======Ros Architecture (Robocup)======
===== First Version=====
{{:2016-01-27_13.14.37.jpg?1000|}}
{{tag>ros}}


===== Communication between the nodes =====

==== ROS msgs used ====

[[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose.html|Pose]]

[[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/PoseArray.html|PoseArray]]

[[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose2D.html|Pose2D]]

[[http://docs.ros.org/api/std_msgs/html/msg/Int32.html|Int32]]

==== Specific messages ====

===message_type===

**Command**

int type de movement : 1 -> follow, 2 -> take object, 3 -> go to 

int reference : reference to a person to follow or to an object to take

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

==== Normalisation ====

distance : meter

angle : radian