ros_node.cc File Reference

ART vehicle commander node. More...

#include <iostream>
#include <ros/ros.h>
#include <art_msgs/ArtHertz.h>
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include <art_map/coordinates.h>
#include <art_map/Graph.h>
#include <art_map/RNDF.h>
#include <art_map/zones.h>
#include <art_msgs/NavigatorState.h>
#include <art_nav/NavEstopState.h>
#include <art_nav/FSMstate.h>
#include <art_msgs/RoadState.h>
#include "command.h"

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Classes
class	CommanderNode
	Commander node class. More...
Functions
int	main (int argc, char **argv)

---

Detailed Description

ART vehicle commander node.

Synopsis

commander [options] RNDF MDF

Description

The commander reads the Route Network Definition File (RNDF) and Mission Data File (MDF). It selects a route for accomplishing the assigned mission, and passes appropriate waypoint following orders to the interface_navigator of the driver_navigator.

Normally, the navigator driver waits for a Run command from the client_diag before actively pursuing its mission. As a convenience when testing in simulation, commander provides a -r option which causes the vehicle to start running immediately without the requiring the diagnostic controller.

Options

    -r		run vehicle immediately
    -v        	verbose messages (-vv for more)
    -?		print usage message
    

Examples

    $ rosrun art_nav commander _rndf:=example.rndf _mdf:=example.mdf
    

Run the robot vehicle using the specified road network and mission.

    $ rosrun art_nav commander -r _rndf:=example.rndf _mdf:=example.mdf
    

Start running the robot immediately.

Todo:

Make separate ROS packages for commander, navigator and pilot.

Author:

Patrick Beeson, Jack O'Quin

Definition in file ros_node.cc.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Main program

Definition at line 379 of file ros_node.cc.