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robocup:ros_architecture [2016/01/27 14:16] nfave |
robocup:ros_architecture [2016/02/23 09:56] nfave |
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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 ===== | ===== Communication between the nodes ===== | ||
==== 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 | ||
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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 |