Making a pioneer robot move down a hallway -- fast!
controller_msg
- publisher type String
- the actions from the planner
exec_planner.py
- Forks the planner as a subprocess, sends it the current state and publishes the action from the planner, listens to obst_tracker
to update the state for the planner
exec_control_pub.py
- Sends a "forward" message to the controller as String
exec_obst_listen.py
- Listens to obst_tracker
for String
exec_test_listener.py
- Simple test by publishing a dummy node
Make sure you have your own catkin workspace and use this repo as your src/ folder.
You can work inside your own folder in src/ make sure to make it executable.
To build the package/nodes:
cd ~/your_ws
catkin_make
Testing/Running
roscore
cd ~/your_ws
source devel/setup.bash
rosrun pioneer_hallway node.py