Skip to content

Commit

Permalink
delete [] from type
Browse files Browse the repository at this point in the history
  • Loading branch information
@rafal-gorecki
rafal-gorecki committed Apr 12, 2024
1 parent 91fdbf9 commit c5bd773
Showing 1 changed file with 33 additions and 33 deletions.
66 changes: 33 additions & 33 deletions ROS_API.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,19 +86,19 @@ This package contains the stable firmware version with the flash script.
[robot_localization/ekf_node]: https://github.com/cra-ros-pkg/robot_localization
[robot_state_publisher/robot_state_publisher]: https://github.com/ros/robot_state_publisher

| NODE _[Type]_ | DESCRIPTION |
| NODE | DESCRIPTION |
| --------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **`~/controller_manager`** | Controller Manager performs two main functions. First, it manages controllers and their required interfaces, handling tasks like loading, activating, deactivating, and unloading. Second, it interacts with hardware components, ensuring access to their interfaces. <br /> _[[controller_manager/controller_manager][]]_ |
| **`~/ekf_filter_node`** | Used to fuse wheel odometry and IMU data. Parameters are defined in `rosbot_xl_bringup/config/ekf.yaml` <br /> _[[robot_localization/ekf_node][]]_ |
| **`~/imu_broadcaster`** | The broadcaster to publish readings of IMU sensors <br /> _[[imu_sensor_broadcaster/imu_sensor_broadcaster][]]_ |
| **`~/controller_manager`** | Controller Manager performs two main functions. First, it manages controllers and their required interfaces, handling tasks like loading, activating, deactivating, and unloading. Second, it interacts with hardware components, ensuring access to their interfaces. <br /> _[controller_manager/controller_manager][]_ |
| **`~/ekf_filter_node`** | Used to fuse wheel odometry and IMU data. Parameters are defined in `rosbot_xl_bringup/config/ekf.yaml` <br /> _[robot_localization/ekf_node][]_ |
| **`~/imu_broadcaster`** | The broadcaster to publish readings of IMU sensors <br /> _[imu_sensor_broadcaster/imu_sensor_broadcaster][]_ |
| **`~/imu_sensor_node`** | |
| **`~/joint_state_broadcaster`** | The broadcaster reads all state interfaces and reports them on specific topics <br /> _[[joint_state_broadcaster/joint_state_broadcaster][]]_ |
| **`~/laser_scan_box_filter`** | This is a filter that removes points in a laser scan inside of a cartesian box <br /> _[[laser_filters/scan_to_scan_filter_chain][]]_ |
| **`~/robot_state_publisher`** | Uses the URDF specified by the parameter robot\*description and the joint positions from the topic joint\*states to calculate the forward kinematics of the robot and publish the results via tf <br /> _[[robot_state_publisher/robot_state_publisher][]]_ |
| **`~/joint_state_broadcaster`** | The broadcaster reads all state interfaces and reports them on specific topics <br /> _[joint_state_broadcaster/joint_state_broadcaster][]_ |
| **`~/laser_scan_box_filter`** | This is a filter that removes points in a laser scan inside of a cartesian box <br /> _[laser_filters/scan_to_scan_filter_chain][]_ |
| **`~/robot_state_publisher`** | Uses the URDF specified by the parameter robot\*description and the joint positions from the topic joint\*states to calculate the forward kinematics of the robot and publish the results via tf <br /> _[robot_state_publisher/robot_state_publisher][]_ |
| **`~/rosbot_system_node`** | |
| **`~/rosbot_xl_base_controller`** | The controller managing a mobile robot with a differential or omni drive (mecanum wheels). Converts speed commands for the robot body to wheel commands for the base. It also calculates odometry based on hardware feedback and shares it.`DiffDriveController` or `MecanumDriveController` <br /> _[[diff_drive_controller/diff_drive_controller][]]_ |
| **`~/scan_to_scan_filter_chain`** | Node which subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laser scan is then published on `/scan_filtered` topic <br /> _[[laser_filters/scan_to_scan_filter_chain][]]_ |
| **`/stm32_node`** | Node enabling communication with Digital Board, it provides the following interface <br /> _[[micro_ros_agent/micro_ros_agent][]]_ |
| **`~/rosbot_xl_base_controller`** | The controller managing a mobile robot with a differential or omni drive (mecanum wheels). Converts speed commands for the robot body to wheel commands for the base. It also calculates odometry based on hardware feedback and shares it.`DiffDriveController` or `MecanumDriveController` <br /> _[diff_drive_controller/diff_drive_controller][]_ |
| **`~/scan_to_scan_filter_chain`** | Node which subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laser scan is then published on `/scan_filtered` topic <br /> _[laser_filters/scan_to_scan_filter_chain][]_ |
| **`/stm32_node`** | Node enabling communication with Digital Board, it provides the following interface <br /> _[micro_ros_agent/micro_ros_agent][]_ |

