ROS-Thymio: thymio_driver reference

Executable

thymio_driver

Parameters

axis_length

Type: float
Default: 0.0915

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 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

All Buttons

topic: buttons
type: sensor_msgs/msg/Joy

Individual Buttons

Topic: buttons/{backward,center,forward,left,right}
Type: std_msgs/msg/Bool

Proximity Communication Received

Topic: comm/rx
Type: Comm

Ground Sensors

Topic: ground/{left,right}
Type: sensor_msgs/msg/Range

IMU

Topic: imu
Type: sensor_msgs/msg/Imu

Joint States

Topic: joint_states
Type: sensor_msgs/msg/JointState

Odometry

Topic: odom
Type: nav_msgs/msg/Odometry

Proximity Sensors

Topic: proximity/{left,center_left,center,center_right,right,rear_left,rear_right}
Type: sensor_msgs/msg/Range

Proximity Sensors Scan

Topic: proximity/laser
Type: sensor_msgs/msg/LaserScan

Remote Controller

Topic: remote
Type: std_msgs/msg/Int8

Sound

Topic: sound
Type: std_msgs/msg/Float32

Tap

Topic: tap
Type: std_msgs/msg/Empty

Temperature

Topic: temperature
Type: sensor_msgs/msg/Temperature

Subscribers

Internal `asebaros` topics of type 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

Alarm

Topic: alarm
Type: std_msgs/msg/Bool

Velocity command

Topic: cmd_vel
Type: geometry_msgs/msg/Twist

Proximity Communication Enable

Topic: comm/enable
Type: std_msgs/msg/Bool

Proximity Communication Transmit

Topic: comm/tx
Type: std_msgs/msg/Int16

LED

Topic: led
Type: thymio_msgs/msg/Led

Body LED

Topic: led/body/{bottom_left,bottom_right,top}
Type: std_msgs/msg/ColorRGBA

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

Play Sound

Topic: sound/play
Type: Sound

Play System Sound

Topic: sound/play/system
Type: SystemSound

Set sound threshold

Topic: sound_threshold
Type: std_msgs/msg/Float32

Services

Ready

Service: is_ready
Type: std_srvs/srv/Empty

multi_thymio_driver

Parameters

All parameters of thymio_driver

launch_model

Type: string
Default: ""

Subscribers

All subscribers of thymio_driver with a <node_namespace> for each Thymio connected.

Internal `asebaros` topic

Topic: aseba/nodes
Type: NodeList

Publishers

All publishers of thymio_driver with a <node_namespace> for each Thymio connected.

Launch files

main.launch

Launches the single- or multi- thymio driver and, if configured, includes model.launch[.py for ROS2].

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

highest_acceptable_protocol_version

Type: int
Default: 100

emit_motor

Type: integer (binary)
Default: 1

emit_buttons

Type: integer (binary)
Default: 0

emit_acc

Type: integer (binary)
Default: 1

emit_ground_raw

Type: integer (binary)
Default: 0

emit_proximity

Type: integer (binary)
Default: 1

enable_prox_comm

Type: integer (binary)
Default: 1

motor_deadband

Type: integer (binary)
Default: 10

motor_period

Type: integer
Default: 5

acc_period

Type: integer
Default: 2

buttons_period

Type: integer
Default: 5