Ros Architecture (Robocup)

First Version

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

distance : meter

angle : radian