cluedo_movement_controller.cpp File Reference

stub ROS node, movement controller More...

#include "ros/ros.h"
#include "robocluedo_msgs/GoTo.h"
#include "std_msgs/Empty.h"
#include <iostream>
#include <string>

Include dependency graph for cluedo_movement_controller.cpp:

Go to the source code of this file.

Macros
#define	SERVICE_GO_TO   "/go_to"
#define	PUBLISHER_HINT_SIGNAL   "/hint_signal"
#define	OUTLABEL   "[cluedo_movement_controller]"
#define	OUTLOG   std::cout << OUTLABEL << " "
#define	LOGSQUARE(str)   "[" << str << "] "

Functions
bool	GoToCallback (robocluedo_msgs::GoTo::Request &where, robocluedo_msgs::GoTo::Response &success)
	implementation of service SERVICE_INTERFACE_FIND_CONSISTENT_HYP More...
int	main (int argc, char *argv[])
	ROS node main - cluedo_movement_controller. More...

Detailed Description

stub ROS node, movement controller

ROS Node Name

• cluedo_movement_controller

Authors

Francesco Ganci (S4143910)

Version

v1.0

Description:

It represents the 'act' part inside the behavioural architecture. Actually it doesn't do anything: it is a 'wait' which can signal the Oracle (as a laser sensor when the robot enters in a room). In future, it should become a path planning facility.

UML component
(See RoboCLuedo – COMP – UML Components Diagram the overal architecture, for further informations)

Publishers:

• PUBLISHER_HINT_SIGNAL : std_msgs::Empty
  signal for the Oracle: hint "trigger"
  
  

Services:

• SERVICE_GO_TO : GoTo.srv
  give the controller the command to go somewhere
  
  

Todo:

this is a STUB implementation. It should be replaced with a real movement controller.

Definition in file cluedo_movement_controller.cpp.