○ description: Enable or disable motor stop.
●
/robot_power
:
irobot_create_msgs/srv/RobotPower
○ description: Power off the robot.
Action Clients:
●
/dock
:
irobot_create_msgs/action/DockServo
○ description: Command the robot to dock into its charging station.
●
/wall_follow
:
irobot_create_msgs/action/WallFollow
○ description: Command the robot to wall follow on left or right side using bump
and IR sensors.
●
/undock
:
irobot_create_msgs/action/Undock
○ description: Command the robot to undock from its charging station.
Functions
The node has a set of static functions that can be used either with a button or through the
display menu.
Currently, the supported functions are:
●
Dock
: Call the
/dock
action.
●
Undock
: Call the
/undock
action.
●
Wall Follow Left
: Call the
/wall_follow
action with direction
FOLLOW_LEFT
and a
duration of 10 seconds.
●
Wall Follow Right
: Call the
/wall_follow
action with direction
FOLLOW_RIGHT
and a
duration of 10 seconds.
●
Power
: Call the
/robot_power
service and power off the robot.
●
EStop
: Call the
/e_stop
service and toggle EStop state.
The TurtleBot 4 also supports the following menu functions:
●
Scroll Up
: Scroll menu up.
●
Scroll Down
: Scroll menu down.
●
Back
: Exit message screen or return to first menu entry.
●
Select
: Select currently highlighted menu entry.
●
Help
: Print help statement.
Configuration
This node can be configured using a parameter
.yaml
file. The default robot parameters can be
found
Parameters:
Summary of Contents for TurtleBot 4 Lite
Page 50: ...Running the Light Ring test...
Page 61: ...Adding Displays in Rviz2...
Page 63: ...Camera image displayed in Rviz2...
Page 82: ...TurtleBot 4 Lite with a NED2 arm...
Page 147: ...Color camera diagnostics...
