Fred - Goal Manager

note: Package for ROS 2 - C++/Python (CMake) based package

The ROS 2 Goal Manager package provides nodes for managing goals in a robotic system. This package includes two nodes, each serving a distinct purpose in goal management.

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Installation

1. Clone the repository into your ROS2 workspace:

cd ros2_ws/src
git clone https://github.com/AMR-Frederico/fred2_goal_manager.git

2. Build the package:

cd ros2_ws
colcon build

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Usage

Launch

Considering Robot Localization for odometry and Robot Descriptor for publish the TFs:

ros2 launch fred2_goal_manager goal_manager.launch.py 

Considering Move Base Odometry to publish odom and TF:

ros2 launch fred2_goal_manager goal_manager.launch.py

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Goal Provider

The goal_provider node is responsible for managing the publication of goals and handling the progression through the goal sequence.

Parameters

• frame_id: The frame ID for the published goals. Default is 'odom'.

• goals: Goals array.

Subscribed Topics

• goal/reached (std_msgs/Bool): Subscribe to receive updates on goal reached status.

• odom/reset (std_msgs/Bool): Reset goal index.

- /machine_states/robot_state (std_msgs/Int16): Robot state

Published Topics

• goals (geometry_msgs/PoseArray): Publishes an array of goal poses.

• goal/current (geometry_msgs/PoseStamped): Publishes the current goal pose.

• goal/mission_completed (std_msgs/Bool): Publishes whether the entire mission is completed.

Run

ros2 run fred2_goal_manager goal_provider.py

Run with degub mode

ros2 run fred2_goal_manager goal_provider.py --debug

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Goal Reached

The goal_reached node determines whether the robot has reached its goal based on odometry and the current goal information. It ensures safety constraints are met during robot movements and integrates with ultrasonic readings and joystick commands for enhanced safety.

Parameters

• robot_in_goal_tolerance (float): Tolerance for considering the robot to be in the goal. Default is 0.1.

Subscribed Topics

• /odom (nav_msgs/Odometry): Subscribe to receive odometry information from Move Base.

• /odometry/filtered (nav_msgs/Odometry): Subscribe to receive odometry information from Robot Localization.

• goal/current (geometry_msgs/PoseStamped): Subscribe to get the current goal pose.

Published Topics

• goal/reached (std_msgs/Bool): Publishes whether the robot has reached its goal.

Run

ros2 run fred2_goal_manager goal_reached.py

Run with degub mode

ros2 run fred2_goal_manager goal_reached.py --debug

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