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Package Summary

Tags No category tags.
Version 1.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/I-Quotient-Robotics/caster.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status DEVELOPED
Released UNRELEASED

Package Description

The caster_app package

Additional Links

Maintainers

  • Ye Tian

Authors

  • Ye Tian

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

Name Type Default Description
~debug string false debug mode
~robot_radius double 0.27 robot radius, this value determine the distance between dock front-side and docked-robot ahead(delta_d), delta_d = dock_distance - robot_radius
~base_frame String base_footprint base frame
~map_frame string map map frame
~odom_fram string odom odom frame
~dock/dock_distance double 1.0 distance between dock front-side and DockReady2 point
~dock/dock_speed double 0.05 move speed for docking
~/dock/pose_x double DockReady point x
~/dock/pose_y double DockReady point y
~/dock/pose_z double DockReady point z
~/dock/orientation_x double DockReady point orientation x
~/dock/orientation_y double DockReady point orientation y
~/dock/orientation_z double DockReady point orientation z
~/dock/orientation_w double DockReady point orientation w

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

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged caster_app at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/I-Quotient-Robotics/caster.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status DEVELOPED
Released UNRELEASED

Package Description

The caster_app package

Additional Links

Maintainers

  • Ye Tian

Authors

  • Ye Tian

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

Name Type Default Description
~debug string false debug mode
~robot_radius double 0.27 robot radius, this value determine the distance between dock front-side and docked-robot ahead(delta_d), delta_d = dock_distance - robot_radius
~base_frame String base_footprint base frame
~map_frame string map map frame
~odom_fram string odom odom frame
~dock/dock_distance double 1.0 distance between dock front-side and DockReady2 point
~dock/dock_speed double 0.05 move speed for docking
~/dock/pose_x double DockReady point x
~/dock/pose_y double DockReady point y
~/dock/pose_z double DockReady point z
~/dock/orientation_x double DockReady point orientation x
~/dock/orientation_y double DockReady point orientation y
~/dock/orientation_z double DockReady point orientation z
~/dock/orientation_w double DockReady point orientation w

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

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged caster_app at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.