Messages

The messages below are used to:

• publish sensor data from NXT sensors on ROS topics
• control the robot
• control individual motors
• make the robot play tones

See the nxt_lejos_lcp_proxy package for more details.

Messages from the nxt_msgs package are also used by nxt_lejos_lcp_proxy.

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Message Details

Battery

The Battery message returns the current NXT battery level in volts.

Compass

The Compass message returns the heading reported by a HiTechnic Compass sensor, in degrees.

Decibels

The Decibels message returns the sound level in decibels reported by a sound sensor.

DNSMessage

The Differential Navigation System Command message allows commands to be sent to NXT leJOS robot.

The commands currently supported are:

• forward
• backward
• rotateLeft
• rotateRight

• travel <distance>

• rotate <angle>

• setRotateSpeed <speed>

• setTravelSpeed <speed>

JointPosition

The JointPosition message is used to move a specified motor by a specified number of degrees.

JointVelocity

The JointVelocity message is used to make a specific motor move at a specified speed in degrees per second.

Tone

The Tone message is used to play a specified tone on the NXT for a specified duration, in milliseconds.