Differences

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