Raph Rover ROS 2 API Reference

Subscribed topics

• controller/cmd_ackermann (ackermann_msgs/msg/AckermannDrive)

  Steers the robot when operating in the Ackermann steering mode.

• controller/cmd_led_panel (raph_interfaces/msg/LedStripState)

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

• controller/cmd_led_strip (raph_interfaces/msg/LedPanelState)

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

• controller/cmd_turn_in_place (raph_interfaces/msg/TurnInPlaceDrive)

  Sets the target angular velocity when operating in the turn-in-place steering mode. $[rad]$

• controller/cmd_vel (geometry_msgs/msg/Twist)

  Steers the robot using Twist commands. More standardized way to control the robot. Useful for some navigation stacks. Not recommended for manual teleoperation. Only uses linear.x and angular.z components.

Published topics

• controller/imu/data (sensor_msgs/msg/Imu)

  Filtered readings from the onboard IMU. These include:

  • linear acceleration from the accelerometer,
  • angular velocity from the gyroscope, with a dynamic bias compensation applied, and
  • orientation calculated from the accelerometer and gyroscope sensor fusion.

• controller/odom (nav_msgs/msg/Odometry)

  Odometry calculated from wheel encoders and the onboard IMU.

• controller/diagnostics/imu (raph_interfaces/msg/ImuDiagnostics)

  Diagnostic information about the IMU module.
  Includes module temperature and calibration data.

• controller/diagnostics/motors (raph_interfaces/msg/MotorDiagnostics)

  Diagnostic information about the motors.
  Includes motor temperatures, power consumption and fault data.

• controller/drivetrain_state (raph_interfaces/msg/DrivetrainState)

  Current drivetrain state, including steering mode and calibration status.

• controller/led_strip_state (raph_interfaces/msg/LedStripState)

  Current state of the whole LED strip.

• controller/power_system_state (raph_interfaces/msg/PowerSystemState)

  Current information about the power system.

• oak/imu/data_raw (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 raw images from the left Oak-D camera.

• oak/left/image_raw (sensor_msgs/msg/Image)

  Raw images from the left Oak-D camera.

• oak/left_rect/camera_info (sensor_msgs/msg/CameraInfo)

  Calibration data for the rectified images from the left Oak-D camera.

• oak/left_rect/image_rect (sensor_msgs/msg/Image)

  Rectified images from the left Oak-D camera.

• oak/rgb/camera_info (sensor_msgs/msg/CameraInfo)

  Calibration data for the raw images from the center (RGB) Oak-D camera.

• oak/rgb/image_raw (sensor_msgs/msg/Image)

  Raw images from the center (RGB) Oak-D camera.

• oak/rgb_rect/camera_info (sensor_msgs/msg/CameraInfo)

  Calibration data for the rectified images from the center (RGB) Oak-D camera.

• oak/rgb_rect/image_rect (sensor_msgs/msg/Image)

  Rectified images from the center (RGB) Oak-D camera.

• oak/right/camera_info (sensor_msgs/msg/CameraInfo)

  Calibration data for the raw images from the right Oak-D camera.

• oak/right/image_raw (sensor_msgs/msg/Image)

  Raw images from the right Oak-D camera.

• oak/right_rect/camera_info (sensor_msgs/msg/CameraInfo)

  Calibration data for the rectified images from the right Oak-D camera.

• oak/right_rect/image_rect (sensor_msgs/msg/Image)

  Rectified 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)

  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/get_controller_info (raph_interfaces/srv/GetControllerInfo)

  Get information about the controller, including bootloader and firmware versions and other optional information.

• controller/clear_leds (std_srvs/srv/Trigger)

  Resets user states for all LEDs in the LED strip.

• controller/set_leds (raph_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 (raph_interfaces/srv/SetBatteryModes)

  Set target battery modes.

• controller/set_steering_mode (raph_interfaces/srv/SetSteeringMode)

  Set the current steering mode.

• raph_system/get_os_version (raph_interfaces/srv/GetOsVersion)

  Get the version of the RaphOS running on the robot.

• raph_system/shutdown (std_srvs/srv/Trigger)

  Perform onboard computer's system shutdown.

• raph_system/reboot (std_srvs/srv/Trigger)

  Perform onboard computer's system reboot.

Parameters

controller

• drivetrain.ackermann_deceleration (type: float, default: 5.0)

  Deceleration to use when operating in ackermann mode. $[\frac{m}{s^2}]$

• drivetrain.turn_in_place_deceleration (type: float, default: 8.0)

  Deceleration to use when operating in turn-in-place mode. $[\frac{rad}{s^2}]$

• drivetrain.wheel_base (type: float, default: 0.382)

  Distance between front and rear wheels. $[m]$

• drivetrain.track_width (type: float, default: 0.385)

  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.cmd_vel_acceleration (type: float, default: 2.0)

  Acceleration to use when sending cmd_vel commands. $[\frac{m}{s^2}, \frac{rad}{s^2}]$

• drivetrain.cmd_vel_steering_angle_velocity (type: float, default: 5.0)

  Steering angle velocity to use when sending cmd_vel commands. $[\frac{rad}{s}]$

• 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_speed (type: float, default: 2.0)

  Speed of servos during calibration. $[\frac{rad}{s}]$

• drivetrain.servo_calibration_timeout (type: float, default: 6.0)

  Timeout for servo calibration procedure. $[s]$

• drivetrain.servo_calibration_torque_samples (type: int, default: 5)

  Number of consecutive servo torque readings over the threshold required during calibration.

