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path control
This is the controller of the whole process and the interface to the user. The user can communicate only with path_control without sending any messages directly to path_planner or path_follower.
To make the robot drive to some goal point, you have to send this goal via the ROS action interface to the path_follower_node.
- Make sure, all necessary nodes are running (see Quick Start Guide).
- Connect to the "navigate_to_goal" action server (see ROS wiki for more information on the actionlib)
- Send the goal pose to the action server.
Everything else is handled automatically by the path_control_node, that is the goal is forwarded to the path planner and the resulting plan is sent to the follower. During the whole process, feedback messages are sent back via the action interface, informing about the current status and things like observed obstacles.
| Name | Type | Default | Description |
|---|---|---|---|
| ~num_replan_attempts | int | 5 | Max. number of replaning attempts, when FAILURE_MODE_REPLAN is used (otherwise this parameter is meaningless). |
Sets up action server "navigate_to_goal" to receive goals from high level nodes and send actions to the servers "plan_path" (path planner) and "follow_path" (path follower).
Send an action to this server to make the robot drive to the desired goal. See path-msgs for more details.
| Name | Type | Description |
|---|---|---|
| move_base_simple/accepted_goal | geometry_msgs/PoseStamped | The current goal pose when using the planner in POSE mode. |
| speech | std_msgs/String | Status messages for speech synthesiser. |