Updated docs

cr/docs/cr.robotin2.maxref.xml

+<?xml version="1.0" encoding="utf-8" standalone="yes"?>
+<?xml-stylesheet href="./_c74_ref.xsl" type="text/xsl"?>
+
+<c74object name="cr.robotin">
+
+    <!-- The digest is a super-short description used for things such as autocompletion.-->
+	<digest>
+		Robotics Operating System (ROS) Turtlebot3 Burger Inputs (Reader).
+	</digest>
+	
+    <!-- The description is a more detailed overview of the object, abstraction, or other file.-->
+	<description>
+		Receives ROS messages (Velocity, Odometry, Laser Scan, IMU, Sensors State, Joints State, Transformation) from Turtlebot3 Robot via ROS Messages.
+	</description>
+	
+	<!--METADATA-->
+	<metadatalist>
+		<metadata name="author">Creative Robotics Lab</metadata>
+		<metadata name="tag">CR</metadata>
+		<metadata name="tag">ROS</metadata>
+		<metadata name="tag">Robotics</metadata>
+    <metadata name="tag">Turtlebot3</metadata>
+	</metadatalist>
+	
+	<!--INLETS-->
+	<inletlist>
+		<inlet id="0" type="message">
+            <digest>Messages: Open, Close</digest>
+		</inlet>
+	</inletlist>
+
+	<!--OUTLETS-->
+	<outletlist>
+		<outlet id="0" type="signal/integer">
+            <digest>Input data from the TurtleBot3 robot</digest>
+            <description>Further description in http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/</description>
+		</outlet>
+    </outletlist>
+	
+	<!--ARGUMENTS-->
+	<objarglist>
+		<objarg name="port" optional="0" type="char">
+			<digest>Enter the robot IP.</digest>
+		</objarg>
+	</objarglist>
+    
+    <!--ATTRIBUTES-->
+    <attributelist>
+        <attribute name='twist' get='1' set='1' type='list' size='1' >
+            <digest>Velocities (linear, angular) data</digest>
+            <description>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 </description>
+        </attribute>
+        <attribute name='odometry' get='1' set='1' type='list' size='1' >
+            <digest>Odometry data</digest>
+            <description> 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 </description>
+        </attribute>
+        <attribute name='scan' get='1' set='1' type='list' size='1' >
+            <digest>Laser Scan data</digest>
+            <description>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 </description>
+        </attribute>
+        <attribute name='imu' get='1' set='1' type='list' size='1' >
+            <digest>Inertial Measurement Unit (IMU) data</digest>
+            <description>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 </description>
+        </attribute>
+        <attribute name='sensors' get='1' set='1' type='list' size='1' >
+            <digest>Sensors State data</digest>
+            <description>Turtlebot3 Sensors state: button status, voltage level, encoder values. Full details: https://github.com/ROBOTIS-GIT/turtlebot3_msgs/blob/master/msg/SensorState.msg </description>
+        </attribute>
+        <attribute name='joints' get='1' set='1' type='list' size='1' >
+            <digest>Joints State data</digest>
+            <description>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 </description>
+        </attribute>
+        <attribute name='tf' get='1' set='1' type='list' size='1' >
+            <digest>Transformation data</digest>
+            <description>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 </description>
+        </attribute>
+    </attributelist>
+	
+	<!--MESSAGES-->
+	<methodlist>
+        <method name="open">
+            <arglist />
+            <digest> Open a connection to the robot </digest>
+            <description />
+        </method>
+        <method name="close">
+            <arglist />
+            <digest> Close the connection to the robot </digest>
+            <description />
+        </method>
+    </methodlist>
+	
+	<!--SEEALSO-->
+	<seealsolist>
+		<seealso name="cr.robotout"/>
+	</seealsolist>
+	
+</c74object>
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