mobot_controller

Package name: mobot_controller

Note:

The math convention was fixed so that the traj_builder.cpp and the mobot_urdf + gazebo.

Setup and Command:

• Run Gazebo and spawn mobot:

roslaunch mobot_urdf mobot_in_pen.lauch

• Run nodes following this order:

rosrun mobot_controller current_state_publisher

rosrun mobot_controller lidar_alarm_mobot

rosrun mobot_controller modal_trajectory_controller

rosrun mobot_controller des_state_publisher_service

• Run the main node:

rosrun mobot_controller navigation_coordinator

Mobile Robotics - PS4 - Mobot Path Execution

Content - ROS Nodes

current_state_publisher des_state_publisher_service lidar_alarm_mobot modal_trajectory_controller navigation_coordinator traj_builder

Usage

roslaunch mobot_urdf mobot_in_pen.launch rosrun mobot_controller current_state_publisher rosrun mobot_controller lidar_alarm_mobot rosrun mobot_controller modal_trajectory_controller rosrun mobot_controller des_state_publisher_service rosrun mobot_controller navigation_coordinator

Trouble

• For lidar_alarm_mobot node, there was a bug in the mobot lidar sensor that can not perform the math correctly (without the additional loop to reassign the value of limit from 0 to 89, the value changing weirdly depending on the lidar distance even though no related variable was used in the calculation). We solve it by assing the other half and copy it to the other side.