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robocup:ros_architecture [2016/02/23 09:19] nfave |
robocup:ros_architecture [2019/04/25 14:08] |
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- | ======Ros Architecture (Robocup)====== | ||
- | ===== First Version ===== | ||
- | {{::2016-01-27_14.01.44.jpg?200|}}{{:2016-01-27_13.14.37.jpg?200|}}{{:2016-01-27_13.14.49.jpg?200|}}{{:2016-01-27_14.01.41.jpg?200|}} | ||
- | ===== Communication between the nodes ===== | ||
- | ==== ROS msgs used ==== | ||
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- | Pose | ||
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- | PoseArray | ||
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- | Pose2D | ||
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- | Int | ||
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- | ==== Specific messages ==== | ||
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- | ===message_type=== | ||
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- | int type de movement : 1 -> follow, 2 -> take object, 3 -> go to | ||
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- | int reference : reference to a person to follow or to an object to take | ||
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- | Pose2D position : coordinate to go. In the case of movement type 1 or 2, the robot move to this position before searching the object or the person | ||
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- | ==== Normalisation ==== | ||
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- | distance : meter | ||
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- | angle : radian |