PKG DOCS – robocluedo_movement_controller

Note

this version of the movement controller has a lot of differences with the previous version:

  • integration with MoveBase and the navigation stack

  • improved launch files for running the project

this package enables the robot to move the manipulator and to navigate into the environment, usign different methods.

here’s a brief list of the nodes inside the package:

  • bug_m.py (composite behaviour) : the node performs a very simplified navigation point to point combining the two elementary behaviours go_to_point and head_orientation.

    The node also implements strategie to gain manouver space before pointing the head in the direction of the target.

  • nav_move_base.py (composite behaviour) : another node performing the navigation point to point, using move_base and the navigation stack with the elementary behaviour head_orientation for the final orientation.

    Note

    (RCL#3) the node is compatible with RoboCLuedo “hunter”

  • go_to_point_service_m.py (elementary behaviour) : the node aligns the head in the direction of the target and moves along a straight line to the objective position

    the node is used to implement a very simplified navigation algorithm with no obstacles between the current position and the target one. It is switchable.

  • head_orientation.py (elementary behaviour) : orient the head with a given angle wrt the world frame

    the robot keeps turning around its vertical axis until the orientation isn’t equal to the target one.

  • navigation_manager.cpp : a high-level navigation service based on the concept of the controllers

    the node has two main objectives:

    • to provide a handy abstraction between the real implementation of tbe navigation system …

    • … and the service which is simply interested in reaching a (x,y,th) target

    Note

    (RCL#3) the project implements two controllers: ID=0 for nav_bug_m, and ID=1 for nav_move_base

  • manipulation_controller.cpp : a (too much) simple implementation of a moveit-based manipulation controller capable of moving te arm to a given preset pose.

    Note

    (RCL#3) the node is compatible with RoboCLuedo “hunter”

User Documentation

UML diagrams

code reference