ROS

Installation

Please follow the instructions in the installation procedure.

Generation of ROS-node and topics

The ROS middleware creates one ROS-node called “morse” and on ROS topic for every sensor and every actuator. The names of the ROS-topics are generated in the following way: <name_of_parent_blender_object>/<name_of_blender_object>.

For instance, if you have an odometry sensor called “odometry” on a robot called “atrv”, the ROS Odometry messages will be published on /atrv/odometry.

Available methods

Please refer to morse.middleware.ros for a list of supported publishers and subscribers.

morse.middleware.ros.abstract_ros.AbstractROS

type : std_msgs/Header

Base class for all ROS Publishers and Subscribers

morse.middleware.ros.abstract_ros.ROSPublisher

type : std_msgs/Header

Base class for all ROS Publishers

morse.middleware.ros.abstract_ros.ROSPublisherTF

type : std_msgs/Header

Base class for all ROS Publishers with TF support

morse.middleware.ros.abstract_ros.ROSReader

type : std_msgs/Header

Base class for all ROS Subscribers

morse.middleware.ros.abstract_ros.StringPublisher

type : std_msgs/String

Publish a string containing a printable representation of the local data.

morse.middleware.ros.abstract_ros.StringReader

type : std_msgs/String

Subscribe to a String topic and log its data decoded as UTF-8.

morse.middleware.ros.accelerometer.TwistPublisher

type : geometry_msgs/Twist

Publish the velocity of the accelerometer sensor. No angular information, only linear ones.

morse.middleware.ros.battery.Float32Publisher

type : std_msgs/Float32

Publish the charge of the battery sensor.

morse.middleware.ros.clock.ClockPublisher

type : rosgraph_msgs/Clock

Publish the simulator clock.

morse.middleware.ros.depth_camera.DepthCameraPublisher

type : sensor_msgs/PointCloud2

Publish the depth field from the Camera perspective as XYZ point-cloud. And send the transformation between the camera and the robot through TF.

morse.middleware.ros.destination.PointReader

type : geometry_msgs/Point

Subscribe to a Point topic and set x,y,z local data.

morse.middleware.ros.force_torque.WrenchReader

type : geometry_msgs/Wrench

Subscribe to a Wrench topic and set force and torque (x,y,z) local data.

morse.middleware.ros.gps.NavSatFixPublisher

type : sensor_msgs/NavSatFix

Publish the GPS position of the robot.

morse.middleware.ros.imu.ImuPublisher

type : sensor_msgs/Imu

Publish the data of the IMU sensor (without covariance).

morse.middleware.ros.infrared.RangePublisher

type : sensor_msgs/Range

Publish the range of the infrared sensor.

morse.middleware.ros.jido_posture.JointStatePublisher

type : sensor_msgs/JointState

Publish the data of the posture sensor (for Jido).

morse.middleware.ros.jointstate.JointStatePR2Publisher

type : sensor_msgs/JointState

Publish the data of the posture sensor after filling missing PR2 joints.

morse.middleware.ros.jointstate.JointStatePublisher

type : sensor_msgs/JointState

Publish the data of the posture sensor.

morse.middleware.ros.jointtrajectorycontrollers.JointTrajectoryControllerStatePublisher

type : pr2_controllers_msgs/JointTrajectoryControllerState

Publish the data of the pr2 joint sensor.

morse.middleware.ros.kinect.XYZRGBPublisher

type : sensor_msgs/PointCloud2

Publish the merged image and depth field from the Kinect perspective as XYZRGB point-cloud. And send the transformation between the camera and the robot through TF.

morse.middleware.ros.kuka_jointstate.JointStateReader

type : sensor_msgs/JointState

Subscribe to a JointState topic and set kuka_{1-7} to the position[0-6].

morse.middleware.ros.laserscanner.LaserScanPublisher

type : sensor_msgs/LaserScan

Publish the range_list of the laser scanner.

morse.middleware.ros.laserscanner.PointCloud2Publisher

type : sensor_msgs/PointCloud2

Publish the point_list of the laser scanner.

morse.middleware.ros.light.BoolReader

type : std_msgs/Bool

Subscribe to a boolean topic to control if we must or not emit light.

morse.middleware.ros.motion_vw.TwistReader

type : geometry_msgs/Twist

Subscribe to a motion command and set v and w local data.

morse.middleware.ros.motion_xyw.TwistReader

type : geometry_msgs/Twist

Subscribe to a motion command and set x, y and w local data.

morse.middleware.ros.odometry.OdometryPublisher

type : nav_msgs/Odometry

Publish the odometry of the robot. And send the transformation between frame_id and child_frame_id args, default ‘/odom’ and ‘/base_footprint’ through TF.

morse.middleware.ros.orientation.QuaternionReader

type : geometry_msgs/Quaternion

Subscribe to a Quaternion topic and set roll,pitch,yaw local data.

morse.middleware.ros.platine.Vector3Reader

type : geometry_msgs/Vector3

Subscribe to a Vector3 topic and set pan,tilt local data, according to the rotation axis (pan: y-axis, tilt: z-axis).

morse.middleware.ros.pose.PoseStampedPublisher

type : geometry_msgs/PoseStamped

Publish the position and orientation of the robot.

morse.middleware.ros.pose.TFPublisher

type : std_msgs/Header

Publish the transformation between frame_id and child_frame_id args, default ‘/map’ and ‘/base_link’ through TF.

morse.middleware.ros.ptu_posture.JointStatePublisher

type : sensor_msgs/JointState

Publish the data of the posture sensor as a ROS JointState message

morse.middleware.ros.read_pose.PoseReader

type : geometry_msgs/Pose

Subscribe to a Pose topic and set x, y, z and roll, pitch, yaw local data.

morse.middleware.ros.semantic_camera.SemanticCameraPublisher

type : std_msgs/String

Publish the data of the semantic camera as a ROS String message, each field separated by a comma, with newlines (for better visualization in console).

morse.middleware.ros.semantic_camera.SemanticCameraPublisherLisp

type : std_msgs/String

Publish the data of the semantic camera as a ROS String message, that contains a lisp-list (each field are separated by a space).

This function was designed for the use with CRAM and the Adapto group.

morse.middleware.ros.video_camera.VideoCameraPublisher

type : sensor_msgs/Image

Publish the image from the Camera perspective. And send the intrinsic matrix information in a separate topic of type sensor_msgs/CameraInfo.

morse.middleware.ros.waypoint2D.Pose2DReader

type : geometry_msgs/Pose2D

Subscribe to a Pose2D topic and set x, y, z local data. This is designed to be used with the waypoint actuator.

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