Caster APP

ROS package for caster app

1 Nodes

1.1 dock_detect.py

This node provides dock pose when dock is in lidar detect range

1.1.1 Subscribed Topics

scan (sensor_msgs/LaserScan)

Laser scans

1.1.2 Published Topics

dock_pose (geometry_msgs/PoseStamped)

Dock pose in laser_link frame

dock_pointcloud (sensor_msgs/PointCloud)

Ideal dock pointcloud in detected pose

cluster_pointcloud (sensor_msgs/PointCloud)

Potential dock pointcloud

1.1.3 Transforms

dock_detect.py provides TF bewteen laser_link and dock

1.2 dock_server.py

This node provides auto dock function for caster robot

1.2.1 Action API

The dock_server.py node provides an implementation of the ActionServer (see actionlib documentation), that takes in goals containing caster_app/Dock (see caster_app/Dock) messages. You can communicate with the dock_server.py node over ROS directly, but the recommended way to send goals to dock_server.py if you care about tracking their status is by using the SimpleActionClient. Please see actionlib documentation for more information

1.2.1.1 Action Subscribed Topics

dock_action/goal (caster_app/DockActionGoal)

• A goal for dock_action

dock_action/cancel (actionlib_msgs/GoalID)

• A request to cancel a specific goal

1.2.1.2 Action Published Topics

dock_action/feedback (caster_app/DockActionFeedback)

• Feedback contains the current status of auto dock action

dock_action/status (actionlib_msgs/GoalStatusArray)

• Provides status information on the goals that are sent to the dock_action action

dock_action/result (caster_app/DockActionResult)

• Result for the auto dock action

1.2.2 Subscribed Topics

dock_pose (geometry_msgs/PoseStamped)

Provides the dock pose in laser_link frame

1.2.3 Published Topics

cmd_vel (geometry_msgs/Twist)

A stream of velocity commands meant for execution by a mobile base.

1.2.4 Parameters

2 Launch files

2.1 caster_app.launch

This launch file runs dock_detect.py and dock_server.py with specific params in caster_app.yaml