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Package Summary

Implements an actionlib client and server node to move Robotino with pre-defined goals.

• Author: indorewala@servicerobotics.eu
• License: BSD
• Repository: robotino-ros-pkg
• Source: svn http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_local_move

Overview

This package implements nodes which allow for the movement of Robotino with predefined goals for example, to move Robotino a distance of 1m in the x-direction, or rotate Robotino 45 degrees precisely.

The package contains two nodes, robotino_local_move_server_node and robotino_local_move_client_node. The robotino_local_move_client_node creates goals and sends them to the robotino_local_move_server_node. The robotino_local_move_server_node processes the goals and publishes appropriate velocities on the cmd_vel topic to which the robotino_node is subscribed to.

ROS Nodes

robotino_local_move_server_node

This node receives goals from the robotino_local_move_client_node and processes them.

Subscribed Topics

odom (nav_msgs/Odometry)

• Odometry information from Robotino

Published Topics

cmd_vel (geometry_msgs/Twist)

• Velocities to move/rotate Robotino

Parameters

~min_forward_vel (double, default: 0.05)

• The minimum forward velocity in m/s

~max_forward_vel (double, default: 0.1)

• The maximum forward velocity in m/s

~min_forward_vel_distance (double, default: 0.1)

• The minimum in m

~max_forward_vel_distance (double, default: 0.2)

• The maximum in m

~min_rotational_vel (double, default: 0.1)

• The minimum rotational velocity in rad/s

~max_rotational_vel (double, default: 0.3)

• The maximum rotational velocity in rad/s

~min_rotational_vel_distance (double, default: 0.05)

• The minimum in deg

~max_rotational_vel_distance (double, default: 0.2)

• The maximum in deg

Usage

roslaunch robotino_local_move robotino_local_move_server.launch

robotino_local_move_client_node

This node creates and sends goals to the robotino_local_move_server_node node.

Usage

rosrun robotino_local_move robotino_local_move_client_node move_x[m] [move_y[m] [rotate[deg]] max_time[s] ]

Examples

If you would like Robotino to rotate 45 degrees, you would enter the following command. The timeout has been specified to be 10s. If Robotino is unable to complete the command in 10s, then the command is aborted.

Make sure that the robotino_local_move_server_node is running.

rosrun robotino_local_move robotino_local_move_client_node 0 0 45 10

And to move Robotino 1m in the x-direction, run the following command.

rosrun robotino_local_move robotino_local_move_client_node 1 0 0 20