UML – bug_m PY node

UML – bug_m PY node

SCHEMA

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_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)

HOW TO use the node – user interface

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