ROS for Aseba and Thymio
Contents:
Introduction
A bridge between Aseba and ROS
ROS Packages
Use-cases
ROS-Aseba alone
ROS-Aseba with ROS-Thymio
ROS-Thymio alone
Installation
Supported Operating Systems
ROS
ROS-Aseba
ROS-Thymio
Getting started
Setup
Using a simulation
Using a real Thymio
Running ROS-Aseba
Running ROS-Thymio
Aseba and ROS Networks
Aseba Network
Nodes
Protocol
Variables
Script
Global Events
User interaction
Typical workflow
ROS Network
Nodes
Topics
Services
Interfaces
Launch files
Packages
User interaction
Typical workflow
ROS-Aseba: how it works
Connection to the Aseba network
Discovery of Aseba nodes
Introspection
Variables
Scripts
Events
ROS-Aseba: examples
Setup
All nodes
A single node
Twin nodes
Two nodes
A single Thymio
Twin Thymios
Two Thymios
ROS-Aseba: asebaros reference
Executable asebaros
Parameters
targets
port
loop
shutdown_on_unconnect
reset_on_closing
set_id_variable
highest_acceptable_protocol_version
nodes
name
id
accept
maximal_number
prefix
namespace
id_variable
include_id_in_events
script
reload_on_reconnect
path
constants
Publishers
Anonymous events
Events
Node list
Node description
Subscribers
Anonymous events
Events
Services
Get node description
Load script
Get node list
Get variable
Set variable
ROS-Aseba: asebaros_msgs reference
Interfaces
Messages
AnonymousEvent
Constant
Event
Node
NodeDescription
NodeList
Services
GetDescription
GetNodeList
GetVariable
LoadScript
SetVariable
ROS-Aseba: asebaros_examples reference
Launch files
all_nodes.launch
Arguments
single_node.launch
Arguments
single_thymio.launch
Arguments
twin_nodes.launch
Arguments
twin_thymios.launch
Arguments
two_nodes.launch
Arguments
two_thymios.launch
Arguments
ROS-Thymio: how it works
Discovery
thymio_driver
multi_thymio_driver
Aseba Script[s]
Functionality
Sensors
Odometry
Accelerometer
Tap
Buttons
Proximity
Ground
Sound
Temperature
Actuators
Wheels
Sound
Alarm
LED
Gestures
Communication
Remote
Proximity communication
Robot Model
Gazebo Simulation
ROS-Thymio: examples
One Thymio
Single driver
Multi driver
Multiple Thymios on the same Aseba network
Multiple Thymios on different Aseba networks
A single driver for each network
Aseba Switch and multi driver
ROS-Thymio: thymio_driver reference
Executable
thymio_driver
Parameters
axis_length
ground.threshold
left_wheel_joint
right_wheel_joint
odom_frame
odom_max_rate
robot_frame
tf_prefix
Publishers
Internal
asebaros
topics of type
Event
All Buttons
Individual Buttons
Proximity Communication Received
Ground Sensors
IMU
Joint States
Odometry
Proximity Sensors
Proximity Sensors Scan
Remote Controller
Sound
Tap
Temperature
Subscribers
Internal
asebaros
topics of type
Event
Alarm
Velocity command
Proximity Communication Enable
Proximity Communication Transmit
LED
Body LED
LED Gestures
Play Sound
Play System Sound
Set sound threshold
Services
Ready
multi_thymio_driver
Parameters
launch_model
Subscribers
Internal
asebaros
topic
Publishers
Launch files
main.launch
Arguments
axis_length
odom_max_rate
single
name
simulation
simulation_has_reduced_api
calibration_file
device
port
highest_acceptable_protocol_version
emit_motor
emit_buttons
emit_acc
emit_ground_raw
emit_proximity
enable_prox_comm
motor_deadband
motor_period
acc_period
buttons_period
ROS-Thymio: thymio_msgs reference
Interfaces
Messages
Comm
Led
LedGesture
Sound
SystemSound
ROS-Thymio: thymio_description reference
Launch files
model.launch[.py for ROS2]
Arguments
name
proximity_max_range
proximity_resolution
proximity_fov
publish_ground_truth
ground_truth_frame_id
ground_truth_frame_rate
odom_rate
rviz.launch[.py for ROS2]
Arguments
name
ROS-Thymio Aseba script
ROS for Aseba and Thymio
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Index
Index