In this repository lies a Python script serving as a pivotal ROS (Robot Operating System) node. It is adept at handling position and velocity data and also canceling the mission. Additionally it publishes a costum message containing robot's coordinate and velocity as requeted in this assignment.
The assignment consists of three sections below:
- Create a new package, in which you will develop three nodes:
- (a) A node that implements an action client, allowing the user to set a target (x, y) or cancel it. Try to use the feedback/status of the action server to know when the target has been reached. The node also publishes the robot's position and velocity as a custom message (x,y, vel_x, vel_z), by relying on the values published on the topic /odom;
- (b) A service node that, when called, returns the coordinates of the last target sent by the user;
- (c) Another service node that subscribes to the robot’s position and velocity (using the custom message) and implements a server to retrieve the distance of the robot from the target and the robot’s average speed.
- Create a launch file to start the whole simulation. Use a parameter to select the size of the averaging window of node (c)
First, the package needs to be cloned: git clone https://github.com/mxhrnxz/RT_Assignment2.git
Secondly, the Xterm needs to be installed: sudo apt-get -y install xterm
Then all the Python files in the Script folder need to have permission to be executed. This can be achieved by running the command:chmod +x node_a.py
And lastly, to run the program use this command in the launch folder terminal: roslaunch assignment_2_2023 assignment1.launch
Here is the flowchart of Node A for a better understanding of the code.
Here is the RQT graph of the whole project to see how the nodes interact with each other
