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.
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 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.
A service provided by the waypoint_server to add a waypoint to the list currently loaded.
Request:
- int16 index
- Waypoint wpt
Response:
- int16 numWaypoints
A service provided by the waypoint_server that returns the next waypoint from the loaded list.
Request:
- none
Response:
- Waypoint wpt
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
A service provided by the waypoint_server that returns a random waypoint from the loaded list.
Request:
- none
Response:
- Waypoint wpt
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
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