Nodes summary

This page gives general information about automapping, move_to_table and exploration_server nodes. More detailed description of these nodes' work is available from Automapping and Move to table pages of this wiki.

Automapping

Published topics

• cmd_vel (geometry_msgs/Twist)

  To this topic the node sends velocity commands which make the robot rotating in place or stop it.

Services called

• get_goal_at_map (box_finder/GetGoal)

  Using this service the node receives a new goal for the robot from the exploration_server node.

• move_base_node/make_plan (nav_msgs/GetPlan)

  The node calls this service for asking the move_base to make a path from a current robot's pose to a goal which was received from exploration_server node.

Parameters

• ~safe_distance (double, default: 0.5)

  The distance (in meters) to which the robot does not reach the goal which was obtained from _exploration_server node using "get_goal_at_map" service.

• ~tolerance (double, default: 0.1)

  The value of this param is internally used by the node as the "tolerance" param in request messages which it sends to the "move_base_node/make_plan" service.

• map_name (string, default: "/map")

  The name of the map which was done by the robot. Internally in the node it is used as a map_saver's argument in the command: rosrun map_server map_saver -f map_name

• pose_params_file_name (string, default: "/init_pose.yaml")

  The full name of the file to which the node (just before the end of its execution) writes current robot's coordinates (x, y and yaw) in the "map" frame.

• ~rotational_speed (double, default: 0.5)

  The robot's speed (in rad/s) during the rotations which it makes in the beginning of automapping node's work.

Exploration_server

Services

• get_goal_at_map (box_finder/GetGoal)

  Using this service the node receives a current robot's position from the automapping node and send a new goal for the robot to the latter.

Services called

• dynamic_map (nav_msgs/GetMap)

  Using this service the node obtains a map of the environment from the gmapping.

Parameters

• ~region_size (int, default: 21)

  The size (in number of pixels) of the square region which surrounds a checked pixel. This parameter is used by the node during finding of white-grey frontiers.

• ~initial_radius (double, default: 1.5)

  The node doesn't send to the automapping goals that are closer to the robot than the value of this parameter. The parameter's value is in meters.

• ~white_perc (double, default: 40.0)

  The percentage of white cells. This parameter is used by the node during finding of white-grey frontiers.

• ~grey_perc (double, default: 45.0)

  The percentage of grey cells. This parameter is used by the node during finding of white-grey frontiers.

• ~black_perc (double, default: 10.0)

  The percentage of black cells. This parameter is used by the node during finding of white-grey frontiers.

• ~delta (double, default: 0.1)

  The node doesn't send to the automapping goals that are closer to any of "excluded goals" than the value of this parameter. "Excluded goals" are some goals that the automapping node sends to the exploration_node when the former calls "get_goal_at_map" service. The parameter's value is in meters.

Move_to_table

Published topics

• cmd_vel (geometry_msgs/Twist)

  To this topic the node sends velocity commands which will stop the robot when it achieves a needed pose near found table.

• pose_near_table (geometry_msgs/PoseStamped)

  To this topic the node sends the pose near the table to which the robot will go.

Services called

• static_map (nav_msgs/GetMap)

  Using this service the node gets a map of the environment from the map_server.

Parameters

• ~distance_to_table (double, default: 0.5)

  When a robot come to a box, the distance (in meters) between them will be equal to a value of this parameter.

• ~angle_with_table (double, default: 0.0)

  When a robot come to a box, the angle (in radians) between them will be equal to a value of this parameter.

• ~table_width (double, default: 0.5)

  True width (in meters) of box which must be found.

• ~table_length (double, default: 0.5)

  True length (in meters) of box which must be found.

• ~max_size_error (double, default: 0.05)

  The possible error (in meters) of two latter parameters.