Classes | Functions File Reference

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

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class  CommanderNode
 Commander node class. More...


int main (int argc, char **argv)

Detailed Description

ART vehicle commander node.


commander [options] RNDF MDF


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.

Make separate ROS packages for commander, navigator and pilot.
Patrick Beeson, Jack O'Quin

Definition in file

Function Documentation

int main ( int  argc,
char **  argv 

Main program

Definition at line 379 of file

Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:08:43