ROS node

Lego ROS Node

For now, the node publishes several topics with telemetry and subscribes to several other topics to receive commands.
Also there is one more node, with embedded nanohttpd single-paged webserver. It shows telemetry and allows to control the robot using gamepad, joystick or keyboard.

Publishers

Topic	Message Type	Content
/consumption	std_msgs/Float32	Brick current consumption, A
/voltage	std_msgs/Float32	Battery voltage, V
/ir_distance	std_msgs/Float32	IR proximity value
/odom	geometry_msgs/Odometry	Odometry data from tachometers

Subscribers

Topic	Message Type	Content
/cmd_vel	geometry_msgs/Twist	Motor commands, same as for TurtleBot
/beep	std_msgs/Int16	Beep frequency
/grip	std_msgs/Boolean	open/close grip command

Table of content

[Home]
[EV3 communication library]
[ROS node]
[Android version]
[TV-Box version]
[Future plans]