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ROS_API.md

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Use bringup.launch.py from rosbot_bringup to start all base functionalities for ROSbot 2, 2 PRO, 2R. It consists of following parts:

  • ekf_node from robot_localization, it is used to fuse wheel odometry and IMU data. Parameters are defined in ekf.yaml in rosbot_bringup/config. It subscribes to /rosbot_base_controller/odom and /imu_broadcaster/imu published by ros2 controllers and publishes fused odometry on /odometry/filtered topic

    Subscribes

    • /rosbot_base_controller/odom (nav_msgs/Odometry)
    • /imu_broadcaster/imu (sensor_msgs/Imu)

    Publishes

    • /tf (tf2_msgs/TFMessage) - base_link->odom transform
    • /odometry/filtered (nav_msgs/Odometry)

Use controller.launch.py from rosbot_controller, it loads robot model defined in rosbot_description as well as ros2 control rosbot_hardware_interfaces. It also starts controllers:

  • joint_state_broadcaster

  • rosbot_base_controller

  • imu_broadcaster

    Subscribes

    • /cmd_vel (geometry_msgs/Twist)
    • /_motors_responses (sensor_msgs/JointState)
    • /_imu/data_raw (sensor_msgs/Imu)

    Publishes

    • /tf (tf2_msgs/TFMessage)
    • /tf_static (tf2_msgs/TFMessage)
    • /_motors_cmd (std_msgs/Float32MultiArray)
    • /rosbot_base_controller/odom (nav_msgs/Odometry)
    • /imu_broadcaster/imu (sensor_msgs/Imu)

Use simulation.launch.py from rosbot_gazebo to start all base functionalities for ROSbot 2, 2 PRO, 2R in the Gazebo simulator. If you want to spawn multiple robots use simulation.launch.py with the robots argument e. g.:

ros2 launch rosbot_gazebo simulation.launch.py robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0}; robot3={x: 2.0, y: -1.0}'

If you want to use your own world add to the world's sdf file gazebo sensors plugins inside any <model> tag:

<plugin filename="ignition-gazebo-imu-system" name="gz::sim::systems::Imu"/>
<plugin filename="ignition-gazebo-sensors-system" name="gz::sim::systems::Sensors"/>

Warning The distance sensors' topics types from Gazebo simulation mismatch with the real ones. The range sensors are not implemented yet in the Gazebo Ignition (for more information look here). The real type is sensor_msgs/msg/Range but simulated sensor_msgs/msg/LaserScan. The first value of the ranges in sensor_msgs/msg/LaserScan is the range field of sensor_msgs/msg/Range.