The core ROS nodes can be seen in the rqt_graph below:
- cyborg_controller: the main controller and manager of all other nodes
- part of behaviour module
- cyborg_behavior: the emotional system that decides what future states are attractive
- cyborg_eventscheduler: posts events like "go and charge" by monitoring the battery status or "go to kantine" during lunch time
- cyborg_primary_states
- Nodes handling actuators
- cyborg_navigation: High-level navigation, defines where to go in the map.
ros-arnl: low-level navigation stack(now using ROS navigation stack)
- cyborg_audio: everything related to making sounds on the speakers
- cyborg_visual: controls the LED-dome
- cyborg_navigation: High-level navigation, defines where to go in the map.
- rosaria: used by navigation and to retrieve status information from the Pioneer LX
A more up-to-date node description can be found here: https://github.com/thentnucyborg/CyborgRobot/wiki/Nodes
ros-arnl
The ros-arnl ROS node is developed by MobileRobots and handles communication with the robots actuators, sensors and navigation library.
From http://wiki.ros.org/ros-arnl:
- ros-arnl provides a ROS node that incorporates Adept MobileRobots' ARNL localization and autonomous navigation system for AMR mobile robot platforms. ARNL is an optional package that may be purchased from Adept MobileRobots with a laser rangefinder and robot. See http://www.mobilerobots.com for details.
- ros-arnl connects directly to the robot and laser rangefinder (via ARNL and ARIA libraries). It does not require any other nodes to be running to communicate with the mobile robot or laser.
- You must have previously installed the ARNL libraries (Arnl and ArnlBase) before building ros-arnl.
- For instructions on building and notes on its API see the README file provided with ros-arnl. ros-arnl has a similar interface to the standard ROS navigation stack, but does not yet have all of the same features. It has a few topics relevant to ARNL only as well.