Sensor Data

Collect data from TurtleBot^® sensors

TurtleBot robots publish all their sensor data on a ROS network. These functions are used to get data from different sensors off the ROS network. You can also send velocity commands to move robots using setVelocity.

Functions

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Imaging Sensors

`getColorImage`	Get color image from TurtleBot camera
`getGrayImage`	Get grayscale image from TurtleBot camera
`getDepthImage`	Get depth image from TurtleBot camera
`getPointCloud`	Get point cloud image from TurtleBot camera

Laser Scanners

getLaserScan Get laser scan sensor readings from TurtleBot

Pose Sensors

`getIMU`	Get IMU data from TurtleBot
`getOdometry`	Get odometry reading from TurtleBot
`getTransform`	Get transformation between two frames on the TurtleBot robot
`resetOdometry`	Reset odometry for TurtleBot

Velocity Control

setVelocity Send linear and angular velocities to TurtleBot

Objects

turtlebot Connect to TurtleBot

Topics

Get Started with the TurtleBot Support Package
This example demonstrates how to interface with the TurtleBot® robot.
Get Image Data from TurtleBot at a Fixed Rate
This example shows how to get image data from the TurtleBot and display it at a fixed rate.
Plot Turtlebot Odometry
This example shows how to get, store, and display odometry data from a TurtleBot® as it drives in an environment.