Please follow the instructions in the installation procedure.
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.
Please refer to morse.middleware.ros for a list of supported publishers and subscribers.
type : std_msgs/Header
Base class for all ROS Publishers and Subscribers
type : std_msgs/Header
Base class for all ROS Publishers
type : std_msgs/Header
Base class for all ROS Publishers with TF support
type : std_msgs/Header
Base class for all ROS Subscribers
type : std_msgs/String
Publish a string containing a printable representation of the local data.
type : std_msgs/String
Subscribe to a String topic and log its data decoded as UTF-8.
type : geometry_msgs/Twist
Publish the velocity of the accelerometer sensor. No angular information, only linear ones.
type : std_msgs/Float32
Publish the charge of the battery sensor.
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.
type : geometry_msgs/Point
Subscribe to a Point topic and set x,y,z local data.
type : geometry_msgs/Wrench
Subscribe to a Wrench topic and set force and torque (x,y,z) local data.
type : sensor_msgs/Imu
Publish the data of the IMU sensor (without covariance).
type : sensor_msgs/Range
Publish the range of the infrared sensor.
type : sensor_msgs/JointState
Publish the data of the posture sensor (for Jido).
type : sensor_msgs/JointState
Publish the data of the posture sensor after filling missing PR2 joints.
type : sensor_msgs/JointState
Publish the data of the posture sensor.
type : pr2_controllers_msgs/JointTrajectoryControllerState
Publish the data of the pr2 joint sensor.
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.
type : sensor_msgs/JointState
Subscribe to a JointState topic and set kuka_{1-7} to the position[0-6].
type : sensor_msgs/LaserScan
Publish the range_list of the laser scanner.
type : sensor_msgs/PointCloud2
Publish the point_list of the laser scanner.
type : std_msgs/Bool
Subscribe to a boolean topic to control if we must or not emit light.
type : geometry_msgs/Twist
Subscribe to a motion command and set v and w local data.
type : geometry_msgs/Twist
Subscribe to a motion command and set x, y and w local data.
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.
type : geometry_msgs/Quaternion
Subscribe to a Quaternion topic and set roll,pitch,yaw local data.
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).
type : geometry_msgs/PoseStamped
Publish the position and orientation of the robot.
type : std_msgs/Header
Publish the transformation between frame_id and child_frame_id args, default ‘/map’ and ‘/base_link’ through TF.
type : sensor_msgs/JointState
Publish the data of the posture sensor as a ROS JointState message
type : geometry_msgs/Pose
Subscribe to a Pose topic and set x, y, z and roll, pitch, yaw local data.
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).
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.
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.
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.