ROS API: autonomous

2. autonomous

This is a ROS node that runs the python auton scripts created as a statemachine during autonomous.

Published Topics

diff_drive/goal_path (diff_drive/GoalPath)

• The wanted path for the robot including the goals and the corresponding parameters

robot_set_pose (std_msgs/Float32MultiArray)

• The array representing the wanted pose to reset the robot to [x, y, th]

The listed topics below are robot specific and are not needed for every autonomous, but are used throughout our 2020 robot.

auto/intake/state (std_msgs/String)

• A string representing the state of the intake ("retract", "deploy")

auto/shooter/state (std_msgs/String)

• A string representing the state of the shooter. The overall system controlling the below states ("idle", "prime", "shoot")

auto/turret/state (std_msgs/String)

• A string representing the state of the turret. Used for fine adjustments of the angle ("idle", "rotate_turret")

auto/turret/wanted/angle (std_msgs/Float32)

• The wanted angle to rotate the turret (radians)

auto/flywheel/state (std_msgs/String)

• A string representing the state of the flywheel. Used for fine adjustments of the rpm ("idle", "spin_up")

auto/flywheel/wanted/rpm (std_msgs/Float32)

• The wanted rpm for the flywheel to spin

auto/hood/state (std_msgs/String)

• A string representing the state of the hood. Used for fine adjustments of the angle ("idle", "rotate_hood")

auto/hood/wanted/angle (std_msgs/Float32)

• The wanted angle to rotate the hood (radians)

Subscribed Topics

auto/state (std_msgs/Bool)

• Contains true if the robot is in autonomous mode

auto/select (std_msgs/Float32)

• The id of the wanted autonomous to run

The listed topics below are usually the topics used but are not set by default. The topics you wish to subscribe to are defined in the individual auton scripts created.

diff_drive_go_to_goal/distance_to_goal (std_msgs/Float32)

• The distance to the current goal the robot is moving towards

diff_drive/waypoints_achieved (diff_drive/BoolArray)

• An array of booleans representing all the waypoints achieved in a path

diff_drive/path_achieved (std_msgs/Bool)

• The status of the robot following the overall path

The listed topics below are robot specific and are not needed for every autonomous, but are used throughout our 2020 robot.

auto/turret/current/angle (std_msgs/Float32)

• The current angle of the turret

auto/flywheel/current/rpm (std_msgs/Float32)

• The current rpm the flywheel is spinning at

auto/hood/current/angle (std_msgs/Float32)

• The current angle of the hood used for adjusting arc of the ball

Parameters

rate (float, default: 50)

• The rate at which to publish desired velocities (Hz)

auto_state_topic (string, default: "/auto/state")

• The wanted topic to subscribe to in order to check if in autonomous mode

auto_selector_topic (string, default: "/auto/select")

• The wanted topic to subscribe to in order to check the ID of the autonomous to run

file_root (string, default: "auton_")

• The wanted root of all autonomous python script names for the node to automatically load and run