| Name | Description | Default |
|---|---|---|
dev |
Device path of robot | /dev/ttyUSB0 |
base_frame |
The robot's base frame ID | base_footprint |
odom_frame |
The robot's odometry frame ID | odom |
latch_cmd_duration |
If this many seconds passes without receiving a velocity command the robot stops | 0.2 |
loop_hz |
Frequency of internal update loop | 10.0 |
publish_tf |
Publish the transform from odom_frame to base_frame |
true |
robot_model |
The type of robot being controlled (supported values: ROOMBA_400, CREATE_1 and CREATE_2) |
CREATE_2 |
baud |
Serial baud rate | Inferred based on robot model, but is overwritten upon providing a value |
| Topic | Description | Type |
|---|---|---|
battery/capacity |
The estimated charge capacity of the robot's battery (Ah) | std_msgs/Float32 |
battery/charge |
The current charge of the robot's battery (Ah) | std_msgs/Float32 |
battery/charge_ratio |
Charge / capacity | std_msgs/Float32 |
battery/charging_state |
The chargins state of the battery | ca_msgs/ChargingState |
battery/current |
Current flowing through the robot's battery (A). Positive current implies charging | std_msgs/Float32 |
battery/temperature |
The temperature of the robot's battery (degrees Celsius) | std_msgs/Int16 |
battery/voltage |
Voltage of the robot's battery (V) | std_msgs/Float32 |
bumper |
Bumper state message (including light sensors on bumpers) | ca_msgs/Bumper |
clean_button |
'clean' button is pressed ('play' button for Create 1) | std_msgs/Empty |
cliff |
'cliff' sensors are pressed | ca_msgs/Cliff |
day_button |
'day' button is pressed | std_msgs/Empty |
hour_button |
'hour' button is pressed | std_msgs/Empty |
minute_button |
'minute' button is pressed | std_msgs/Empty |
dock_button |
'dock' button is pressed ('advance' button for Create 1) | std_msgs/Empty |
spot_button |
'spot' button is pressed | std_msgs/Empty |
ir_omni |
The IR character currently being read by the omnidirectional receiver. Value 0 means no character is being received | std_msgs/UInt16 |
joint_states |
The states (position, velocity) of the drive wheel joints | sensor_msgs/JointState |
mode |
The current mode of the robot (See OI Spec for details) | ca_msgs/Mode |
odom |
Robot odometry according to wheel encoders | nav_msgs/Odometry |
wall |
Wall is detected | std_msgs/Bool |
wheeldrop |
At least one of the drive wheels has dropped | std_msgs/Empty |
/tf |
The transform from the odom frame to base_footprint. Only if the parameter publish_tf is true |
tf2_msgs/TFMessage |
| Topic | Description | Type |
|---|---|---|
cmd_vel |
Drives the robot's wheels according to a forward and angular velocity | geometry_msgs/Twist |
debris_led |
Enable / disable the blue 'debris' LED | std_msgs/Bool |
spot_led |
Enable / disable the 'spot' LED | std_msgs/Bool |
dock_led |
Enable / disable the 'dock' LED | std_msgs/Bool |
check_led |
Enable / disable the 'check robot' LED | std_msgs/Bool |
power_led |
Set the 'power' LED color and intensity. Accepts 1 or 2 bytes, the first represents the color between green (0) and red (255) and the second (optional) represents the intensity with brightest setting as default (255) | std_msgs/UInt8MultiArray |
set_ascii |
Sets the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right | std_msgs/UInt8MultiArray |
dock |
Activates the demo docking behaviour. Robot enters Passive mode meaning the user loses control (See OI Spec) | std_msgs/Empty |
undock |
Switches robot to Full mode giving control back to the user | std_msgs/Empty |
define_song |
Define a song with up to 16 notes. Each note is described by a MIDI note number and a float32 duration in seconds. The longest duration is 255/64 seconds. You can define up to 4 songs (See OI Spec) | ca_msgs/DefineSong |
play_song |
Play a predefined song | ca_msgs/PlaySong |