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robocup:ros_architecture [2016/02/23 09:56] nfave |
robocup:ros_architecture [2019/04/25 14:08] |
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| - | ======Ros Architecture (Robocup)====== | ||
| - | ===== First Version===== | ||
| - | {{:2016-01-27_13.14.37.jpg?1000|}} | ||
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| - | ===== Communication between the nodes ===== | ||
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| - | ==== ROS msgs used ==== | ||
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| - | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose.html|Pose]] | ||
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| - | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/PoseArray.html|PoseArray]] | ||
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| - | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose2D.html|Pose2D]] | ||
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| - | [[http://docs.ros.org/api/std_msgs/html/msg/Int32.html|Int32]] | ||
| - | |||
| - | ==== Specific messages ==== | ||
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| - | ===message_type=== | ||
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| - | **Command** | ||
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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 | ||