navigation_navigator

Description

This program is an interface between the AI and the drivers. It takes a target position, asks the pathfinder to create a path and sends all the waypoints to the asserv. It will by warn by collision in case of obstacles appearing on the way.

Authors and versions

• v0.0.1 (A17) @Mindstan
  • Navigator works with services
  • Current robot position got from asserv
• v0.0.2 (A17) @Mindstan
  • Navigator works with actions
  • Navigator listens collision
  • Current robot position got from tf frames
  • Target position can be a named waypoint

Configuration

No specific configurations are required.

Communication

Servers

Server name	Type	Function
/navigation/navigator/goto_action	Action	Tries to move the robot to the target position. Has an option to disable (dynamic) collision checking, force a certain direction of the move (forward/backward) and force a certain angle on the target position.
/navigation/navigator/gotowaypoint_action	Action	Same as /navigation/navigator/goto_action, put takes a waypoint name instead of a position.
/navigation/navigator/status	Topic	Send the status of the navigator (navigating, stop, idle) and the list of waypoints currently queued in the asserv. Principal client is collision.

Clients and subscribtions

Server name	Type	Function
/drivers/ard_asserv/goto	Service	[Not used] Asks the asserv to move the robot. This service doesn't tell if it succeeds to move !
/drivers/ard_asserv/pose2d	Service	[Not used] Gives the current robot position returned by the arduino_asserv.
/drivers/ard_asserv/goto_action	Action	Asks the asserv to move the robot. Tells if the robot succeeds to move.
/drivers/ard_asserv/management	Service	Allows to manage the driver and the arduino.
/drivers/ard_asserv/emergency_stop	Service	Tells to the driver to activate or disactivate the emergency_stop.
/navigation/collision/warner	Topic	Tell if there is an obstacle on the current path.
/navigation/collision/set_active	Service	Activate or disactivate collision checking.
map:robot	TF	Relative position of the robot in the map.
/memory/map/fill_waypoint	Service	Find coordinates and angle from its name.
/navigation/pathfinder/find_path	Service	Tries to find a path between two position, avoiding any obstacle.

How it works