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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© Copyright 2021, Jérôme Guzzi.

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