ROS Index
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caster_app package from caster repocaster_app caster_base caster_control caster_description caster_desktop caster_navigation caster_robot caster_teleop caster_viz |
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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 | 2019-12-15 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
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_actionaction
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
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| roslaunch | |
| catkin | |
| actionlib | |
| actionlib_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| move_base_msgs | |
| caster_navigation |
System Dependencies
Dependant Packages
Launch files
- launch/caster_app.launch
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- log_type [default: screen]