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robocup:ros_architecture [2016/01/27 14:15] nfave created |
robocup:ros_architecture [2016/02/23 09:45] nfave |
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- | == ROS msgs used == | + | ======Ros Architecture (Robocup)====== |
+ | ===== First Version===== | ||
+ | {{:2016-01-27_13.14.37.jpg?1000|}} | ||
- | Pose | ||
- | PoseArray | + | ===== Communication between the nodes ===== |
- | Pose2D | + | ==== ROS msgs used ==== |
- | int | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose.html|Pose]] |
- | == Specific messages == | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/PoseArray.html|PoseArray]] |
- | message_type | + | [[http://docs.ros.org/indigo/api/geometry_msgs/html/msg/Pose2D.html|Pose2D]] |
+ | |||
+ | Int | ||
+ | |||
+ | ==== Specific messages ==== | ||
+ | |||
+ | ===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 | ||
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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 | 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 |