console_path_parser Node
In a nutshell
Parse a string mission from a web interface (PONTE) to dsor_paths node that will interact with path following algorithms.
Note: The important action in this node is to call the services of dsor_paths node to build the path of the mission and start the execution of the path following control via service. Since this is a legacy component of the stack please kindly ignore many of the Subscribers and Publishers because they are not being used at this stage of the stack.
Diagram
Subscribers
| Subscribers | msgs type | Purpose |
|---|---|---|
| /#vehicle#/State | farol_msgs/mState | State of the vehicle |
Publishers
Not being used
Services
| Services | srv type | Purpose |
|---|---|---|
| "/#vehicle#/ResetPath" | dsor_paths/ResetPath | Reset the actual path to start a new one |
| "/#vehicle#/SpawnArc2DPath" | dsor_paths/SpawnArc2D | Add an arc section to the path |
| "/#vehicle#/SpawnLinePath" | dsor_paths/SpawnLine | Add a line section to the path |
| "/#vehicle#/PFStart" | dsor_paths/StartPF | Start path following controller |
| "/#vehicle#/PFStop" | dsor_paths/StopPF | Stop path following controller |
| "/#vehicle#/SetConstVdVehicle" | dsor_paths/SetConstSpeed | Set the desired velocity for each section of the path |
Parameters
| Parameters | type | Default | Purpose |
|---|---|---|---|
| /#vehicle#/addons/console_path_parser/path_folder | string | ../paths_from_console | Store the path received from http_server |
| /#vehicle#/addons/vehicle_id | int | [1-3] | IDs of the medusas: 1 - mred, 2 - mblack, 3 - mvector |
Last update:
October 28, 2022