UML – bug_m PY node

bug_m combines the two behaviours go_to_point.py ans wall_follow.py in order to reach a given position in a indoor environment with walls.

IN particular,

(state 2) the robot is still, waiting for a target
(a target distant at minimum 0.35m comes…)
( state 0 : go to point ) go ahead in straight line
- change to state 1 if the robot encounters an obstacle
- change to state 0 if the robot reaches the target
( state 1 : wall following ) find and follow the wall
- change to 0 if the robot cannot go on (the robot could get stuck in a blind corner)
- change to state 2 if the robot is in the target

the robot reaches a target with a threshold distance of 0.35m from the marker.

SCHEMA

it requires another node listening for the odom channel and checking when to deactivate the service

set des_pos_x, des_pos_y and des_yaw into the paramater server
activate the service with a request to /bug_m_switch of type std_srvs/SetBool (flag SetBool.Request.data=True)
… wait until the robot is near enough to the point
turn off the node (flag SetBool.Request.data=False)

the node can signal another node when the final position hasn’t been reached.

set des_pos_x, des_pos_y and des_yaw into the paramater server
activate the service with a request to /bug_m_switch of type std_srvs/SetBool (flag SetBool.Request.data=True)
open a client with /bug_m_signal of type std_srvs/Empty
… wait …
when the robot is near to the target point, the node bug_m calls the service
- from this, the node can infer that the node has reached the final position