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"

Include dependency graph for ros_node.cc:

Go to the source code of this file.

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.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Main program

Definition at line 379 of file ros_node.cc.