mosig-robotics-labs
Laboratories of the course of Robotics and IoT from MoSIG
TODO
- process update from local_planner in the decision node and send it to the translation/rotation node
- understand structure of the grid map representation
- assign a position (start, end, current) to a cell in the grid
- plan a path from cell A to cell B in the grid
- use robot's current and end position in planning
- compare the robot's actual position with the desired one, if error > threshold, update planning
Topics:
decision node:
-
subscribes:
- move_base_simple/goal
- global_planner/planned_path
- local_planner/translation_rotation
- rotation_node/rotation_done
- translation_node/translation_done
- check_node/recalculate_goal
-
publishes
- global_planner/global_goal
- local_planner/local_goal
- rotation_node/rotation_to_do
- translation_node/translation_to_do
- check_node/point
check node:
-
subscribes:
- check_node/point
- amcl_pose
-
publishes
- check_node/recalculate_goal
local_planner node:
-
subscribes:
- local_planner/local_goal
-
publishes
- local_planner/translation_rotation
- amcl_pose
global_planer goal:
-
subscribes:
- global_planner/initial_position
- global_planner/global_goal
-
publishes
- global_planner/planned_path
rotation_node:
-
subscribes:
- rotation_node/rotation_to_do
-
publishes
- rotation_node/rotation_done
translation_node:
-
subscribes:
- translation_node/translation_to_do
-
publishes
- translation_node/translation_done
obstacle_detection_node:
-
subscribes:
- scan
-
publishes
- obstacle_detection_node/closest_obstacle
- obstacle_detection_node/closest_obstacle_marker