NODE bug_m

See also

the ROS NODE navigation_manager implements a handly abstraction of the node, making use of the concept of the controllers.

See also

another interesting behaviour, with a idetical function to bug_m, is the ROS NODE move_base_nav.py which exploits move_base and the NODE head_orientation to reach a point.

This node orchestrates the combination of two different behaviours of the robot: go_to_point (a behaviour used for driving the robot straight to a particular target point) and head_orientation (the robot turns about itself in order to reach a certain orientation with respect to the world frame).

It is a switchable component: it can be turned on and off depending on the situation.

This version of the node also has a new state which can make the robot go back before start turning. The motion generally proceeds in this way: go back until there’s space enough for making manouver, turn towards the target, move straight towards the target, then rotate again for reaching the final yaw, and finally stop the robot.

Authors

prof. Carmine Recchiuto (UniGe), Francesco Ganci (S4143910)

Version:

v2.0.0