UML – move_base_nav

Contents

The node manages the navigation with move_base and the navigation stack, and coordinates move_base with the head orientation behaviour.

SCHEMA

@startuml ''' INFOS title NODE move_base_nav skinparam Padding 8 allow_mixing ''' COMPONENTS database "ROS parameter server" as PARAMETERS { node "des_pos_x" node "des_pos_y" } component "move_base_nav" <<ROSPy node>> as MOVE_BASE_NAV { node "move_base_nav_switch" as MOVE_BASE_NAV.SWITCH node "clbk_odom" as MOVE_BASE_NAV.READ_ODOM } MOVE_BASE_NAV "get" <-- PARAMETERS () "/odom" as TOPIC_ODOM MOVE_BASE_NAV.READ_ODOM "sub" <-- TOPIC_ODOM note on link: nav_msgs/Odometry.msg () "/cmd_vel" as TOPIC_VEL MOVE_BASE_NAV "pub" --> TOPIC_VEL note on link: geometry_msgs/Twist.msg () "/move_base/goal" as TOPIC_MOVE_BASE_GOAL MOVE_BASE_NAV "pub" --> TOPIC_MOVE_BASE_GOAL note on link: move_base_msgs/MoveBaseActionGoal.msg () "/move_base/cancel" as TOPIC_MOVE_BASE_CANCEL MOVE_BASE_NAV "pub" --> TOPIC_MOVE_BASE_CANCEL note on link: actionlib_msgs/GoalID.msg () "/nav_stack_switch" as SRV_MOVE_BASE_NAV_SWITCH MOVE_BASE_NAV.SWITCH "srv" --> SRV_MOVE_BASE_NAV_SWITCH note on link: std_srvs/SetBool.srv () "/nav_stack_signal" as SRV_MOVE_BASE_NAV_SIGNAL MOVE_BASE_NAV <-- "cl" SRV_MOVE_BASE_NAV_SIGNAL note on link: std_srvs/Empty.srv () "/head_orient_switch" as SRV_HEAD_ORIENT_SWITCH MOVE_BASE_NAV <-- "cl" SRV_HEAD_ORIENT_SWITCH note on link: std_srvs/SetBool.srv @enduml