File: turtlebot3_msgs/SensorState.msg
Raw Message Definition
########################################
# CONSTANTS
########################################
# Bumper states (states are combined, when multiple bumpers are pressed)
uint8 BUMPER_FORWARD = 1
uint8 BUMPER_BACKWARD = 2
# Cliff sensor states (states are combined, when multiple cliff sensors are triggered)
uint8 CLIFF = 1
# Sonar sensor states (states are combined, when multiple sonar sensors are triggered)
uint8 SONAR = 1
# Illumination sensor (states are combined, when multiple illumination sensors are triggered)
uint8 ILLUMINATION = 1
# Button states (states are combined, when multiple buttons are pressed)
uint8 BUTTON0 = 1
uint8 BUTTON1 = 2
# Motor errors
uint8 ERROR_LEFT_MOTOR = 1
uint8 ERROR_RIGHT_MOTOR = 2
# Motor torque
uint8 TORQUE_ON = 1
uint8 TORQUE_OFF = 2
########################################
# Messages
########################################
Header header
uint8 bumper
float32 cliff
float32 sonar
float32 illumination
uint8 led
uint8 button
bool torque
int32 left_encoder # (-2,147,483,648 ~ 2,147,483,647)
int32 right_encoder # (-2,147,483,648 ~ 2,147,483,647)
float32 battery
Compact Message Definition
uint8 BUMPER_FORWARD=1
uint8 BUMPER_BACKWARD=2
uint8 CLIFF=1
uint8 SONAR=1
uint8 ILLUMINATION=1
uint8 BUTTON0=1
uint8 BUTTON1=2
uint8 ERROR_LEFT_MOTOR=1
uint8 ERROR_RIGHT_MOTOR=2
uint8 TORQUE_ON=1
uint8 TORQUE_OFF=2
std_msgs/Header header
uint8 bumper
float32 cliff
float32 sonar
float32 illumination
uint8 led
uint8 button
bool torque
int32 left_encoder
int32 right_encoder
float32 battery