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Note: This stack is designed for robots purchased before June 2014. For new robots, see the robotican stack.

Only released in EOL distros:  

lizi_robot: lizi | lizi_arduino | lizi_base_station | lizi_urdf

Package Summary

The main Lizi robot package


The lizi package is the main package which allows to communicate and control the Lizi robot which is made by RoboTiCan.


Users can run the main launch file: lizi.launch to initiate all the Lizi robot controllers and sensors with a single command.

$ roslaunch lizi lizi.launch id:=<ID>

For example, running the launch file with lizi id value of 1:

$ roslaunch lizi lizi.launch id:=1

This command should be executed on the lizi robot computer. For remote operation see the lizi_base_station package. The id number sets the robot name to be lizi_<ID>, this is extremely important when working with several Lizi robot as a group of robots. This allows giving each robot in the group a unique name. The id argument can be any desired id number. The id number affect the namespace and the robot description file links and joint names. All the topics, services and parameters will have a lizi_<ID> prefix. The lizi.launch can also be used to load nodes for the front webcam, the Asus RGB-D camera and the Hokuyo laser scanner.

The lizi.launch file also loads the configuration file: lizi_robot/lizi/config/default.yaml file which contains various parameters.



This is the main lizi robot node.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

gps_pub (sensor_msgs/NavSatFix) imu_pub (sensor_msgs/Imu) odom_pub (nav_msgs/Odometry) Rangers/Left_URF (sensor_msgs/Range) Rangers/Rear_URF (sensor_msgs/Range) Rangers/Right_URF (sensor_msgs/Range)


set_odom (lizi/set_odom)


Lizi_ID (str, default: "0") fuse_imu_roll_pitch (boolean, default: true) fuse_imu_roll_pitch (boolean, default: false) wheel_diameter (double, default: 0.14) wheel_base_length (double, default: 0.275) encoder_cpr (double, default: 4288 for lizi4 model, 56000 for lizi2 model)


This is an internal node that is responsible for the communication between the internal Micro Controller and the computer. This node belongs to the rosserial_python package(http://wiki.ros.org/rosserial).

Subscribed Topics

command (lizi/lizi_command) pan_tilt (lizi/lizi_pan_tilt)

Published Topics

lizi_status (lizi/lizi_status) raw_gps (lizi/lizi_gps) lizi_raw (lizi/lizi_raw)


reset_encoders (std_srv/Empty) imu_calib (lizi/imu_calib)


pid_constants (float array, default: [0.02,0.2,0.0,0.5,1.0] for lizi4, [0.001,0.01, 0.0, 0.5,1.0] for lizi2)

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2020-02-22 12:54