Differences
This shows you the differences between two versions of the page.
Next revision | Previous revision Next revision Both sides next revision | ||
robocup:ros_architecture [2016/01/27 14:15] nfave created |
robocup:ros_architecture [2016/02/23 09:21] nfave |
||
---|---|---|---|
Line 1: | Line 1: | ||
- | == ROS msgs used == | + | ======Ros Architecture (Robocup)====== |
+ | ===== First Version (replace twist msg by pose2d msg)===== | ||
+ | {{:2016-01-27_13.14.37.jpg?1000|}} | ||
+ | |||
+ | |||
+ | ===== Communication between the nodes ===== | ||
+ | |||
+ | ==== ROS msgs used ==== | ||
Pose | Pose | ||
Line 7: | Line 14: | ||
Pose2D | Pose2D | ||
- | int | + | Int |
- | == Specific messages == | + | ==== Specific messages ==== |
- | message_type | + | ===message_type=== |
int type de movement : 1 -> follow, 2 -> take object, 3 -> go to | int type de movement : 1 -> follow, 2 -> take object, 3 -> go to | ||
Line 18: | Line 25: | ||
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 | 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 |