This nodelet registered to a number of goals topics (where goal1 has the highest priority and goalN has the Nth priority), and send command velocity messages to direct the robot to that goal. The goal values are actually the sensor input of where the goal is with respect to the robot. Note - the goal needs to be sent every "frame", 30 FPS in order to reach a gaol. every frame the goal needs to be updated with the new goal values.
Intel® Euclid™ Community Site.
goal1 (geometry_msgs::PointStamped)
X,Y,Z goal (priority 1)
goal2 (geometry_msgs::PointStamped)
X,Y,Z goal (priority 2)
Point Cloud
cmd_vel_mux/input/teleop (geometry_msgs::Twist)
Command velocity message for the robot
MaxRobotSpeed(double, default: 1)
Maximum speed (forward and reverse) in m/s
GoalZ(double, default: 0.6)
The distance away from the robot which we want to keep the constant distance from
GoalX(double, default: 0)
The distance in the horizontal axis which we want to keep the constant distance from
ScaleZ(double, default: 1)
The scaling factor for translational robot speed
ScaleX(double, default: 5)
The scaling factor for rotational robot speed
DamperDivisor(double, default: 30)
Linear Speed Damping factor. higher means slower change in linear speed.
GoalInterval(float, default: 0.1)
minimum threshold in which the robot will stop moving if reached that distance from the goal
Enabled(bool, default: true)
Enable flag for the algorithm
The Intel® Euclid™ Robot movement controller sample is developed and distributed under a BSD-3 license as noted in License file.
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| Version | Best Known |
|---|---|
| OS | Ubuntu 16.04 LTS |
| ROS | Kinetic |