Welcome to ResearchTrackI_Assignment2 documentation!
Indices and tables
NodeA Module
A more detailed description of the node:
This node implements an action client allowing the user to set a target (x,y) or to cancel it at any time. Also it publishes the robot position and velocity as a custom message by reling on the topic /odom.
- Subsribes to:
/odom
- Publishes to:
/pos_vel
- scripts.NodeA.callback(msg)[source]
Callback function to publish position and velocity of the robot taken from /odom topic
Args: msg(Odometry): Contains the odometry of the robot
- scripts.NodeA.cancel_target()[source]
Function that checks whether there is an active goal and allows to cancel it
Args: None
- scripts.NodeA.get_target()[source]
Function that ask the user to set the x and y position of the target and check whether the input is valid
Args: None
NodeB Module
A more detailed description of the node:
This node prints the number of target canceled and the number of target reached
- Subsribes to:
/reaching_goal/result
NodeC Module
A more detailed description of the node:
This node prints the robot speed and the distance from the desired target
- Subsribes to:
/pos_vel