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The state-machine is built within ROS. Each state is its own ROS node and all nodes are controlled by a main cyborg_controller node. The ROS nodes can be found in separate repos on Github.

Overview

Class diagram:

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.




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