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robot-plugins/plugins/turtlebot3-waffle.json

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{
"robotId": "turtlebot3-waffle",
"name": "TurtleBot3 Waffle",
"description": "Extended TurtleBot3 platform with additional sensors and computing power for advanced research applications",
"platform": "ROS2",
"version": "2.0.0",
"pluginApiVersion": "1.0",
"hriStudioVersion": ">=0.1.0",
"trustLevel": "official",
"category": "mobile-robot",
"manufacturer": {
"name": "ROBOTIS",
"website": "https://www.robotis.com/",
"support": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/"
},
"documentation": {
"mainUrl": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/",
"apiReference": "https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_manipulation/",
"wikiUrl": "https://wiki.ros.org/turtlebot3",
"videoUrl": "https://www.youtube.com/watch?v=rVM994ZhsEM"
},
"assets": {
"thumbnailUrl": "assets/turtlebot3-waffle/thumb.png",
"images": {
"main": "assets/turtlebot3-waffle/main.jpg",
"angles": {
"front": "assets/turtlebot3-waffle/front.png",
"side": "assets/turtlebot3-waffle/side.png",
"top": "assets/turtlebot3-waffle/top.png"
},
"logo": "assets/turtlebot3-waffle/logo.png"
},
"model": {
"format": "URDF",
"url": "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_description/urdf/turtlebot3_waffle.urdf"
}
},
"specs": {
"dimensions": {
"length": 0.281,
"width": 0.306,
"height": 0.141,
"weight": 1.8
},
"capabilities": [
"differential_drive",
"lidar",
"imu",
"odometry",
"camera",
"manipulation"
],
"maxSpeed": 0.26,
"batteryLife": 2.8
},
"ros2Config": {
"namespace": "turtlebot3",
"nodePrefix": "hri_studio",
"defaultTopics": {
"cmd_vel": "/cmd_vel",
"odom": "/odom",
"scan": "/scan",
"imu": "/imu",
"joint_states": "/joint_states",
"camera": "/camera/image_raw",
"camera_info": "/camera/camera_info"
}
},
"actions": [
{
"id": "move_velocity",
"name": "Set Velocity",
"description": "Control the robot's linear and angular velocity",
"category": "movement",
"icon": "navigation",
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"linear": {
"type": "number",
"minimum": -0.26,
"maximum": 0.26,
"default": 0,
"description": "Forward/backward velocity in m/s"
},
"angular": {
"type": "number",
"minimum": -1.82,
"maximum": 1.82,
"default": 0,
"description": "Rotational velocity in rad/s"
}
},
"required": ["linear", "angular"]
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToTwist"
},
"qos": {
"reliability": "reliable",
"durability": "volatile",
"history": "keep_last",
"depth": 1
}
}
},
{
"id": "move_to_pose",
"name": "Navigate to Position",
"description": "Navigate to a specific position on the map using autonomous navigation",
"category": "movement",
"icon": "target",
"timeout": 120000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"x": {
"type": "number",
"default": 0,
"description": "X coordinate in meters"
},
"y": {
"type": "number",
"default": 0,
"description": "Y coordinate in meters"
},
"theta": {
"type": "number",
"default": 0,
"description": "Final orientation in radians"
}
},
"required": ["x", "y", "theta"]
},
"ros2": {
"messageType": "geometry_msgs/msg/PoseStamped",
"action": "/navigate_to_pose",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToPoseStamped"
}
}
},
{
"id": "capture_image",
"name": "Capture Image",
"description": "Capture an image from the robot's camera",
"category": "sensors",
"icon": "camera",
"timeout": 10000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"filename": {
"type": "string",
"default": "image_{timestamp}.jpg",
"description": "Filename for the captured image"
},
"quality": {
"type": "integer",
"minimum": 1,
"maximum": 100,
"default": 85,
"description": "JPEG quality (1-100)"
}
},
"required": ["filename"]
},
"ros2": {
"messageType": "sensor_msgs/msg/Image",
"topic": "/camera/image_raw",
"payloadMapping": {
"type": "transform",
"transformFn": "captureAndSaveImage"
}
}
},
{
"id": "scan_environment",
"name": "Scan Environment",
"description": "Perform a 360-degree scan of the environment using LIDAR",
"category": "sensors",
"icon": "radar",
"timeout": 15000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"duration": {
"type": "number",
"minimum": 1.0,
"maximum": 10.0,
"default": 3.0,
"description": "Scan duration in seconds"
},
"save_data": {
"type": "boolean",
"default": true,
"description": "Save scan data to file"
}
},
"required": ["duration"]
},
"ros2": {
"messageType": "sensor_msgs/msg/LaserScan",
"topic": "/scan",
"payloadMapping": {
"type": "transform",
"transformFn": "collectLaserScan"
}
}
},
{
"id": "rotate_in_place",
"name": "Rotate in Place",
"description": "Rotate the robot by a specific angle",
"category": "movement",
"icon": "rotate-cw",
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"angle": {
"type": "number",
"minimum": -6.28,
"maximum": 6.28,
"default": 1.57,
"description": "Rotation angle in radians (positive = counterclockwise)"
},
"speed": {
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"default": 0.5,
"description": "Rotation speed as fraction of maximum"
}
},
"required": ["angle"]
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToRotation"
}
}
},
{
"id": "follow_wall",
"name": "Follow Wall",
"description": "Follow a wall using LIDAR sensor feedback",
"category": "movement",
"icon": "move-3d",
"timeout": 60000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"side": {
"type": "string",
"enum": ["left", "right"],
"default": "right",
"description": "Which side wall to follow"
},
"distance": {
"type": "number",
"minimum": 0.2,
"maximum": 1.0,
"default": 0.3,
"description": "Desired distance from wall in meters"
},
"duration": {
"type": "number",
"minimum": 5.0,
"maximum": 120.0,
"default": 30.0,
"description": "Duration to follow wall in seconds"
}
},
"required": ["side", "distance", "duration"]
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "transform",
"transformFn": "wallFollowing"
}
}
},
{
"id": "emergency_stop",
"name": "Emergency Stop",
"description": "Immediately stop all robot movement and disable motors",
"category": "movement",
"icon": "octagon",
"timeout": 2000,
"retryable": false,
"parameterSchema": {
"type": "object",
"properties": {},
"required": []
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "static",
"payload": {
"linear": { "x": 0.0, "y": 0.0, "z": 0.0 },
"angular": { "x": 0.0, "y": 0.0, "z": 0.0 }
}
},
"qos": {
"reliability": "reliable",
"durability": "volatile",
"history": "keep_last",
"depth": 1
}
}
},
{
"id": "get_robot_state",
"name": "Get Robot State",
"description": "Retrieve current robot position, orientation, and status",
"category": "sensors",
"icon": "info",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"include_sensor_data": {
"type": "boolean",
"default": false,
"description": "Include latest sensor readings in response"
}
},
"required": []
},
"ros2": {
"messageType": "nav_msgs/msg/Odometry",
"topic": "/odom",
"payloadMapping": {
"type": "transform",
"transformFn": "extractRobotState"
}
}
}
]
}
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