• drivetrain.servo_calibration_torque_threshold (type: float, default: 1.0)

  Minimal motor torque that indicates the servo presses against the bumper during calibration. $[Nm]$

• 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.

• power_manager.output_12v_enabled (type: bool, default: true)

  Whether the 12V output is enabled.

• power_manager.output_5v_enabled (type: bool, default: true)

  Whether the 5V output is enabled.

• power_manager.output_bat_enabled (type: bool, default: true)

  Whether the BAT output is enabled.

• imu_filter.gain_acc (type: float, default: 0.01)

  Gain for the accelerometer in the complementary filter for IMU data fusion (0.0-1.0, higher is more trust in the accelerometer).

• imu_filter.bias_alpha (type: float, default: 0.01)

  The factor at which the gyroscope bias is updated when the IMU is determined to be in steady state (>=0.0, higher is faster bias compensation).

• imu_filter.steady_state_angular_velocity_threshold (type: float, default: 0.05)

  Threshold for the angular velocity to determine whether the IMU is in steady state. $[\frac{rad}{s}]$

• imu_filter.steady_state_acceleration_threshold (type: float, default: 0.1)

  Threshold for the magnitude of the linear acceleration (after subtracting gravity) to determine whether the IMU is in steady state. $[\frac{m}{s^2}]$

• imu_filter.steady_state_delta_angular_velocity_threshold (type: float, default: 0.01)

  Threshold for the change in angular velocity, between two consecutive measurements, to determine whether the IMU is in steady state. $[\frac{rad}{s}]$

• imu_filter.steady_state_required_steady_time (type: float, default: 1.0)

  How long should the IMU reading meet the steady thresholds before it's determined to be in steady state. $[s]$

• imu_filter.orientation_variance (type: float, default: 0.001)

  Values on the diagonal of the orientation covariance matrix in the published IMU data.

oak

• device.mx_id (type: string, read-only, default: "")

  Device MX ID to connect to.

• device.usb_port_id (type: string, read-only, default: "")

  USB port ID to connect to (e.g. 1.1.2).

• device.ir_laser_dot_projector_intensity (type: float, default: 0.3)

  IR laser dot projector intensity (0.0-1.0, higher is stronger intensity).

• device.ir_laser_dot_projector_lazy (type: bool, default: true)

  If true, the IR laser dot projector will only be turned on when the depth stream is active. If false, the IR laser dot projector will be always on.

• device.ir_flood_light_intensity (type: float, default: 0.0)

  IR flood light intensity (0.0-1.0, higher is stronger intensity).

• depth.confidence_threshold (type: int, default: 110)

  Depth images will only contain pixels where depth confidence is below the confidence threshold (lower the confidence value means better depth accuracy).

• depth.lr_check_enabled (type: bool, default: true)

  Computes and combines disparities in both L-R and R-L directions.

• depth.lr_check_threshold (type: int, default: 5)

  Disparity is considered for the output when the difference between LR and RL disparities is smaller than the LR check threshold.

• depth.subpixel_enabled (type: bool, default: true)

  Computes disparity with sub-pixel interpolation.

• depth.subpixel_fractional_bits (type: int, default: 3)

  Number of fractional bits for subpixel mode.

• depth.min_distance (type: float, default: 0.0)

  Minimal distance in meters.

• depth.max_distance (type: float, default: 10.0)

  Maximal distance in meters.

• mono.width (type: int, read-only, default: 1280)

  Mono camera image width.

• mono.height (type: int, read-only, default: 800)

  Mono camera image height.

• mono.isp_scale_num (type: int, read-only, default: 1)

  ISP scale numerator for mono cameras.

• mono.isp_scale_den (type: int, read-only, default: 1)

  ISP scale denominator for mono cameras.

• mono.fps (type: float, read-only, default: 10.0)

  Mono camera frames per second.

• mono_compressed.jpeg_quality (type: int, read-only, default: 80)

  JPEG quality for mono compressed images (0-100, higher is better quality and bigger size).

• rgb.width (type: int, read-only, default: 1344)

  RGB camera image width.

• rgb.height (type: int, read-only, default: 1008)

  RGB camera image height.

• rgb.isp_scale_num (type: int, read-only, default: 1)

  ISP scale numerator for RGB camera.

• rgb.isp_scale_den (type: int, read-only, default: 3)

  ISP scale denominator for RGB camera.

• rgb.fps (type: float, read-only, default: 15.0)

  RGB camera frames per second.

• rgb_compressed.jpeg_quality (type: int, read-only, default: 80)

  JPEG quality for RGB compressed images (0-100, higher is better quality and bigger size).