Documentation

goal_saver

Subscribed Topics

goals (tuw_multi_robot_msgs/RobotGoalsArray)

• goals to store

Parameters

~run_once (string default: "/tmp/goals.txt")

• Filename used to store messages. if run_once is false a three digit number will be added for each stored message.

~file_name (bool default: "false")

• On true it will exit the program after the first received message. On false it will write a file with 3 digit suffix number for each received messages

goal_server

Published Topics

goals (tuw_multi_robot_msgs/RobotGoalsArray)

• Topic to publish goals

Parameters

~file_name (string default: "/tmp/goals.txt")

• Filename used to read messages. if run_once is false a patch of goals will be published by using the filename as prefix and a three digit increasing number as suffix.

~loop_rate (double default: "1.0")

• Publishing rate if run_once is false

~run_once (bool default: "false")

• On true it will exit the program after publishing one message. On false it will look for files matching the file_name and three digits starting with 000

~time_now (time_now default: "true")

• On true will used ros::now for the header timestamp otherwise the stored timestamp

goal_random

Subscribed Topics

map (nav_msgs/OccupancyGrid)

• map to identify free spots for goals

Published Topics

goals (tuw_multi_robot_msgs/RobotGoalsArray)

• Topic to publish goals

valid_goal_locations (nav_msgs/OccupancyGrid)

• For debugging: a map with the valid/invalid goal locations

Parameters

~nr_of_robots (int default: "-")

• number of robots to generate goals

~nr_of_available_robots (int default: "-1")

• number of available robots e.g. you have available 200 robots but you just want to generate goals for 40 random robots out of does 200. On -1 it will be equal to nr_of_robots.

~frame_id (string default: "map")

• Frame id for the generated goals

~robot_name_prefix (string default: "robot_")

• prefix for the available robots

~distance_boundary (double default: "0.5")

• A goal parameter: minimal allowed to an obstacle

~distance_between_robots (double default: "2.0")

• A goal parameter: minimal allowed distance between goals

~distance_to_map_border (double default: "0.2")

• A goal parameter: minimal allowed distance of a goal to the map border

~max_resample (int default: "1000")

• how often should a goal be re-sampled if it was on an invalid spot until an error occurs (the implementation can be better to avoid this parameter)

Report a Bug

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