user_console.py File Reference

A user interface for sending commands to a mobile robot. More...

Go to the source code of this file.

Namespaces
	user_console

Functions
def	user_console.reach_random_pos ()
	Implementation of the command reach_random_pos [no.1]. More...
def	user_console.stop_reach_random_pos ()
	Stop the background process reach_random_pos More...
def	user_console.reach_user_pos ()
	Implementation of the command reach_user_pos [no.2]. More...
def	user_console.reach_user_pos_bug0 (target)
	Send manually a goal to bug0. More...
def	user_console.wall_follow (val=True)
	Implementation of the command wall_follow [no.3]. More...
def	user_console.last_pos ()
	Implementation of the command last_pos [no.4]. More...
def	user_console.change_motion_planning_algorithm ()
	Implementation of the command change_motion_planning_algorithm [no.5]. More...
def	user_console.print_help ()
	Implementation of the command help [no.6]. More...
def	user_console.main ()
	Ask the next command to the user. More...
def	user_console.cbk_on_shutdown ()
	Called when the shutdown signal is raised. More...

Variables
string	user_console.node_name = "user_console"
	name of this node More...
string	user_console.name_wall_follower_switch = "/wall_follower_switch"
	name of the server 'wall_follower_switch' More...
string	user_console.name_reach_random_pos_switch = "/reach_random_pos_switch"
	name of the service 'reach_random_pos_switch' More...
string	user_console.name_user_target = "/user_target"
	name of the service 'user_target' More...
string	user_console.name_position_defined = "/position_defined"
	name of the service 'position_defined' More...
string	user_console.name_bug0_switch = "/bug0_switch"
	name of the service 'bug0_switch' More...
string	user_console.name_bug0_status = "/bug0_status"
	name of the service 'bug0_status' More...
list	user_console.commands
	available commands More...
list	user_console.commands_info
	infos about each command More...
int	user_console.last_command_idx = -1
	last command index More...
bool	user_console.robot_busy = False
	is there any movement ongoing? More...
bool	user_console.reach_random_pos_active = False
	is reach_random_pos active? More...
bool	user_console.wall_follow_active = False
	is wall follow active? More...
bool	user_console.use_bug0 = False
	use bug0 or move_base More...
	user_console.srv_wall_follower_switch = None
	call point of the server 'wall_follower_switch' More...
	user_console.srv_reach_random_pos_switch = None
	call-point of the service 'reach_random_pos_switch' More...
	user_console.srv_user_target = None
	entry point of the service 'user_target' More...
	user_console.srv_position_defined = None
	call-point of the service 'position_defined' More...
	user_console.srv_bug0_switch = None
	call-point of the service 'bug0_switch' More...
	user_console.srv_bug0_status = None
	call-point of the service 'bug0_status' More...

Detailed Description

A user interface for sending commands to a mobile robot.

Author

Francesco Ganci (S4143910)

Version

1.0

Date

2021-06-25

Here a little command line interface is implemented in order to drive a mobile robot. It can interact with two planning algorithms: bug0 and move_base.
see this walkthrough for understanding what this console can do, and how.

Copyright

Copyright (c) 2021

Definition in file user_console.py.