ART vehicle commander node. More...
|Commander node class. More...|
|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.