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Gostai Jazz

GostaiJazz.png

Jazz is a mobile telepresence robot developed by Gostai.

Its main features are:

Jazz is available in multiple versions. The Open Jazz version is specifically tailored for research purposes and comes with a SDK that provides a ROS interface.

Installation

ROS support is present on all Open Jazz with software version > 2.13. It just needs to be enabled by activating "ROS" on the "services" tab of the Jazz web configuration page.

Configuration

By default, a roscore will be started on the robot. Instructions for using a roscore on an other computer are available here.

Usage

ROS support in Jazz tries to use standard messages and interfaces as much as possible, to ease interoperability.

Urbi name

ROS topic

Dir

ROS message type

jazz.body.irs

/robot/body/irs

Pub

sensor_msgs/LaserScan

jazz.body.sonars

/robot/body/sonars

Pub

sensor_msgs/LaserScan

jazz.body.laser

/robot/body/laser

Pub

sensor_msgs/LaserScan

jazz.camera

/robot/body/head/camera

Pub

sensor_msgs/Image

jazz.body.head.pitch

/robot/body/head/pitch_out

Pub

std_msgs/Float32

/robot/body/head/pitch_in

Sub

std_msgs/Float32

jazz.body.head.yaw

/robot/body/head/yaw_out

Pub

std_msgs/Float32

/robot/body/head/yaw_in

Sub

std_msgs/Float32

jazz

/robot_in

Sub

geometry_msgs/Twist

/robot_out

Pub

nav_msgs/Odometry

/tf

Pub

tf/tfMessage

Documentation

The complete documentation for ROS support on Jazz is available here


2018-12-08 12:28