ROS API

warning

The ROS API in the beta version is subject to changes.

Subscribed topics

controller/cmd_ackermann (ackermann_msgs/msg/AckermannDrive)

Steers the robot when operating in the Ackermann steering mode.
controller/cmd_turn_in_place (?) Not implemented yet

Steers the robot when operating in the Turn-In-Place steering mode.
controller/cmd_vel (geometry_msgs/msg/Twist) Not implemented yet

Steers the robot using Twist commands. More standardized way to control the robot.
Useful for some navigation stacks. Not recommended for manual teleoperation.
controller/led_strip_state ([rapha_interfaces/msg/LedStripState])

Sets a new user state for all the LEDs in the LED strip.
controller/led_panel_state ([rapha_interfaces/msg/LedPanelState]) Not implemented yet

Sets a new user state for all the LEDs in the specified LED panel.

Published Topics

controller/imu (sensor_msgs/msg/Imu)

Current gyroscope and accelerometer readings from the onboard IMU.
controller/odom (nav_msgs/msg/Odometry)

Odometry calculated from wheel encoders and the onboard IMU.
controller/steering_mode ([rapha_interfaces/msg/SteeringMode]) Not implemented yet

Current steering mode. Published whenever the mode changes.
Uses transient local durability to deliver last message to joining subscriptions.
controller/diagnostics/imu ([rapha_interfaces/msg/ImuDiagnostics])

Diagnostic information about the IMU module.
Includes module temperature and calibration data.
controller/diagnostics/motors ([rapha_interfaces/msg/MotorDiagnostics])

Diagnostic information about the motors.
Includes motor temperatures, power consumption and fault data.
controller/power_system_state ([rapha_interfaces/msg/PowerSystemState])

Current information about the power system.
oak/imu/data (sensor_msgs/msg/Imu)

Current gyroscope and accelerometer readings from the Oak-D IMU.
oak/left/camera_info (sensor_msgs/msg/CameraInfo)

Calibration data for the left Oak-D camera.
oak/left/image_raw (sensor_msgs/msg/Image)

Raw images from the left Oak-D camera.
oak/rgb/camera_info (sensor_msgs/msg/CameraInfo)

Calibration data for the center (RGB) Oak-D camera.
oak/rgb/image_raw (sensor_msgs/msg/Image)

Raw images from the center (RGB) Oak-D camera.
oak/right/camera_info (sensor_msgs/msg/CameraInfo)

Calibration data for the right Oak-D camera.
oak/right/image_raw (sensor_msgs/msg/Image)

Raw images from the right Oak-D camera.
oak/stereo/camera_info (sensor_msgs/msg/CameraInfo)

Calibration data corresponding to the depth images calculated from the stereo pair (left and right Oak-D cameras).
oak/stereo/image_raw (sensor_msgs/msg/Image)

Depth images calculated from the stereo pair (left and right Oak-D cameras).
oak/points (sensor_msgs/msg/PointCloud2)

Point cloud data converted from the depth images.
rplidar/scan (sensor_msgs/msg/LaserScan)

Raw laser scans from the onboard 2D LIDAR.
rplidar/scan_filtered (sensor_msgs/msg/LaserScan) Not implemented yet

Laser scans from the onboard 2D LIDAR with points lying on the robot's footprint filtered out.
joint_states (sensor_msgs/msg/JointState)

Current state of the robot joints.
robot_description (std_msgs/msg/String)

The URDF description of the robot.
/diagnostics (diagnostic_msgs/msg/DiagnosticArray)

Diagnostic information from various ROS nodes.
/parameter_events (rcl_interfaces/msg/ParameterEvent)

Parameter events (additions, changes or deletions) from all the running ROS nodes.
/rosout (rcl_interfaces/msg/Log)

Logs from all the running ROS nodes.
/tf, /tf_static (tf2_msgs/msg/TFMessage)

Relationships between TF frames in the ROS network.
These topics are used by the tf2 library.

