Package: autonomy

Package: autonomy

general info -------------------------------------------------------

Nodes

arc_turn_manual_node.py

Test node for driving the robot around in arc turns with the mouse and keyboard. Not used for much else.

autonomy_node.py

Currently, only opens a terminal to enter an x and y position for the robot to drive to. May eventually manage the high level robot task planning.

cmd_to_wheel_speeds_node.py

Takes in a cmd_vel topic, converts the linear and angular components into left and right wheel speeds. Could alternatively be implemented in the hwctrl package.

simulator_node.py

Simulates a robot moving when given input commands and sending sensor data back. It May be useful for simple testing, but we also have the Gazebo simulation.

Publish topics

• odometry/filtered_map
• motor_data
• local_occupancy_grid

Subscribed Topics

• motor_setpoints

transit_node.py

Path planner and follower. Receives robot odometry, occupancy grid, goal position, and outputs velocity commands to drive to target position.

Publish topics

• /glenn_base/cmd_vel
• transit_path
• transit_control_data

Subscribed Topics

• glenn_base/odom_map
• global_occupancy_grid

transit_test_module.py

A custom two dimensional robot simulator. Useful for testing path planning algorithms