potential_fields_demos.sphere_robot_demo module

class potential_fields_demos.sphere_robot_demo.SphereRobotDemo(*args: Any, **kwargs: Any)

Bases: Node

create_clustered_obstacles() → potential_fields_interfaces.msg.ObstacleArray

Replicate the ClutteredSpheresDemo obstacle pattern as ROS obstacles.

Places ~10 spheres with radii and positions sampled from ranges used in prototyping/pfield_3d_demo.py ClutteredSpheresDemo, with a light corridor clearing near y ~ 0.

create_obstacles_in_the_way()

run_demo_callback(request, response)

save_planned_path_response(plan_path_response)

potential_fields_demos.sphere_robot_demo.main(args=None)

Entry to the node.