Services

controller/clear_leds (std_srvs/srv/Trigger)

Resets user states for all LEDs in the LED strip.
controller/set_leds ([rapha_interfaces/srv/SetLeds])

Set user state for specified LEDs.
controller/calibrate_servos (std_srvs/srv/Trigger)

Trigger servo calibration procedure.
controller/reset_odom (std_srvs/srv/Trigger)

Reset odometry position.
controller/reset_motor_diagnostics (std_srvs/srv/Trigger)

Reset motor faults and calculated consumed energy.
controller/set_battery_modes ([rapha_interfaces/srv/SetBatteryModes])

Set target battery modes.
controller/set_steering_mode ([rapha_interfaces/srv/SetSteeringMode])

Set the current steering mode.
system/shutdown (std_srvs/srv/Trigger)

Perform onboard computer's system shutdown.
system/reboot (std_srvs/srv/Trigger)

Perform onboard computer's system reboot.

Parameters

controller

drivetrain.wheel_base (type: float, default: 0.378)

Distance between front and rear wheels. $[m]$
drivetrain.track_width (type: float, default: 0.384)

Distance between left and right wheels. $[m]$
drivetrain.wheel_radius (type: float, default: 0.08)

Radius of the wheel. $[m]$
drivetrain.max_wheel_angular_velocity (type: float, default: 19.0)

Maximum allowable wheel angular velocity. $[\frac{rad}{s}]$
drivetrain.change_mode_acceleration (type: float, default: 2.0)

Acceleration to use when changing steering mode. $[\frac{m}{s^2}, \frac{rad}{s^2}]$
drivetrain.change_mode_steering_angle_velocity (type: float, default: 4.0)

Steering angle velocity to use when changing steering mode. $[\frac{rad}{s}]$
drivetrain.max_steering_angle (type: float, default: 1.08)

Maximum steering angle used in ackermann mode. $[rad]$
drivetrain.input_timeout (type: float, default: 0.5)

The duration from last received target, after which the controller will stop the robot. Set to 0 to disable. $[s]$
drivetrain.wheel_disable_timeout (type: float, default: 10.0)

The duration from last received target, after which the controller will disable all motors. Set to 0 to disable. $[s]$
drivetrain.servo_left_position_offset (type: float, default: 0.0)

Offset added to the left servo position. $[rad]$
drivetrain.servo_right_position_offset (type: float, default: 0.0)

Offset added to the right servo position. $[rad]$
drivetrain.servo_calibration_power_threshold (type: float, default: 20.0)

The minimal motor power after which we assume the servo is pressing against the bumper during calibration procedure. $[W]$
drivetrain.servo.acceleration_divider (type: int, default: 10)

Raw acceleration divider value passed to servo motors.
drivetrain.servo.position_loop_speed (type: float, default: 5.0)

Position loop speed value passed to servos motors. $[\frac{rad}{s}]$
drivetrain.wheel.acceleration_divider (type: int, default: 2)

Raw acceleration divider value passed to wheel motors.

Custom message types

rapha_interfaces/msg/SteeringMode

Represents the steering mode used by the drivetrain controller.
uint8 ACKERMANN=0
uint8 TURN_IN_PLACE=1

uint8 data

rapha_interfaces/msg/BatteryMode

Represents the target or actual battery power mode.
# Whether the battery is charging.
bool charging

# Whether the battery is used as a power source.
bool draining

rapha_interfaces/msg/BatteryState

Represents the state of a single battery.
# The current voltage in volts.
float64 voltage

# Estimated state of charge in percents.
float64 state_of_charge

# The target battery mode.
rapha_interfaces/BatteryMode target_mode

# The actual battery mode.
rapha_interfaces/BatteryMode current_mode

rapha_interfaces/msg/PowerSystemState

Represents the state of the Power System.
std_msgs/Header header

# Whether the charger is connected.
bool charger_connected

# Whether the batteries are connected.
bool bat1_connected
bool bat2_connected

# The states of the batteries, not valid for unconnected batteries.
rapha_interfaces/BatteryState bat1_state
rapha_interfaces/BatteryState bat2_state

