rt2_robot_interface.py File Reference

Robotics control in a simulated environment. More...

Functions
def	rt2_robot_interface.manualDriving ()
def	rt2_robot_interface.interface ()
def	rt2_robot_interface.main ()

Variables
int	rt2_robot_interface.counter1 = 10
	Manages the interface printing.
int	rt2_robot_interface.flag = 0
	Defines if the driving assistance is enabled or not.

Detailed Description

Robotics control in a simulated environment.

Author

Simone Contorno (simon.nosp@m.e.co.nosp@m.ntorn.nosp@m.o@ou.nosp@m.tlook.nosp@m..it)

Version

1.0

Date

2022-03-25

Copyright

Copyright (c) 2022

Server parameters:
param key_flag defines the type of keyboard input insert by the user (input).
param drive_flag defines if the manual driving assistance is enable or not (input).
param goal_flag defines if a goal is set or not (input).
param print_flag defines if the warning sentence, about a wall too close to the robot, has been printed or not (input).

Publishers to:
/move_base/cancel
/cmd_vel

Subscribers to:
/move_base/feedback
/move_base/goal
/scan

Description:
This node provides the UI (User Interface) to the user.
He will be able to choose between two different modalities:
1) Automatic goal reaching.
2) Manual driving with or without the driving assistance.

Function Documentation

interface()

def rt2_robot_interface.interface

(

)

Provides an interface to choose among different options: 
0 - Exit and close the program.
1 - Insert new coordinates to reach.
2 - Cancel the current goal.
3 - Pass to the manual driving interface.
4 - Enable/Disable the driving assistance.

main()

def rt2_robot_interface.main

(

)

Initializes the node and starts the User Interface (UI) to control the robot.

manualDriving()

def rt2_robot_interface.manualDriving

(

)

Provides an interface to manually drive the robot, managing its linear and angular velocities.