rg_controller_py.py File Reference

A basic controller for an holonomic mobile robot. More...

Go to the source code of this file.

Namespaces
	rg_controller_py

Functions
def	rg_controller_py.get_new_target ()
	Ask the service for a new target to reach. More...
def	rg_controller_py.rg_controller_callback (pose)
	The main callback of the node. More...
def	rg_controller_py.controller_on_shutdown ()
	Called when shutdown signal is raised. More...

Variables
	rg_controller_py.sim_input = None
	Topic handler from the simulation environment (Subscriber) 'base_pose_ground_truth'. More...
	rg_controller_py.sim_output = None
	Topic handler to the simulation environment (Publisher) 'cmd_vel'. More...
	rg_controller_py.srv_check_target = None
	Service entry point for checking if the target is reached. More...
	rg_controller_py.srv_get_target = None
	Service entry point for requiring a nwe random target. More...
	rg_controller_py.srv_get_vel = None
	Service entry point for getting a linear planar twist. More...
	rg_controller_py.xt = None
	The actual target (geometry_msgs/Point) More...

Detailed Description

A basic controller for an holonomic mobile robot.

Author

Francesco Ganci (S4143910)

Version

1.0

Date

2021-06-25

This ROS node implements a simple go-to-point behaviour, using linear planar twists.
It simply reaches the actual position,
evaluates the distance from it,
generates a linear planar twist
and finally sends it to the simulated environment via 'cmd_vel'.

See also

rg_controller.cpp

Copyright

Copyright (c) 2021

Definition in file rg_controller_py.py.