### Available Topics

Expand All @@ -116,31 +116,31 @@ This package contains the stable firmware version with the flash script.
[std_msgs/String]: https://docs.ros2.org/foxy/api/std_msgs/msg/String.html
[tf2_msgs/TFMessage]: https://docs.ros2.org/foxy/api/tf2_msgs/msg/TFMessage.html

| TOPIC | DESCRIPTION _[Type]_ |
| TOPIC | DESCRIPTION |
| -------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
| **`/battery_state`** | provides information about the state of the battery. <br /> _[[sensor_msgs/BatteryState][]]_ |
| **`~/cmd_vel`** | sends velocity commands for controlling robot motion. <br /> _[[geometry_msgs/Twist][]]_ |
| **`/diagnostics`** | contains diagnostic information about the robot's systems. <br /> _[[diagnostic_msgs/DiagnosticArray][]]_ |
| **`~/dynamic_joint_states`** | publishes information about the dynamic state of joints. <br /> _[[control_msgs/DynamicJointState][]_ |
| **`~/imu_broadcaster/imu`** | broadcasts IMU (Inertial Measurement Unit) data. <br /> _[[sensor_msgs/Imu][]]_ |
| **`~/imu_broadcaster/transition_event`** | signals transition events in the lifecycle of the IMU broadcaster node. <br /> _[[lifecycle_msgs/TransitionEvent][]]_ |
| **`~/joint_state_broadcaster/transition_event`** | indicates transition events in the lifecycle of the joint state broadcaster node. <br /> _[[lifecycle_msgs/TransitionEvent][]]_ |
| **`~/joint_states`** | publishes information about the state of robot joints. <br /> _[[sensor_msgs/JointState][]]_ |
| **`~/laser_scan_box_filter/transition_event`** | signals transition events in the lifecycle of the laser scan box filter node. <br /> _[[lifecycle_msgs/TransitionEvent][]]_ |
| **`~/odometry/filtered`** | publishes filtered odometry data. <br /> _[[nav_msgs/Odometry][]]_ |
| **`~/robot_description`** | publishes the robot's description. <br /> _[[std_msgs/String][]]_ |
| **`~/rosbot_xl_base_controller/odom`** | provides odometry data from the base controller of the ROSbot XL. <br /> _[[nav_msgs/Odometry][]]_ |
| **`~/rosbot_xl_base_controller/transition_event`** | indicates transition events in the lifecycle of the ROSbot XL base controller node. <br /> _[[lifecycle_msgs/TransitionEvent][]]_ |
| **`~/scan`** | publishes raw laser scan data. <br /> _[[sensor_msgs/LaserScan][]]_ |
| **`~/scan_filtered`** | publishes filtered laser scan data. <br /> _[[sensor_msgs/LaserScan][]]_ |
| **`~/set_pose`** | sets the robot's pose with covariance. <br /> _[[geometry_msgs/PoseWithCovarianceStamped][]]_ |
| **`~/tf`** | publishes transformations between coordinate frames over time. <br /> _[[tf2_msgs/TFMessage][]]_ |
| **`~/tf_static`** | publishes static transformations between coordinate frames. <br /> _[[tf2_msgs/TFMessage][]]_ |
| **`/battery_state`** | provides information about the state of the battery. <br /> _[sensor_msgs/BatteryState][]_ |
| **`~/cmd_vel`** | sends velocity commands for controlling robot motion. <br /> _[geometry_msgs/Twist][]_ |
