ROS Interface

8.1.1. ROS Interface#

8.1.1.1. Head joint control#

The following applies.

Control the following joint.

  • head_pan_joint

  • head_tilt_joint

8.1.1.1.1. Actions#

  • /head_trajectory_controller/follow_joint_trajectory

    type

    control_msgs/action/FollowJointTrajectory

    description

    Action interface for trajectory playback

8.1.1.1.2. Publishers#

  • /head_trajectory_controller/state

    type

    control_msgs/msg/JointTrajectoryControllerState

    description

    Current state of the controller

    Note

    In the case of jazzy, /head_trajectory_controller/controller_state

8.1.1.1.3. Subscriber#

  • /head_trajectory_controller/joint_trajectory

    type

    trajectory_msgs/msg/JointTrajectory

    description

    Topic interface to specify target trajectory

8.1.1.1.4. Parameters#

See below.

8.1.1.2. Arm joint control#

The following applies.

Control the following joint.

  • arm_lift_joint

  • arm_flex_joint

  • arm_roll_joint

  • wrist_flex_joint

  • wrist_roll_joint

8.1.1.2.1. Actions#

  • /arm_trajectory_controller/follow_joint_trajectory

    type

    control_msgs/action/FollowJointTrajectory

    description

    Action interface for trajectory playback

8.1.1.2.2. Publishers#

  • /arm_trajectory_controller/state

    type

    control_msgs/msg/JointTrajectoryControllerState

    description

    Current state of the controller

    Note

    In the case of jazzy, /arm_trajectory_controller/controller_state

8.1.1.2.3. Subscriber#

  • /arm_trajectory_controller/joint_trajectory

    type

    trajectory_msgs/msg/JointTrajectory

    description

    Topic interface to specify target trajectory

8.1.1.2.4. Parameters#

See below.

8.1.1.3. Hand control#

Controls the hand.

8.1.1.3.1. Actions#

  • /gripper_controller/follow_joint_trajectory

    type

    control_msgs/action/FollowJointTrajectory

    description

    Action interface for finger joint trajectory playback

  • /gripper_controller/set_distance

    type

    tmc_control_msgs/action/GripperSetDistance

    description

    Action interface for opens and closes based on the distance between fingers

  • /gripper_controller/follow_distance_trajectory

    type

    control_msgs/action/FollowJointTrajectory

    description

    Action Interface for finger distance trajectory playback

  • /gripper_controller/grasp

    type

    tmc_control_msgs/action/GripperApplyEffort

    description

    Action interface for grasping

  • /gripper_controller/apply_force

    type

    tmc_control_msgs/action/GripperApplyEffort

    description

    Action interface for grasping with a specified force

8.1.1.3.2. Subscriber#

  • /gripper_controller/joint_trajectory

    type

    trajectory_msgs/msg/JointTrajectory

    description

    Topic interface to specify target trajectory

  • /gripper_controller/distance_trajectory

    type

    trajectory_msgs/msg/JointTrajectory

    description

    Topic interface for setting the target trajectory for the distance between fingertips

  • /gripper_controller/command_distance

    type

    std_msgs/msg/Float32

    description

    Topic interface for the distance between fingertips

8.1.1.4. Mobile base control#

Control the following joint.

  • base_roll_joint

  • base_l_drive_wheel_joint

  • base_r_drive_wheel_joint

However, the JointTrajectoryControllercontrols the joints with the following names, treating the position and orientation in /odom as virtual joints.

  • odom_x

  • odom_y

  • odom_t

8.1.1.4.1. Actions#

  • /omni_base_controller/follow_joint_trajectory

    type

    control_msgs/action/FollowJointTrajectory

    description

    Action interface for mobile base trajectory playback

8.1.1.4.2. Publishers#

  • /omni_base_controller/state

    type

    control_msgs/msg/JointTrajectoryControllerState

    description

    Current state of the controller

  • /omni_base_controller/wheel_odom

    type

    nav_msgs/msg/Odometry

    description

    Wheel odometry since robot startup

8.1.1.4.3. Subscriber#

  • /omni_base_controller/joint_trajectory

    type

    trajectory_msgs/msg/JointTrajectory

    description

    Topic interface to specify target trajectory

  • /omni_base_controller/cmd_vel

    type

    geometry_msgs/msg/Twist

    description

    Topic interface for setting target velocity

    Specify the forward/backward velocity (linear.x), left/right velocity (linear.y), and rotational velocity (angular.z) in the robot coordinate system

8.1.1.4.4. Parameters#

  • /omni_base_controller:base_coordinates

    type

    String[]

    description

    List of controlled joints

  • /omni_base_controller:command_timeout

    type

    Double

    description

    Timeout for target velocity input [s]; if input is lost, set the target velocity to zero (default: 0.5).

