dsor_paths Node

This node deals with the rationale previously explained in the dsor_paths documentation. It manages and deploys paths for the vehicles to follow. A detailed exaplanation is offered here:

Implementation

Diagram

dsor_paths Diagram

Subscribers

Subscribers	msgs type	Purpose
/#vehicle#/Gamma	std_msgs/Float64	The coordination state of a certain vehicle with respect to others on the network
/#vehicle#/nav/filter/state	auv_msgs/NavigationStatus	The navigation state of the vehicle after filtering

Publishers

Publishers	msgs type	Purpose
/#vehicle#/PathData	dsor_paths/PathData	Message with the path data on a certain point (curvature, tangent, velocity, etc.)
/#vehicle#/Virtual/State	farol_msgs/mState	Vehicle state message

Services

Services	msgs type	Purpose
/#vehicle#/ResetPath	dsor_paths/ResetPath	Reset the current assigned path
/#vehicle#/SetConstVdRabbit	dsor_paths/SetConstSpeed	Set a constant speed for the rabbit which a certain vehicle is following
/#vehicle#/SetConstVdVehicle	dsor_paths/SetConstSpeed	Set a constant speed for the vehicle itself
/#vehicle#/SetMode	dsor_paths/SetMode	Set if mode of operation calculates closest point to the path or if it receives an external gamma for path progression
/#vehicle#/SpawnArc2DPath	dsor_paths/SpawnArc2D	Create a 2D circumference arc path
/#vehicle#/SpawnBernoulliPath	dsor_paths/SpawnBernoulli	Create a Bernoulli path
/#vehicle#/SpawnCircle2DPath	dsor_paths/SpawnCircle2D	Create a 2D Circle path
/#vehicle#/SpawnLineDPath	dsor_paths/SpawnLine	Create a Line path

Parameters

Parameters	type	Default	Purpose
/#vehicle#/frame_id	string	Path_frame	ID assigned to the path frame
/#vehicle#/node_frequency	float	10.0	Working frequency of the node

Last update: November 23, 2022