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robocup:ros_architecture [2016/01/27 14:19] nfave [Communication between the nodes] |
robocup:ros_architecture [2019/04/25 14:08] (current) |
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- | ===== Communication between the nodes ===== | + | ======Ros Architecture (Robocup)====== |
- | ==== ROS msgs used ==== | + | ===== First Version===== |
+ | {{:2016-01-27_13.14.37.jpg?1000|}} | ||
+ | {{tag>ros}} | ||
- | Pose | ||
- | PoseArray | + | ===== Communication between the nodes ===== |
- | Pose2D | ||
- | |||
- | Int | ||
- | |||
- | ==== Specific messages ==== | ||
- | |||
- | ===message_type=== | ||
- | |||
- | 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 | ||
==== ROS msgs used ==== | ==== ROS msgs used ==== | ||
- | Pose | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose.html|Pose]] |
- | PoseArray | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/PoseArray.html|PoseArray]] |
- | Pose2D | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose2D.html|Pose2D]] |
- | Int | + | [[http://docs.ros.org/api/std_msgs/html/msg/Int32.html|Int32]] |
==== Specific messages ==== | ==== Specific messages ==== | ||
===message_type=== | ===message_type=== | ||
+ | |||
+ | **Command** | ||
int type de movement : 1 -> follow, 2 -> take object, 3 -> go to | int type de movement : 1 -> follow, 2 -> take object, 3 -> go to |