mirror of
https://github.com/soconnor0919/robot-plugins.git
synced 2025-12-15 08:24:45 -05:00
156 lines
4.2 KiB
JSON
156 lines
4.2 KiB
JSON
{
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"robotId": "turtlebot3-burger",
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"name": "TurtleBot3 Burger",
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"description": "A compact, affordable, programmable, ROS2-based mobile robot for education and research",
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"platform": "ROS2",
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"version": "2.0.0",
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"manufacturer": {
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"name": "ROBOTIS",
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"website": "https://www.robotis.com/",
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"support": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/"
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},
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"documentation": {
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"mainUrl": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/",
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"apiReference": "https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_manipulation/",
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"wikiUrl": "https://wiki.ros.org/turtlebot3",
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"videoUrl": "https://www.youtube.com/watch?v=rVM994ZhsEM"
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},
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"assets": {
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"thumbnailUrl": "assets/turtlebot3-burger/thumb.png",
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"images": {
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"main": "assets/turtlebot3-burger/main.png",
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"angles": {
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"front": "assets/turtlebot3-burger/front.png",
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"side": "assets/turtlebot3-burger/side.png",
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"top": "assets/turtlebot3-burger/top.png"
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},
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"dimensions": "assets/turtlebot3-burger/dimensions.png"
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},
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"model": {
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"format": "URDF",
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"url": "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_description/urdf/turtlebot3_burger.urdf"
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}
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},
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"specs": {
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"dimensions": {
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"length": 0.138,
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"width": 0.178,
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"height": 0.192,
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"weight": 1.0
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},
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"capabilities": [
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"differential_drive",
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"lidar",
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"imu",
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"odometry"
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],
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"maxSpeed": 0.22,
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"batteryLife": 2.5
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},
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"ros2Config": {
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"namespace": "turtlebot3",
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"nodePrefix": "hri_studio",
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"defaultTopics": {
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"cmd_vel": "/cmd_vel",
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"odom": "/odom",
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"scan": "/scan",
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"imu": "/imu",
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"joint_states": "/joint_states"
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}
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},
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"actions": [
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{
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"actionId": "move-velocity",
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"type": "move",
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"title": "Set Velocity",
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"description": "Control the robot's linear and angular velocity",
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"icon": "navigation",
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"parameters": {
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"type": "object",
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"properties": {
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"linear": {
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"type": "number",
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"title": "Linear Velocity",
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"description": "Forward/backward velocity",
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"default": 0,
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"minimum": -0.22,
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"maximum": 0.22,
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"unit": "m/s"
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},
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"angular": {
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"type": "number",
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"title": "Angular Velocity",
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"description": "Rotational velocity",
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"default": 0,
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"minimum": -2.84,
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"maximum": 2.84,
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"unit": "rad/s"
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}
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},
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"required": ["linear", "angular"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "transformToTwist"
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},
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"qos": {
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"reliability": "reliable",
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"durability": "volatile",
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"history": "keep_last",
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"depth": 1
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}
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}
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},
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{
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"actionId": "move-to-pose",
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"type": "move",
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"title": "Move to Position",
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"description": "Navigate to a specific position on the map",
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"icon": "target",
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"parameters": {
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"type": "object",
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"properties": {
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"x": {
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"type": "number",
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"title": "X Position",
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"description": "X coordinate in meters",
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"default": 0,
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"unit": "m"
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},
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"y": {
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"type": "number",
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"title": "Y Position",
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"description": "Y coordinate in meters",
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"default": 0,
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"unit": "m"
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},
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"theta": {
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"type": "number",
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"title": "Orientation",
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"description": "Final orientation",
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"default": 0,
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"unit": "rad"
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}
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},
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"required": ["x", "y", "theta"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/PoseStamped",
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"action": "/navigate_to_pose",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "transformToPoseStamped"
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}
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}
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}
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]
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} |