toio_ros2

Introduction

toio_ros2 is ROS 2 package for using toio.

If you are interested in this work, please read https://qiita.com/dandelion1124/items/150ec284d8d85769f745.

Feature

• Control using the cmd_vel topic
• Navigation using the goal_pose topic
• Publish /toio/pose topic and tf topic(position and orientation of toio)
• Publish /toio/battery_level as battery level information

Requirements

Hardware

• toio Core Cube
• toio play mat
  • Please see https://toio.github.io/toio-spec/en/docs/hardware_position_id.

Software

I checked this package on the following environment.

• Ubuntu 24.04
• ROS 2 Jazzy
• toio.py 1.10.0

Subscribed topics

topic name	Type	Description
/cmd_vel	geometry_msgs/msg/Twist	desired robot velocity
/goal_pose	geometry_msgs/msg/PoseStamped	desired robot pose

Published topics

topic name	Type	Description
/toio/pose	geometry_msgs/msg/PoseStamped	toio pose in map frame
/toio/battery_level	std_msgs/msg/Float32	battery level of toio
/tf	-	a valid transform from map to center

Parameters

Default is a param for A4 mat. Please see https://toio.github.io/toio-spec/docs/hardware_position_id in detail.

name	Type	Default	Description
field_min_x	double	98.0	minimum of x in field
field_max_x	double	402.0	maximum of x in field
field_min_y	double	142.0	minimum of y in field
field_max_y	double	358.0	maximum of y in field
field_width_meter	double	0.297	width of field(meter)
field_height_meter	double	0.210	height of field(meter)

Parameter files is stored in params. And, launch/toio_ros2_bringup.launch.py load params/toio_a4_play_mat_params.yaml as default.

declare_params_file_cmd = DeclareLaunchArgument(
    'params_file',
    default_value=os.path.join(toio_ros2_dir, 'params', 'toio_a4_play_mat_params.yaml'),
    description='Full path to the ROS2 parameters file to use toio_ros2 node')

Frame