ROS_API.md

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)

• 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 - DiffDriveController
  • 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)