ROS-Thymio: thymio_msgs reference

Interfaces

Messages

Comm

int16 value
int16[7] payloads
int16[7] intensities

value: the 11-bit payload
source: the 11-bit payloads received by each sensor (0 if the sensor has not received the message)
intensities: the intensity of the received IR pulse.

Led

uint8 CIRCLE=0
uint8 PROXIMITY=1
uint8 BUTTONS=2
uint8 GROUND=3
uint8 TEMPERATURE=4
uint8 MICROPHONE=5
uint8 REMOTE=6

uint8 id
float32[] values

id: an enum {CIRCLE, PROXIMITY, BUTTONS, GROUND, TEMPERATURE, MICROPHONE, REMOTE} that identifies a group of LED.
values: an array of intensities (one per LED) between 0 and 1.

LedGesture

uint8 OFF=0
uint8 WAVE=1

uint8 RECT=0
uint8 HARMONIC=1

uint8 CIRCLE=0
uint8 PROXIMITY=1
uint8 BUTTONS=2

uint8 gesture
uint8 wave
uint8 leds
float32 period
uint16 length
uint8 mirror
bool[] mask

gesture: an enum {OFF, WAVE}: OFF stop the gesture, WAVE start a waving pattern.
wave: an enum {RECT, HARMONIC}: the function used to generate the LED intensity wave.
leds: an enum {CIRCLE, PROXIMITY, BUTTONS} that identifies a group of LED.
period: the period of the wave in seconds
length: the length of the wave (in number of LED)
mirror: whenever to generate a standing wave
mask: a bit mask to set which individual LED will be used.

Sound

duration duration
float32 frequency

builtin_interfaces/Duration duration
float32 frequency

duration: the duration of the sound.
frequency: The frequency in Hz of the [pure] sound.

SystemSound

int8 STOP=-1
int8 STARTUP=0
int8 SHUTDOWN=1
int8 ARROW_BUTTON=2
int8 CENTRAL_BUTTON=3
int8 FREE_FALL=4
int8 COLLISION=5
int8 TARGET_OK=6
int8 TARGET_DETECT=7

int8 sound

sound: an enum {STOP, STARTUP, SHUTDOWN, ARROW_BUTTON, CENTRAL_BUTTON, FREE_FALL, COLLISION, TARGET_OK, TARGET_DETECT} that idenifies the sound