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se2_navigation_msgs

Collection of messages and services for communication between ros planners and controllers. These messages are also used to communicate to the rviz planning interface.

Messages

Path Segment (PathSegmentMsg.msg)

  • int8 FORWARD = 0
  • int8 BACKWARDS = 1
  • int8 drivingDirection - variable holding the driving direction
  • geometry_msgs/Pose[] points - poses of the robot along the path

Path (PathMsg.msg)

  • std_msgs/Header header
  • se2_navigation_msgs/PathSegmentMsg[] segment - path segments

Path Request (PathRequestMsg.msg)

  • geometry_msgs/Pose startingPose
  • geometry_msgs/Pose goalPose

Controller Command (ControllerCommandMsg.msg)

  • int8 START_TRACKING=0
  • int8 STOP_TRACKING=1
  • int8 command

Services

Request Current State (RequestCurrentStateSrv.srv)

  • Request
    • -
  • Response
    • geometry_msgs/Pose - current pose of the robot
    • geometry_msgs/Twist - twist of the robot

Request Path (RequestPathSrv.srv)

  • Request
    • PathRequestMsg pathRequest - starting and goal pose for the planner
  • Response
    • bool status - whether path has been succesfully found

Send Controller Command (SendControllerCommandSrv.srv)

  • Request
    • ControllerCommandMsg command - command for the controller
  • Response
    • bool status - whether controller has done what was asked for

Dependencies

  • std_msgs

  • geometry_msgs