UML – head orientation PY

SCHEMA

@startuml ''' INFOS title NODE go_to_point skinparam Padding 8 allow_mixing ''' COMPONENTS database "ROS parameter server" as PARAMETERS { node "des_yaw" } component "head_orientation" <<ROSPy node>> as NODE_HEAD_ORIENT { node "head_orient_switch" as NODE_HEAD_ORIENT.SWITCH node "clbk_odom" as NODE_HEAD_ORIENT.READ_ODOM } NODE_HEAD_ORIENT "get" <-- PARAMETERS () "/cmd_vel" as TOPIC_VEL NODE_HEAD_ORIENT "pub" --> TOPIC_VEL note on link: geometry_msgs/Twist.msg () "/odom" as TOPIC_ODOM NODE_HEAD_ORIENT.READ_ODOM "sub" <-- TOPIC_ODOM note on link: nav_msgs/Odometry.msg () "/head_orient_switch" as SRV_HEAD_ORIENT_SWITCH NODE_HEAD_ORIENT.SWITCH "srv" --> SRV_HEAD_ORIENT_SWITCH note on link: std_srvs/SetBool.srv @enduml

HOW TO use the node – basic way

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

  • set des_yaw into the paramater server

  • activate the service with a request to /head_orient_switch of type std_srvs/SetBool (flag SetBool.Request.data=True)

  • … wait until the error is under your threshold …

  • turn off the node (flag SetBool.Request.data=False)