The core of a ROS node to provide purely reactive obstacle avoidance The RobotOperator is supposed to be placed between a path planner and a mobile robots hardware driver. It takes in motion commands defined in the robot's coordinate frame and outputs a Twist-Message to directly control a robot. The given command is continually checked against a local map updated from collected laser range data and corrected to follow a safe path. More...
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <sensor_msgs/PointCloud.h>
#include <nav2d_operator/cmd.h>
#include <string>
Go to the source code of this file.
Classes | |
class | RobotOperator |
Macros | |
#define | COMMAND_TOPIC "cmd" |
#define | CONTROL_TOPIC "cmd_vel" |
#define | LUT_RESOLUTION 100 |
#define | NODE_NAME "operator" |
#define | PLAN_TOPIC "desired" |
#define | ROUTE_TOPIC "route" |
The core of a ROS node to provide purely reactive obstacle avoidance The RobotOperator is supposed to be placed between a path planner and a mobile robots hardware driver. It takes in motion commands defined in the robot's coordinate frame and outputs a Twist-Message to directly control a robot. The given command is continually checked against a local map updated from collected laser range data and corrected to follow a safe path.
Definition in file RobotOperator.h.
#define COMMAND_TOPIC "cmd" |
Definition at line 5 of file RobotOperator.h.
#define CONTROL_TOPIC "cmd_vel" |
Definition at line 6 of file RobotOperator.h.
#define LUT_RESOLUTION 100 |
Definition at line 9 of file RobotOperator.h.
#define NODE_NAME "operator" |
Definition at line 4 of file RobotOperator.h.
#define PLAN_TOPIC "desired" |
Definition at line 8 of file RobotOperator.h.
#define ROUTE_TOPIC "route" |
Definition at line 7 of file RobotOperator.h.