Interfaces

Messages

Path

  • robot_poses : Robot_Pose[] –> List of poses

Virtual structure path contains list of poses

RobotPose

  • x : float32 –> x postion of the robot

  • y : float32 –> y postion of the robot

Pose of a robot

RobotRoute

  • routes : Path[] –> List of paths

Object which contains a list of paths for each robot.

Task

  • start_pose : geometry_msgs/Pose –> Start pose of the robot

  • goal_pose : geometry_msgs/Pose –> Goal pose of the robot

  • number_of_robots : int64 –> Number of robots

  • diameter : float32 –> Diameter of the circle on which the robots are placed around the vs center point in meters

Message to start the controller with given parameters

Services

CheckThread

  • request : NULL

  • response : bool

response with true if the thread is running, false if not.

Controller

  • request : RobotRoutes

  • response : NULL

Start the controller with the given routes.

CustomPathPlanner

  • request : Task, RobotPose[]

  • response : RobotRoutes

Response with routes for each robot based on the given task and robot poses.

CustomRobotAssembler

  • request : Task

  • response : RobotPose[]

Response with the vs reference poses based on the given task.