ROS-Aseba: asebaros_msgs reference

The package asebaros_msgs only define interfaces.

Interfaces

You can list of interfaces defined in asebaros_msgs

rosmsgs package asebaros_msgs
rossrv package asebaros_msgs

Messages

AnonymousEvent

time stamp
uint16 source
uint16 type
int16[] data
stamp:

is the time-stamp when the Aseba event is received by asebaros

source:

is the node id that send the Aseba event. Should be set to 0 if the client generates the event

type:

is the event id (the rank of the event in the Aseba script)

Constant

string name
int16 value
name:

the name of the constant

value:

the value of the constant

Event

time stamp
uint16 source
int16[] data
stamp:

is the time-stamp when the Aseba event is received by asebaros

source:

is the node id that send the Aseba event. Should be set to 0 if the client generates the event.

data:

is the event payload. The size of an event payload is specified in the script.

Node

uint16 id
string name
string name_space
bool running
bool ignored
bool connected
id:

the node id

name:

the node name which corresponds to the node type (i.e. "thymio-II" for all Thymios)

name_space:

the ROS namespace assigned to the Aseba node

running:

whenever the ROS is running a known Aseba script, i.e., a script loaded through asebaros.

ignored:

whenever the Aseba node was ignored (and therefore not bridged to the ROS network)

connected:

if the Aseba node is currently connected

NodeDescription

uint16 id
string name
asebaros_msgs/Constant[] constants
string[] events
string[] variables
id:

the node id

name:

the node name which corresponds to the node type (i.e. "thymio-II" for all Thymios)

constants:

the list of constant of the Aseba script running on the node

events:

the list of event names of the Aseba script running on the node

variables:

the list of variable names of the Aseba script running on the node

NodeList

asebaros_msgs/Node[] nodes
nodes:

a list of Aseba nodes

Services

GetDescription

---
asebaros_msgs/NodeDescription description
description:

the node description

GetNodeList

bool ignored
---
asebaros_msgs/Node[] nodes
ignored:

set to true to include nodes that are being ignored

nodes:

a list of nodes

GetVariable

string variable
---
int16[] data
variable:

the variable name

data:

the variable value

LoadScript

string file_name
asebaros_msgs/Constant[] constants
# Leave empty to load to all nodes
uint16[] node_ids
bool set_as_default
---
file_name:

the path to the file where the Aseba script is stored

constants:

a list of constants that overwrites the values set in the file

node_ids:

the list of node to which to load the script; leave empty to load it to all nodes

set_as_default:

whenever to load this script to any new discovered nodes (default is false).

SetVariable

string variable
int16[] data
---
variable:

the variable name

data:

the variable value