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Package Summary

ROS nodelet for Xbot: ROS wrapper for the Xbot driver.

简介

xbot_node功能包为xbot_driver提供ROS API。

ROS API

XbotNodelet

Subscribed Topics

/commands/motor_disable (std_msgs/Bool) /commands/velocity (geometry_msgs/TwistConstPtr) /commands/yaw_platform (std_msgs/Int8) /commands/pitch_platform (std_msgs/Int8) /commands/sound_enable (std_msgs/Bool) /commands/led (std_msgs/Int8) /commands/lift (std_msgs/Int8) /commands/reset_odometry (std_msgs/EmptyConstPtr)

Published Topics

/joint_states (sensor_msgs/JointState) /sensors/core (xbot_msgs/CoreSensor) /sensors/extra (xbot_msgs/ExtraSensor) /sensors/yaw_platform_degree (std_msgs/Int8) /sensors/pitch_platform_degree (std_msgs/Int8) /sensors/motor_disabled (std_msgs/Bool) /sensors/sound_enabled (std_msgs/Bool) /sensors/battery (xbot_msgs/Battery) /sensors/echo (xbot_msgs/Echo) /sensors/infrared (xbot_msgs/InfraRed) /sensors/imu_data (sensor_msgs/Imu) /sensors/raw_imu_data (xbot_msgs/RawImu) /xbot/state (xbot_msgs/XbotState)

Services

/commands/velocity (geometry_msgs/TwistConstPtr) /xbot/chat (xbot_talker/chat)

Parameters

~base_path (string, default: "$(find xbot_talker)")


2020-01-18 13:20