From b542f549bae110411744b294db190553a71cc556 Mon Sep 17 00:00:00 2001 From: Orly Natan Date: Thu, 7 Jun 2018 02:53:06 +1000 Subject: [PATCH] Updated docs --- cr/docs/cr.robotin2.maxref.xml | 98 ++++++++++++++++++++++++++++++++++ 1 file changed, 98 insertions(+) create mode 100644 cr/docs/cr.robotin2.maxref.xml diff --git a/cr/docs/cr.robotin2.maxref.xml b/cr/docs/cr.robotin2.maxref.xml new file mode 100644 index 0000000..f113d57 --- /dev/null +++ b/cr/docs/cr.robotin2.maxref.xml @@ -0,0 +1,98 @@ + + + + + + + + Robotics Operating System (ROS) Turtlebot3 Burger Inputs (Reader). + + + + + Receives ROS messages (Velocity, Odometry, Laser Scan, IMU, Sensors State, Joints State, Transformation) from Turtlebot3 Robot via ROS Messages. + + + + + Creative Robotics Lab + CR + ROS + Robotics + Turtlebot3 + + + + + + Messages: Open, Close + + + + + + + Input data from the TurtleBot3 robot + Further description in http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ + + + + + + + Enter the robot IP. + + + + + + + Velocities (linear, angular) data + The linear/translational speed (x,y,z in m/s) and angular/rotational speed (x,y,z in rad/s) of the robot. Full details: http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html + + + Odometry data + The Turtlebot3’s odometry information based on the encoder and IMU. Odometry is the use of data from motion sensors to estimate change in position over time. It estimates the robot position relative to a starting location. It measures how many times the wheels have rotated, and by multiplying with the circumference of its wheels, computes the distance. Data include position (x,y,z), orientation (x,y,z,w), linear speed (x,y,z), and angular speed (x,y,z). Full details: http://docs.ros.org/kinetic/api/nav_msgs/html/msg/Odometry.html + + + Laser Scan data + The scan values of the LiDAR mounted on top of the Turtlebot3. The Laser Distance Sensor LDS-01 is a 2D laser scanner capable of sensing 360 degrees that collects a set of data around the robot to use for SLAM (Simultaneous Localization and Mapping) and Navigation. Detection distance: 12 cm ~ 350 cm. Sampling Rate: 1.8kHz. Full details: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html + + + Inertial Measurement Unit (IMU) data + Inertial measurement unit (IMU) is a combination of Accelerometers, Gyroscopes, and Magnetometer. Estimate the robot's orientation (x,y,z,w), angular/rotational velocity (x,y,z) in rad/sec, and linear acceleration (x,y,z) in m/s^2. Full details: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html + + + Sensors State data + Turtlebot3 Sensors state: button status, voltage level, encoder values. Full details: https://github.com/ROBOTIS-GIT/turtlebot3_msgs/blob/master/msg/SensorState.msg + + + Joints State data + The state of a set of torque controlled joints (left wheel/right wheel). Full details: http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html + + + Transformation data + The transform from base_link to imu_link. It defines where the IMU sensor is mounted relative to the robot's chassis so that the sensor readings can be correctly transformed into the robot's frame of reference. This transform should be static; the IMU frame moves and rotates together with the robot frame, so relative position of IMU frame does not change. Data include translation (x,y,z) and rotation (x,y,z,w). Full details: http://docs.ros.org/api/tf/html/msg/tfMessage.html + + + + + + + + Open a connection to the robot + + + + + Close the connection to the robot + + + + + + + + + + \ No newline at end of file -- GitLab