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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ssl-roots/consai_ros2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-07 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package defines some parameters for the CON-SAI system.
Additional Links
No additional links.
Maintainers
- shotaak
Authors
No additional authors.
consai_description
consaiで使用するパラメータを定義したパッケージです。
パッケージ間で共通のパラメータを扱うために、parameter_publisherノードを提供します。
Usage
parameter_publisher.launch.pyを起動します。
ros2 launch consai_description parameter_publisher.launch.py
起動すると、configディレクトリのパラメータがparameter_publisherノードにセットされます。
$ ros2 param list
/parameter_publisher:
rule.ball.diameter
rule.field.goal_width
rule.field.length
rule.field.penalty_depth
rule.field.penalty_width
rule.field.width
rule.keep_outs.distance_to_ball_at_stop
rule.robots.max_diameter
rule.robots.max_height
rule.robots.max_num_in_field
rule.robots.num_of_ids
strategy.div_a_field.ball_diameter
strategy.div_a_field.length
strategy.div_a_field.robot_diameter
strategy.div_a_field.width
use_sim_time
また、パラメータはJSON形式で/consai_param/**としてパブリッシュされます。
$ ros2 topic list
/consai_param/rule
/consai_param/strategy
$ ros2 topic echo --once /consai_param/rule
data: '{"field": {"length": 12.0, "width": 9.0, "goal_width": 1.8, "penalty_depth": 1.8, "penalty_width": 3.6}, "ball": {"diameter": 0....'
---
このトピックをデコードすることで、パラメータを取得できます。
parameter_publisherノードのパラメータを変更すると、トピックの内容も書き換わります。
Config files
- rule/division_a.yaml: Division Aのルールを定義します
- strategy/normal.yaml: consaiの通常戦略パラメータを定義します
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rclpy | |
| std_msgs |
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged consai_description at Robotics Stack Exchange
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