Robomaster Driver Node

node RoboMasterROS

This node provides a ROS interface to a Robomaster using the official Python client library.

It wraps functionality from robomaster.robot.Robot to create and monitor a connection to a robot, configured by parameters conn_type, serial_number, and reconnect.

Summary

Parameters

arm.enabled

arm.left_motor.angle

arm.left_motor.direction

arm.left_motor.zero

arm.rate

arm.right_motor.angle

arm.right_motor.direction

camera.video.calibration_file

camera.video.ffmpeg

camera.video.h264

camera.video.protocol

camera.video.raw

camera.video.resolution

chassis.enabled

chassis.error.angular_velocity.xy

chassis.error.angular_velocity.z

chassis.error.linear_acceleration.xyz

chassis.error.linear_velocity.xy

chassis.force_level

chassis.imu_includes_orientation

chassis.odom_twist_in_odom

chassis.rate

chassis.status.rate

chassis.timeout

chassis.twist_to_wheel_speeds

sensor_adapter.enabled

Subscriptions

Publishers

Service servers

Action servers

The robot and the client library are modulars: for example, one can attach a ToF sensor and use class robomaster.sensor.DistanceSensor to read it. The ROS node follows the same organization, with submodules that corresponds to hardware parts. Modules can be enabled using parameters <module>.enabled: by default they are all disabled.

Modules

Arm
Armor
- Parameters
- Publishers
Battery
- Parameters
- Publishers
Blaster
- Parameters
- Subscription
Camera
Chassis
Gimbal
Gripper
LEDs
- Parameter
- Subscriptions
PWM
- Parameter
- Subscriptions
SBus
- Parameter
- Publishers
Sensor adapter
Servo
Speaker
Time-of-Flight distance sensor
- Parameter
- Publishers
UART
Vision
- Parameter
- Publishers

Parameters

The following parameters configures the client library and the general behavior of the ROS node.

parameter lib_log_level string [Default: "ERROR"]: The logging level used for the internal SDK wrapped by the ROS node (see RoboMaster SDK 如何记录日志).

parameter conn_type string [Default: "sta"]

The connection method between client and robot (see RoboMaster SDK 和机器人建立连接), one of:

"sta": through a managed Wi-Fi network (SSID and password needs to be communicated to the robot, for instance using connect)
"ap": through the robot’s Wi-Fi access point (SSID and password are printed on the intelligent controller)
"rndis": through a network USB interface (micro USB port on the side of the intelligent controller)

parameter serial_number string [Default: ""]: If non empty, it is passed to robomaster.robot.Robot.initialize() to select which robot to connect. The serial number is a 14-long code printed on the intelligent controller. If the parameter value is a shorter, it’s end is padded by *, while if it is longer, it is truncated.

Note

Shorter serial numbers are useful for simulated robot.

parameter reconnect bool [Default: true]: If enabled, will keep the ROS node on while waiting for a robot to reconnect. In disabled, the node will terminate once the robot disconnects.

parameter tf_prefix string [Default: ""]: The prefix that gets prepended, if not empty, to any frame related to the robot, e.g., base_link -> <tf_prefix>/base_link.

Warning

You need to pass the same tf_prefix to the robot model too. Launch file main.launch does it automatically.

Publishers

The following publishers are shared between modules

publisher joint_states_p sensor_msgs/msg/JointState : Publishes partial updates about joints: wheels, gimbal, arm, and gripper.

Note

main.launch configures joint_state_publisher to group together joint_states_p and republish them on join_states, which is used by robot_state_publisher to update the model.

publisher /tf tf2_msgs/msg/TFMessage : This publisher is used indirectly to broadcast the transform odom -> base_link.