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nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin

Package Summary

Documented

The nxt_ros package provides the bindings between the NXT world and the ROS world. This package will create a ROS topic for each NXT sensor, and publish the sensor's data on this topic. The package also creates a topic for each NXT motor, which allows you to command the motor from ROS. The nxt_ros bindings talk directly to the NXT brick, either over USB or over Bluetooth (note that the Bluetooth connection is currently too slow to be very useful). Binding an NXT robot to ROS only requires a single configuration file.

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ROS API

The sections below describe how to configure the NXT to ROS bindings.

Example

Even though the API description looks quite complicated, it's very easy to configure the bindings. Here is an example configuration:

nxt_robot:
  - type: motor
    name: r_wheel_joint
    port: PORT_A
    desired_frequency: 20.0

  - type: motor
    name: l_wheel_joint
    port: PORT_B
    desired_frequency: 20.0

  - type: gyro
    name: gyro
    frame_id: gyro_link
    port: PORT_3
    offset: 0
    desired_frequency: 20.0

  - type: ultrasonic
    frame_id: ultrasonic_link
    name: ultrasonic_sensor
    port: PORT_2
    spread_angle: 0.2
    min_range: 0.01
    max_range: 2.5
    desired_frequency: 5.0

Motor

ROS API for the NXT motor

Subscribed Topics

~<name> (nxt_msgs/JointCommand)

Published Topics

~joint_state (sensor_msgs/JointState)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None)

Ultrasonic Sensor

ROS API for the ultrasonic sensor

Published Topics

~<name> (nxt_msgs/Range)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None) ~spread_angle (double) ~min_range (double) ~max_range (double)

Touch Sensor

ROS API for the touch sensor

Published Topics

~<name> (nxt_msgs/Contact)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None)

Color Sensor

ROS API for the color sensor

Published Topics

~<name> (nxt_msgs/Color)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None)

Gyro Sensor

ROS API for the gyro sensor

Published Topics

~<name> (sensor_msgs/Imu)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None)

Accelerometer Sensor

ROS API for the accelerometer sensor

Published Topics

~<name> (nxt_msgs/Accelerometer)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None)

Intensity Sensor

ROS API for the intensity sensor

Published Topics

~<name> (nxt_msgs/Intensity)

Parameters

~nxt_robot/type (string, default: None) ~nxt_robot/port (string, default: None) ~nxt_robot/desired_frequency (double, default: None) ~nxt_robot/name (string, default: None) ~nxt_robot/frame_id (string, default: None)


2017-10-21 13:00