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