lgdxrobot2_agent_node integrates LGDXRobot2 hardware into ROS 2. It provides several topics for the Nav2 stack.
Connection
The lgdxrobot2_udev package defines the path of the controller board as /dev/lgdxrobot2. The agent node will automatically connect to it. If the connection fails or is lost, the node will attempt to reconnect automatically.
Parameters
| Parameter |
Type |
Description |
| base_link_name |
string |
Custom base_link name. |
| publish_tf |
bool |
Publishing tf information from the robot. |
| reset_transform |
bool |
Reset robot transform on start up. |
| serial_port_name |
string |
Serial port name for the LGDXRobot2 or default to /dev/lgdxrobot2. |
| use_cloud |
bool |
Enable LGDXRobot Cloud integration. |
| use_joy |
bool |
Control robot using joy node. |
Published Topics
| Topic Name |
Message Type |
Description |
| /agent/imu |
sensor_msgs/Imu |
IMU data. |
| /agent/mag |
sensor_msgs/MagneticField |
Magnetometer data. |
| /agent/odom |
nav_msgs/Odometry |
Odometry for the robot. |
| /agent/system |
lgdxrobot2_msgs/System |
Hardware system information. |
| /joint_states |
sensor_msgs/JointState |
Robot wheel movement. |
| /cloud/robot_data |
lgdxrobot2_cloud_msgs/RobotData |
Robot data from LGDXRobot Cloud. |
Subscribed Topics
| Topic Name |
Type |
Description |
| /cmd_vel |
geometry_msgs/Twist |
|
| /joy |
sensor_msgs/Joy |
|
| /cloud/software_emergency_stop |
std_msgs/msg/Bool |
Software emergency stop from LGDXRobot Cloud. |