| **`/diagnostics`** | contains diagnostic information about the robot's systems. <br /> _[diagnostic_msgs/DiagnosticArray][]_ |
| **`~/dynamic_joint_states`** | publishes information about the dynamic state of joints. <br /> _[control_msgs/DynamicJointState][]_ |
| **`~/imu_broadcaster/imu`** | broadcasts IMU (Inertial Measurement Unit) data. <br /> _[sensor_msgs/Imu][]_ |
| **`~/imu_broadcaster/transition_event`** | signals transition events in the lifecycle of the IMU broadcaster node. <br /> _[lifecycle_msgs/TransitionEvent][]_ |
| **`~/joint_state_broadcaster/transition_event`** | indicates transition events in the lifecycle of the joint state broadcaster node. <br /> _[lifecycle_msgs/TransitionEvent][]_ |
| **`~/joint_states`** | publishes information about the state of robot joints. <br /> _[sensor_msgs/JointState][]_ |
| **`~/laser_scan_box_filter/transition_event`** | signals transition events in the lifecycle of the laser scan box filter node. <br /> _[lifecycle_msgs/TransitionEvent][]_ |
| **`~/odometry/filtered`** | publishes filtered odometry data. <br /> _[nav_msgs/Odometry][]_ |
| **`~/robot_description`** | publishes the robot's description. <br /> _[std_msgs/String][]_ |
| **`~/rosbot_xl_base_controller/odom`** | provides odometry data from the base controller of the ROSbot XL. <br /> _[nav_msgs/Odometry][]_ |
| **`~/rosbot_xl_base_controller/transition_event`** | indicates transition events in the lifecycle of the ROSbot XL base controller node. <br /> _[lifecycle_msgs/TransitionEvent][]_ |
| **`~/scan`** | publishes raw laser scan data. <br /> _[sensor_msgs/LaserScan][]_ |
| **`~/scan_filtered`** | publishes filtered laser scan data. <br /> _[sensor_msgs/LaserScan][]_ |
| **`~/set_pose`** | sets the robot's pose with covariance. <br /> _[geometry_msgs/PoseWithCovarianceStamped][]_ |
| **`~/tf`** | publishes transformations between coordinate frames over time. <br /> _[tf2_msgs/TFMessage][]_ |
| **`~/tf_static`** | publishes static transformations between coordinate frames. <br /> _[tf2_msgs/TFMessage][]_ |

**Hidden topic:**

| TOPIC | DESCRIPTION _[Type]_ |
| TOPIC | DESCRIPTION |
| ------------------------ | ----------------------------------------------------------------------- |
| **`/_imu/data_raw`** | raw data image from imu sensor <br /> _[[sensor_msgs/Imu][]]_ |
| **`/_motors_cmd`** | desired speed on each wheel <br /> _[[std_msgs/Float32MultiArray][]]_ |
| **`/_motors_responses`** | raw data readings from each wheel <br /> _[[sensor_msgs/JointState][]]_ |
| **`/_imu/data_raw`** | raw data image from imu sensor <br /> _[sensor_msgs/Imu][]_ |
| **`/_motors_cmd`** | desired speed on each wheel <br /> _[std_msgs/Float32MultiArray][]_ |
| **`/_motors_responses`** | raw data readings from each wheel <br /> _[sensor_msgs/JointState][]_ |

0 comments on commit c5bd773

Please sign in to comment.