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