  • /omni_base_controller:joints.l_wheel

    type

    String

    description

    Name of the joint on the left drive wheel

  • /omni_base_controller:joints.r_wheel

    type

    String

    description

    Name of the joint on the right drive wheel

  • /omni_base_controller:joints.steer

    type

    String

    description

    Name of the mobile base yaw joint

  • /omni_base_controller:odometry_publish_rate

    type

    Double

    description

    Publishing rate [Hz] of /omni_base_controller/wheel_odom (default: 30.0)

  • /omni_base_controller:state_publish_rate

    type

    Double

    description

    TF publish rate [Hz] for odometry (default: 50.0)

  • /omni_base_controller:transform_publish_rate

    type

    Double

    description

    TF publish rate [Hz] for odometry (default: 30.0)

  • /omni_base_controller:wheel_odom_map_frame

    type

    String

    description

    Reference frame name for wheel odometry input (default: odom )

  • /omni_base_controller:wheel_odom_base_frame

    type

    String

    description

    Odometry frame name for wheel odometry input (default: base_footprint_wheel )

8.1.1.5. Hand camera#

Shall be in accordance with image_transport/ImageTransport.

8.1.1.5.1. Publishers#

  • /hand_camera/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    Camera Information

  • /hand_camera/image_raw

    type

    sensor_msgs/msg/Image

    description

    raw images

8.1.1.6. Head wide-angle camera#

Note

Available only on HSRB.

Shall be in accordance with image_transport/ImageTransport.

8.1.1.6.1. Publishers#

  • /head_center_camera/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    Camera Information

  • /head_center_camera/image_raw

    type

    sensor_msgs/msg/Image

    description

    raw images

8.1.1.7. Head stereo camera (left)#

Shall be in accordance with image_transport/ImageTransport.

8.1.1.7.1. Publishers#

  • /head_l_stereo_camera/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    Camera Information

  • /head_l_stereo_camera/image_rect_color

    type

    sensor_msgs/msg/Image

    description

    images transmitted in raw format

  • /head_l_stereo_camera/image_raw

    type

    sensor_msgs/msg/Image

    description

    raw images

8.1.1.8. Head stereo camera (right)#

8.1.1.8.1. Publishers#

  • /head_r_stereo_camera/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    Camera Information

  • /head_r_stereo_camera/image_rect_color

    type

    sensor_msgs/msg/Image

    description

    images transmitted in raw format

  • /head_r_stereo_camera/image_raw

    type

    sensor_msgs/msg/Image

    description

    raw images

8.1.1.9. Head 3D depth camera#

8.1.1.9.1. Publishers#

  • /head_rgbd_sensor/rgb/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    RGB camera information

  • /head_rgbd_sensor/rgb/image_rect_color

    type

    sensor_msgs/msg/Image

    description

    Undistorted RGB images

  • /head_rgbd_sensor/depth_registered/camera_info

    type

    sensor_msgs/msg/CameraInfo

    description

    RGB camera information

  • /head_rgbd_sensor/depth_registered/image_rect_raw

    type

    sensor_msgs/msg/Image

    description

    Undistorted depth image projected into the RGB camera coordinate frame, pixel values in [mm] (16UC1)

  • /head_rgbd_sensor/depth_registered/rectified_points

    type

    sensor_msgs/msg/PointCloud2

    description

    Undistorted colored point cloud

8.1.1.10. IMU#

8.1.1.10.1. Publishers#

  • /imu/data

    type

    sensor_msgs/msg/Imu

    description

    Output of the IMU mounted on the mobile base body

8.1.1.11. Laser scanner#

8.1.1.11.1. Publishers#

  • /scan

    type

    sensor_msgs/msg/LaserScan

    description

    Output of the mobile base laser scanner (laser rangefinder)

8.1.1.12. Joint state#

8.1.1.12.1. Publishers#

  • /joint_states

    type

    sensor_msgs/msg/JointState

    description

    Current state of each joint (actuated joints only)

8.1.1.12.2. Parameters#

Refer to ros2_controllers/joint_trajectory_controller

8.1.1.13. ControllerManager control#

It complies with the following specifications.