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servicesim / API

ROS API

Robot interface

These are interfaces to receive sensor data and send commands to the robot.

Topic name Message / service Description Message definition Gazebo plugin used Implemented?
/servicebot/joint_states Message Listen to updated position, velocity, torque of the various robot joints JointState joint_state_controller Yes
/servicebot/scan Message Listen to lidar data LaserScan gazebo_ros_gpu_laser Yes
/servicebot/imu Message Listen to IMU data Imu gazebo_ros_imu Yes
/servicebot/camera_front/camera_info Message Get the calibration and resolution of the camera CameraInfo gazebo_ros_camera Yes
/servicebot/camera_front/image_raw (or image_rect_color) Message Image sent by the camera Image gazebo_ros_camera Yes
/servicebot/camera_rear/camera_info Message Get the calibration and resolution of the camera CameraInfo gazebo_ros_camera Yes
/servicebot/camera_rear/image_raw (or image_rect_color) Message Image sent by the camera Image gazebo_ros_camera Yes
/servicebot/cmd_vel Message Send velocities to the mobile base Twist gazebo_ros_diff_drive Yes
/servicebot/odom Message Get odometry data from the robot Odometry gazebo_ros_diff_drive Yes
/servicebot/<JOINT_NAME>_controller/command Message Send commands to control individual robot joints Float64 gazebo_ros_control Yes
/servicebot/rfid Message Get RFID sensor readings ActorNames servicesim::VicinityPlugin Yes

Task interface

These are interfaces to interact with the flow of the task.

Topic name Message / service Description Message definition Gazebo plugin used Implemented?
/servicesim/new_task Service Start a new task and receive information about its goals (guest, pick-up location, etc) NewTask servicesim::Competition Yes
/servicesim/pickup_guest Service Service to call to get a guest to follow the robot PickUpGuest servicesim::Competition Yes
/servicesim/dropoff_guest Service Service to call to get a guest to stop following the robot DropOffGuest servicesim::Competition Yes
/servicesim/score Message Get periodic score notifications Score servicesim::Competition Yes
/servicesim/room_info Service Get information about a given room, such as its position in the world RoomInfo servicesim::Competition Yes

Example Solution interface

Interface name Topic / Service / Action Description Message definition Gazebo plugin used Implemented?
/servicebot/move_base_simple/goal Topic Goal sent to navigation algorithm PoseStamped Yes
/servicebot/initialpose Topic Initialize the localization to a given pose PoseWithCovarianceStamped Yes
/servicebot/move_base/TrajectoryPlannerROS/cost_cloud Topic Cost grid used for planning PointCloud2 Yes
/servicebot/move_base/TrajectoryPlannerROS/global_plan Topic Portion of the global plan that the local planner is currently attempting to follow. Path Yes
/servicebot/move_base/TrajectoryPlannerROS/local_plan Topic Local plan or trajectory that scored the highest on the last cycle. Path Yes
/servicebot/move_base/global_costmap/costmap Topic Cost map used by the global planner OccupancyGrid Yes
/servicebot/move_base/local_costmap/costmap Topic Cost map used by the local planner OccupancyGrid Yes
/servicebot/map Topic Static map of the environment OccupancyGrid Yes
/servicebot/move_base/local_costmap/footprint Topic Polygon representing the footrpint of the robot PolygonStamped Yes
/servicebot/move_base/current_goal Topic Current navigation goal PoseStamped Yes
/servicebot/particlecloud Topic The set of pose estimates being maintained by the particle filter PoseArray Yes
/servicebot/move_base/clear_costmaps Service Clear all the costmaps Empty Yes
/servicebot/move_base Action Action to process goals MoveBase Yes

Image demo example

Interface name Topic / Service / Action Description Message definition Gazebo plugin used Implemented?
/servicebot/camera_front/segmented_image Message Image after application of a color mask Image /servicebot/camera_front/segmented_image Message
Yes

Updated