# The current power output in watts.
float64 power

# The energy consumed in watt-hours since the robot was powered on.
float64 energy

rapha_interfaces/msg/LedColor

Represents the color of an LED.
# The intensity of each color (255 = 100%).
uint8 red
uint8 green
uint8 blue
uint8 white

rapha_interfaces/msg/LedPanel

Enumeration of robot's LED panels.
uint8 FRONT=0
uint8 BACK=1
uint8 LEFT=2
uint8 RIGHT=3

uint8 data

rapha_interfaces/msg/LedState

Represents the state of a single LED.
# The duration (in ms) the state should be active.
# Setting it to 0 will make the state active indefinitely.
uint16 duration

# The priority of the state.
# If the value is equal to 0 or is lower than the priority of the current user LED, the state is ignored.
# The value of -1 resets the user state of the LED.
int8 priority

# The color of the LED
rapha_interfaces/LedColor color

rapha_interfaces/msg/LedPanelState

Represents the state of the whole LED panel.
# Which LED panel does this state applies to.
rapha_interfaces/LedPanel panel

# State of each LED on the panel.
# For panels with less than 36 LEDs, the last array items are ignored.
rapha_interfaces/LedState[36] state

rapha_interfaces/msg/LedStripState

Represents the state of the whole LED strip.
uint8 LED_STRIP_SIZE=129
rapha_interfaces/LedState[129] state

rapha_interfaces/msg/Led

Represents the position and the state of the LED.
# The panel the LED is on.
rapha_interfaces/LedPanel panel

# The id of the LED on the panel.
uint8 id

# The state of the LED.
rapha_interfaces/LedState state

rapha_interfaces/msg/MotorDiagnostics

Diagnostic information about motors controlled by RaphaCore.
# The order of the motors is:
#   - rear left wheel
#   - rear right wheel
#   - right servo
#   - left servo
#   - front left wheel
#   - front right wheel

std_msgs/Header header

# The current temperature in degrees Celsius.
uint8[6] temperature

# The current power output in watts.
float64[6] power

# The energy consumed in watt-hours since the robot was powered on.
float64[6] energy

uint8 FAULT_BIT_SENSOR_FAULT=1
uint8 FAULT_BIT_BUS_OVERCURRENT=2
uint8 FAULT_BIT_PHASE_OVERCURRENT=4
uint8 FAULT_BIT_STALL=8
uint8 FAULT_BIT_OVERHEAT=16

# The current fault mask reported by the motor.
uint8[6] fault_mask_active

# Mask of all fault that occurred since the robot was powered on.
uint8[6] fault_mask_occurred

rapha_interfaces/msg/ImuDiagnostics

Diagnostic information about IMU sensor running on RaphaCore.
std_msgs/Header header

# The current temperature of the sensor in degrees Celsius.
float64 temperature

# The current gyroscope biases.
float64 gyro_bias_x
float64 gyro_bias_y
float64 gyro_bias_z

Custom service types

rapha_interfaces/srv/SetSteeringMode

rapha_interfaces/SteeringMode steering_mode
---
bool success
string status_message

rapha_interfaces/srv/SetBatteryModes

rapha_interfaces/BatteryMode bat1_mode
rapha_interfaces/BatteryMode bat2_mode
---
bool success
string status_message

rapha_interfaces/srv/SetLeds

rapha_interfaces/Led[<=129] leds
---
bool success
string status_message

[rapha_interfaces/msg/Led]: #msg-led [rapha_interfaces/msg/LedColor]: #msg-led-color [rapha_interfaces/msg/LedPanel]: #msg-led-panel

Subscribed topics​

Published Topics​

Services​

Parameters​

controller​

Custom message types​

Custom service types​

Subscribed topics

Published Topics

Services

Parameters

controller

Custom message types

Custom service types