RT assignment_1’s documentation

This is the documentation of the RT course’s first assignment.

Indices and tables

• Index
• Module Index

User Interface Module

Middleman Module

The node choose the correct speed for the robot, basing on the user desires and the surrounding obstacles

Subscribes to:

/scan where the latest laser scans are published

/middleman/control where the commands are published by the user_interface node

/middleman/cmd_vel where the keyboard-given velocities are published

Publishes to:

/cmd_vel the new twist

scripts.middleman.clbk_laser(msg)

Function for defining the closest obstacle in the right, frontal and left regions

Parameters:msg – LaserScan the latest laser scan result published on /scan Returns:None

scripts.middleman.commandCallBack(cmd)

Function for setting the behaviour of the robot depending on the command received

Parameters:cmd – CommandMessage sent by the user_interface node Returns:None

scripts.middleman.desired_speed = {'angular': 0, 'linear': 0}

Global vector where the latest desired velocitties are saved

scripts.middleman.helper_status = False

Global boolean to enable/disable the driving assistant

scripts.middleman.keyboard_status = False

Global boolean to enable/disable the keyboard-given control commands

scripts.middleman.main()

This function initializes the ROS node and wait for the messages to be published on the topics in order to process them

scripts.middleman.new_vel(vel)

Function for updating the desired velocities depending on keyboard-given command

Parameters:vel – Twist sent by the keyboard Returns:None

scripts.middleman.pub = <rospy.topics.Publisher object>

Global publisher for the velocities

scripts.middleman.update_vel(regions)

Function for updating the robot velocities depending on the surrounding obstacles

Parameters:regions – vector the closest obstacles distances in the right, frontal and left regions Returns:None