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_servo_l, controller/cmd_servo_r (raph_interfaces/msg/ServoCommand)

  Direct commands for the left and right steering servos that bypass the higher-level Ackermann or turn-in-place interfaces.

• 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.

• controller/cmd_wheel_fl, controller/cmd_wheel_fr, controller/cmd_wheel_rl, controller/cmd_wheel_rr (raph_interfaces/msg/WheelCommand)

  Per-wheel commands for directly driving each wheel motor (front-left, front-right, rear-left, rear-right). Can be used for testing or custom control strategies.

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: 4.0)

  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.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).