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Practical Motion MSGS

A package to build custom messages and service definitions for use with the practical_motion_ros collection of packages. For more information about the structure of message and service definitions, see the Creating a ROS msg and srv tutorial.



Messages Defined

Waypoint:

Contains the elements of a waypoint object, as defined in waypoint.h. The practical_motion_msgs::Waypoint differs from other waypoint messages in that the heading data is described with an Euler angle rather than a quaternion orientaion for the purpose of human readbility. The waypoint_server_node and waypoint_follow will convert these heading angles to quaternions, and required by the move_base action server.

  • int16 id
    The (optional) id number of the waypoint
  • string frame_id
    The frame of reference the goal will be issued in. ie: map, odom, base_link etc
  • float32 x
    The x coordinate of the goal
  • float32 y
    the y coordinate of the goal
  • float32 theta
    The desired final heading of the goal as a simple euler angle using radians. -3.14 to +3.14
  • string description
    A descriptive name of the goal.
  • int16 lingerTime
    how long to linger at a waypoint before moving on to the next. In seconds. (only works if handling node enable the waiting behavior)



Services Defined

Services use a pair of messages deines as the request message and the response message. These request and response messages can be empty or hold one or more primitives or other messages.

AddWaypoint:

A service provided by the waypoint_server to add a waypoint to the list currently loaded.

Request:

  • int16 index
  • Waypoint wpt

Response:

  • int16 numWaypoints

GetNextWaypoint:

A service provided by the waypoint_server that returns the next waypoint from the loaded list.

Request:

  • none

Response:

  • Waypoint wpt

GetCurrentWaypoint:

A service provided by the waypoint_server that returns most recently sent waypoint without incrementing counter making any other changes. Returns a message with id = -1 and description "invalid"

Request:

  • none

Response:

  • Waypoint wpt

GetRandomWaypoint:

A service provided by the waypoint_server that returns a random waypoint from the loaded list.

Request:

  • none

Response:

  • Waypoint wpt

LoadList:

A service provided by the waypoint_server that loads the list with the name passed in. Returns the number of waypoints in the list that was loaded.

Request:

  • string listName

Response:

  • int16 numWaypoints



Contributing, bug reports, etc:

If you find my tutorials and projects helpful, consider supporting the development of this and others at BuyMeACoffee. Please use the issues and bug reporting system for bugs and feature requests. With many projects, a job, a family, I can't promise to get to feature requests very quickly, but am definitely listening for feedback to make improvement and will prioritize bugs. I am open to pull requests if you'd like to contribute. I can be contacted by email at [email protected].