ROS-Aseba: asebaros reference

The asebaros package contains a single executable node asebaros.

Executable asebaros

Parameters

You can list all parameter of asebaros with

rosparam list asebaros

ros2 param list /asebaros

and get all their values with

rosparam dump asebaros

ros2 param dump /asebaros --print

No parameter is dynamic, i.e., no parameter should be modified at run-time.

targets

A list of valid Dashel targets.

Type: [string]
Default: []

port

The local tcp port where to forward Aseba messages.

Type: integer
Default: 33333

loop

A flag to not only forward, but also to send back Aseba messages to the sender.

Type: bool
Default: false

shutdown_on_unconnect

Whenever to shutdown the asebaros as soon as one Aseba node disconnect.

Type: bool
Default: false

reset_on_closing

Whenever to reset Aseba nodes before terminating asebaros node.

Type: bool
Default: false

set_id_variable

Whenever to force resetting the id variable of Aseba nodes. Only needed for Aseba nodes simulated with Aseba Playground, which have their internal id set to the same value.

Type: bool
Default: false

highest_acceptable_protocol_version

Force asebaros to accept node running an Aseba protocol version possibly higher than the protocol version used by asebaros. If set lower than the compile-time constant ASEBA_PROTOCOL_VERSION=5, then the parameter is reset to ASEBA_PROTOCOL_VERSION.

Type: int
Default: ASEBA_PROTOCOL_VERSION=5

nodes

A map [key -> config], with arbitrary keys and values that correspond to classes of Aseba nodes identified by id and name. Unspecified values for name or id are interpreted as a wildcards.

Type: [string -> NodeConfig]
Default: []

NodeConfig is a map that contains the following parameters:

name

The Aseba name. Leave empty or omit to target all type of nodes.

Type: string
Default: ""

id

The Aseba id. Set to -1 or omit to target all ids (for a given name).

Type: integer
Default: -1

accept

Whenever to connect an Aseba node to ROS.

Type: bool
Default: true

maximal_number

The maximal number of Aseba nodes to connect to ROS. A negative number is interpreted as unbounded.

Type: int
Default: -1

prefix

The prefix to be used to build the ROS namespace for an Aseba node as "{prefix}{id}" if namespace is not specified.

Type: string
Default: ""

namespace

The ROS namespace to assign to an Aseba node. If left empty, `prefix` will be used to form the namespace instead.

Type: string
Default: ""

id_variable

The name of the Aseba variable that stores the internal node id.

Type: string
Default: ""

include_id_in_events

Whenever ROS events forwarded from ROS to Aseba have to include the targeted Aseba node id.

Type: bool
Default: false

script

A map that contains the following parameters:

reload_on_reconnect

Whenver to reload an Aseba script when a disconnect node connects again.

Type: bool
Default: false

path

The absolute path of a file storing an Aseba script.

Type: string
Default: ""

constants

A dictionary [name -> value] with the integer values of named constants.

Type: [string -> int]
Default: []

Publishers

You can list all subscribers and publishers of asebaros with

rosnode info /asebaros

ros2 node info /asebaros

Anonymous events

Aseba events for which asebaros cannot match a known node or event, see Events.

Topic: aseba/anonymous_events
Type: AnonymousEvent

Events

For each event associated to an Aseba node, the first time an Aseba event is received, a publisher is created, see Events.

Topic: <node_namespace>/aseba/events/<event_name>
Type: Event

Node list

The publisher sends a notification when a Aseba node connects, disconnects, or loads a script. ROS1 publishers are latched, ROS2 publishers have qos durability set to transient_local.

Topic: aseba/nodes
Type: NodeList

Node description

For each Aseba node, a publisher sends notification when the Aseba node description changes. ROS1 publishers are latched, ROS2 publishers have qos durability set to transient_local.

Topic: <node_namespace>/aseba/description
Type: NodeList

Subscribers

Anonymous events

Anonymous events get directly forwarded to Aseba, see Events.

Topic: aseba/anonymous_events
Type: AnonymousEvent

Events

For each event in a script, a subscriber is created once the script is loaded on an Aseba node. Events get forwarded to Aseba only if source==0. The id of the node corresponding to <node_namespace> is added to the payload if include_id_in_events is set, see Events.

Topic: <node_namespace>/aseba/events/<event_name>
Type: Event

Services

Get node description

Serves the node description as an alternative to subscribing to <node_namespace>/aseba/description

Service: <node_namespace>/aseba/get_description
Type: GetDescription

Load script

Load a script to a set of nodes.

Service: aseba/load_script
Type: LoadScript

Get node list

Serve the current node list, as an alternative to subscribing to `aseba/nodes

Service: aseba/get_nodes
Type: GetNodeList

Get variable

Get an Aseba node variable specified by name.

Service: <node_namespace>/aseba/get_variable
Type: GetVariable

Set variable

Set an Aseba node variable specified by name.

Service: <node_namespace>/aseba/set_variable
Type: SetVariable