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The core ROS nodes can be seen in the above graph and are:
- cyborg_controller
- cyborg_behavior
- cyborg_eventscheduler
- cyborg_primary_states
- cyborg_navigation
- cyborg_audio
- cyborg_visual
- rosarnl_node
ros-arnl
The ros-arnl ROS node is developed by MobileRobots and handles communication with the robots actuators, sensors and navigation library.
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