led/gesture/circle`` :Type: std_msgs/msg/Float32 :Topic: ``led/gesture/kit`` :Type: std_msgs/msg/Float32 :Topic: ``led/gesture/off`` :Type: std_msgs/msg/Empty .. _sub-pure_sound: Play Sound """""""""" :Topic: ``sound/play`` :Type: :ref:`Sound` .. _sub-system_sound: Play System Sound """"""""""""""""" :Topic: ``sound/play/system`` :Type: :ref:`SystemSound` .. _sub-sound_threshold: Set sound threshold """""""""""""""""""" :Topic: ``sound_threshold`` :Type: std_msgs/msg/Float32 .. /shutdown: std_msgs/msg/Empty Services ^^^^^^^^ Ready """"" :Service: ``is_ready`` :Type: std_srvs/srv/Empty .. _multi_thymio_driver: multi_thymio_driver ~~~~~~~~~~~~~~~~~~~~ Parameters ^^^^^^^^^^ All parameters of :ref:`thymio_driver` launch_model """"""""""""" :Type: string :Default: ``""`` Subscribers ^^^^^^^^^^^ All subscribers of :ref:`thymio_driver` with a ```` for *each* Thymio connected. Internal ``asebaros`` topic """""""""""""""""""""""""""" :Topic: ``aseba/nodes`` :Type: :ref:`NodeList` Publishers ^^^^^^^^^^^ All publishers of :ref:`thymio_driver` with a ```` for *each* Thymio connected. Launch files ------------ .. _main.launch: main.launch ~~~~~~~~~~~ Launches the single- or multi- thymio driver and, if configured, includes :ref:`model.launch`. Arguments ^^^^^^^^^ axis_length """""""""""" :Type: float :Default: ``0.0935`` odom_max_rate """"""""""""" :Type: float :Default: ``-1`` single """""""""""" :Type: boolean :Default: ``True`` name """"" :Type: string :Default: ``""`` simulation """""""""""" :Type: boolean :Default: ``False`` simulation_has_reduced_api """"""""""""""""""""""""""" :Type: boolean :Default: ``True`` calibration_file """"""""""""""""" :Type: string :Default: ``"$HOME/.ros/thymio_calibration.yaml"`` device """""""""""" :Type: string :Default: ``""`` port """""""""""" :Type: integer :Default: ``44444`` .. _param-emit_period: .. _param-emit_motor: highest_acceptable_protocol_version """"""""""""""""""""""""""""""""""""" :Type: int :Default: ``100`` emit_motor """""""""""" :Type: integer (binary) :Default: ``1`` .. _param-emit_buttons: emit_buttons """""""""""" :Type: integer (binary) :Default: ``0`` .. _param-emit_acc: emit_acc """""""""""" :Type: integer (binary) :Default: ``1`` .. _param-emit_ground_raw: emit_ground_raw """"""""""""""" :Type: integer (binary) :Default: ``0`` .. _param-emit_proximity: emit_proximity """"""""""""""" :Type: integer (binary) :Default: ``1`` .. _param-enable_prox_comm: enable_prox_comm """""""""""""""" :Type: integer (binary) :Default: ``1`` .. _param-motor_deadband: motor_deadband """""""""""""" :Type: integer (binary) :Default: ``10`` .. _param-motor_period: motor_period """"""""""""""" :Type: integer :Default: ``5`` .. _param-acc_period: acc_period """"""""""""""" :Type: integer :Default: ``2`` .. _param-buttons_period: buttons_period """""""""""""""" :Type: integer :Default: ``5``