Ros2 Topics

This chapter outlines the various ros2 topics AQLARP has that you can interact with to adapt the robot to your use case.

Heading topic

Topic name: heading

Package: aqlarp_main

Description: with this topic you can specify where the robot should go to and at what speed. The heading parameters will be limited to a circle of radius one and the rotation parameter will be limited between -1 and 1.

Data type: Heading

Values:

  • float32 x_heading
  • float32 z_heading
  • float32 rotation

Power topic

Topic name: power

Package: aqlarp_main

Description: with this topic you can set the power to the servos on or off.

Data type: Boolean

Gyro topic

Topic name: gryo_angles

Package: aqlarp_sensors

Description: all gyro related data is published on this topic, this is published 100 times per second.

Data type: GyroAngles

Values:

  • float32 pitch
  • float32 roll
  • float32[3] angular_velocity
  • float32[3] acceleration

Joint angles topic

Topic name: joint_angles

Package: aqlarp_motors

Description: with this topic you can specify the angles that all servos should be set to.

Data type: JointAngles

Values:

  • float32[12] angles

Disable joints topic

Topic name: disable_joints

Package: aqlarp_motors

Description: power off all servos

Data type: Empty