turtlebot3_node

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Description

The main TurtleBot3 hardware interface node that communicates with the OpenCR board via USB serial connection. This node handles motor control, sensor data acquisition, and publishes various sensor states including IMU, battery, and joint information.

Publishers

• battery_state (sensor_msgs/BatteryState)

  • Battery voltage and charge state information

• imu (sensor_msgs/Imu)

  • IMU orientation, angular velocity, and linear acceleration data

• magnetic_field (sensor_msgs/MagneticField)

  • Magnetic field measurements from the IMU magnetometer

• sensor_state (turtlebot3_msgs/SensorState)

  • Custom sensor state message containing bumper, cliff, illumination, IR, sonar, and other sensor data

• joint_states (sensor_msgs/JointState)

  • Joint positions, velocities, and efforts for the wheel joints

Subscribers

• cmd_vel (geometry_msgs/Twist or geometry_msgs/TwistStamped)

  • Velocity commands for controlling the robot’s linear and angular motion

  • Accepts both Twist (ROS 2 Humble) and TwistStamped (later distros) message types

Services

• motor_power (std_srvs/SetBool)

  • Enable or disable motor power

• reset (std_srvs/Trigger)

  • Reset the OpenCR board

• sound (turtlebot3_msgs/Sound)

  • Play predefined sounds through the OpenCR buzzer

Parameters

• opencr.id (int, default: 200)

  • Dynamixel ID of the OpenCR board

• opencr.baud_rate (int, default: 1000000)

  • Baud rate for serial communication with OpenCR

• opencr.protocol_version (float, default: 2.0)

  • Dynamixel protocol version

• motors.profile_acceleration_constant (float, default: 214.577)

  • Conversion constant for motor acceleration profile

• motors.profile_acceleration (float, default: 0.0)

  • Motor acceleration profile in rev/min²

• wheels.separation (float, default: 0.160)

  • Distance between the left and right wheels in meters

• wheels.radius (float, default: 0.033)

  • Radius of the wheels in meters

• sensors.bumper_1 (uint8, default: 0)

  • Enable/disable bumper sensor 1

• sensors.bumper_2 (uint8, default: 0)

  • Enable/disable bumper sensor 2

• sensors.illumination (uint8, default: 0)

  • Enable/disable illumination sensor

• sensors.ir (uint8, default: 0)

  • Enable/disable IR sensor

• sensors.sonar (uint8, default: 0)

  • Enable/disable sonar sensor

Example Usage

Launch the TurtleBot3 node with default USB port:

ros2 run turtlebot3_node turtlebot3_node

Launch with a custom USB port:

ros2 run turtlebot3_node turtlebot3_node -i /dev/ttyUSB0

Enable motor power using service:

ros2 service call /motor_power std_srvs/srv/SetBool "{data: true}"

Send velocity commands:

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1}, angular: {z: 0.5}}"