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OWR ROS API
Harry J E Day edited this page Mar 28, 2015
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This will be held in the rover/src/owr_messages folder in the repo, but the package can be simlinked into other folders as needed Topics
| What | Message | Topic | Sent From |
|---|---|---|---|
| Robot Direction | geometry_msgs/Twist | /owr/control/drive | GUI |
| Camera Angle | owr_message/camera_angle | /owr/control/camera | GUI |
| Arm Actuators | owr_messages/motors | /owr/control/arm | Arm GUI |
| IMU | sensor_msgs/IMU | /owr/status/imu | IMU |
| Motor Positions, etc | sensor_msgs/JointState | /owr/status/joints | Control Chip |
| Rover Status | owr_messages/status | /owr/status/status | Control Chip |
| GPS | sensor_msgs/NavSatFix | /gps/fix | GPS or Intel Chip |
| Camera On/Off | owr_messages/stream | /owr/control/activateFeed | GUI (Both) |
| Type | Name |
|---|---|
| Vector3 | angle |
| Int32 | feed_number |
| Type | Name |
|---|---|
| float64 | angle |
| Int32 | motor_number |
| Type | Name |
|---|---|
| float32 | battery |
| float32 | signal |
| Type | Name | Notes |
|---|---|---|
| int32 | stream | coresponds to /dev/videoX |
| bool | on | |
| int32 | height | in px |
| int32 | width | in px |
Our message and topic names are lower case separated with _ paths should start with owr_ and messages should be in the package owr_messages