[Solved] Topic/Node Graph for ROSBot

[MichaelT]

Hi,

can I find somewhere an image of the nodes/topics of ROSBot for hardware and simulation mode?

I am a little bit confused with the connections of the nodes via topics.

Thanks

Michael

[RafalGorecki]

Hello,
Unfortunately at this point we do not have a graphic created presenting the relationships between all nodes. For now, you can get information about the interconnection of nodes by using rqt_graph (command to install: sudo apt install ros-$ROS_DISTRO-rqt-graph ).
For more data on individual nodes you can see ROS API

Best regards,
RG

[MichaelT]

Hi,
Thanks for your answer.
Unfortunately I have no running system at the Moment.
What I am trying to do is studying the sources in git for a better understanding of the system and the differences with real hardware and simulation. For that an image of the nodes and topics would bei helpful.

Michael

[RafalGorecki]

It may not be the prettiest photo, but it’s the only one I can send you at the moment. There are a few things missing from this diagram, e.g. the fact that the battery data comes from the microcontroller,
or that robot_base _controller is listening to topic /cmd_vel. However, I hope that it will help you at least a little in your work.

I also regret that I cannot give you anything better at this moment. We will soon refactor the code and then we will create a decent schema, but this may take a long time.

[MichaelT]

Thanks a lot.
This is helpful.

Michael