ART vehicle commander node. More...
#include <iostream>#include <ros/ros.h>#include <art_msgs/ArtHertz.h>#include <art_map/ZoneOps.h>#include <art_msgs/NavigatorState.h>#include <art_nav/NavEstopState.h>#include <art_nav/NavRoadState.h>#include "command.h"
Go to the source code of this file.
Classes | |
| class | CommanderNode |
| Commander node class. More... | |
Functions | |
| int | main (int argc, char **argv) |
ART vehicle commander node.
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.
-r run vehicle immediately
-v verbose messages (-vv for more)
-? print usage message
$ 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.
Definition in file ros_node.cc.
| int main | ( | int | argc, | |
| char ** | argv | |||
| ) |
Main program
Definition at line 379 of file ros_node.cc.