candlefinder

ROS candlefinder

Root folder should be a ROS workspace.

Topics

Candlefinder topics:

start_bool

Published by: serial_node Subscribed to by: Message type: std_msgs::Bool

msg.data: Boolean value, "true" if the robot should start.

drive_vector

Published by: control, teleop_robot (robot_teleop.cpp) Subscribed to by: serial_node Message type: geometry_msgs::Twist

msg.angular.z: The target angle for the robot to turn, in degrees. This is an absolute position relative to the base's start position. msg.linear.x: The target speed for the robot, from 0 to 100.

base_pose

Published by: serial_node Subscribed to by: camera_scan_map_node (camera_scan_map.cpp) Message Type: geometry_msgs::Twist

msg.angular.z: The current angle of the robot's drive base, in degrees. This is an absolute position relative to the base's start position. msg.linear.x: The current speed for the robot, from 0 to 100.

target_head_angle

Published by: navigation_node (navigation.cpp) Subscribed to by: serial_node Message Type: geometry_msgs::Quaternion

msg.z: The target angle for the robot's head to turn, in degrees. This is an absolute position relative to the head's start position.

current_head_angle

Published by: serial_node Subscribed to by: camera_scan_map_node (camera_scan_map.cpp) Message Type: geometry_msgs::Quaternion

msg.z: The current angle of the robot's head, in degrees. This is an absolute position relative to the head's start position.

camera_scan_map

Published by: camera_scan_map_node (camera_scan_map.cpp) Subscribed to by: navigation_node (navigation.cpp) Message Type: nav_msgs::OccupancyGrid

msg.info: A collection of useful information about the map, including its width, height, and resolution. See nav_msgs::MapMetaData.

msg.data: An array of integers representing the map surrounding the robot, indicating where the robot has already scanned with its camera.

• -1 = unexplored
• 1 = camera has seen here
• 100 = robot is here (currently gets overridden anyways)

cost_map

Published by: cost_map_node (cost_map.cpp) Subscribed to by: navigation_node (navigation.cpp) Message Type: nav_msgs::OccupancyGrid

msg.info: A collection of useful information about the map, including its width, height, and resolution. See nav_msgs::MapMetaData.

msg.data: An array of integers representing the map surrounding the robot, except all wall obstacles have been inflated, indicating where the center of the robot should avoid in order to prevent collisions.

• -1 = unexplored
• 0 = mapped and unoccupied.
• 75 = buffer zone?
• 99 = inflated obstacle area
• 100 = obstacle from hector_map

nav_map

Published by: navigation_node (navigation.cpp) Subscribed to by: control Message Type: nav_msgs::OccupancyGrid

msg.info: A collection of useful information about the map, including its width, height, and resolution. See nav_msgs::MapMetaData.

msg.data: An array of integers

• -1 = unexplored
• 0 = in current search window
• 50 = right-angle only path
• 100 = path to be followed

navGoal

Published by: Subscribed to by: navigation_node (navigation.cpp) Message Type: geometry_msgs::Point

msg.info: Target for pathfinding algorithim. If set to -1,-1 it is ignored, otherwise, the algorithm trys to find a path to this specific point

exploration_target_angle

Published by: navigation_node (navigation.cpp) Subscribed to by: control Message Type: std_msgs::Int16

msg.data: An integer representing the angle the robot should turn in order to drive to the nearest unexplored area. Range: 0 to 360, always positive.

candle_loc

Published by: FLIR_node (FLIR_node.py) Subscribed to by: Message Type: geometry_msgs::Point

msg.x: The x-position of the flame in the camera's vision. -1 if none available.

msg.y: The y-position of the flame in the camera's vision. -1 if none available.

extinguish

Published by: Subscribed to by: serial_node Message Type: std_msgs::Bool

msg.data: Boolean value, true if CO2 valve should be opened

Hector topics:

map

Subscribed to by: camera_scan_map_node (camera_scan_map.cpp), cost_map_node (cost_map.cpp) Message Type: nav_msgs::OccupancyGrid

slam_out_pose

Subscribed to by: camera_scan_map_node (camera_scan_map.cpp), navigation_node (navigation.cpp) Message Type: geometry_msgs::PoseStamped

Serial Reference:

read and write to serial port: /dev/ttyUSB1 (or adjust as needed) 9600 baud

Read and publish:

start_bool: - g* for go base_pose - a* for angle - s* for speed current_head_angle - h* for head angle

Process and Write to serial:

drive_vector - a* for angle - s* for speed target_head_angle - h* for head angle extinguish - e* for extinguish flag