Ros Architecture (Robocup)
First Version
Communication between the nodes
ROS msgs used
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