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stdr_simulator: stdr_gui | stdr_launchers | stdr_msgs | stdr_parser | stdr_resources | stdr_robot | stdr_samples | stdr_server

Package Summary

Implements synchronization and coordination functionalities of STDR Simulator.

stdr_simulator: stdr_gui | stdr_launchers | stdr_msgs | stdr_parser | stdr_resources | stdr_robot | stdr_samples | stdr_server

Package Summary

Implements synchronization and coordination functionalities of STDR Simulator.

Nodes

stdr_server_node

The stdr_server_node node implements the synchronization and coordination functionalities of stdr_simulator. It is used to serve the static map, which represents the simulated environment and keeps track of active robots.

Action API (Internal Usage)

The stdr_server_node node provides several action server implementations used for robot handling and coordination.

Action Topics

spawn_robot (stdr_msgs/SpawnRobotAction)

delete_robot (stdr_msgs/DeleteRobotAction)

register_robot (stdr_msgs/RegisterRobotAction)

Published Topics

map (nav_msgs/OccupancyGrid) map_metadata (nav_msgs/MapMetaData) active_robots (stdr_msgs/RobotIndexedVectorMsg)

Services

load_static_map (stdr_msgs/LoadMap) load_static_map_external (stdr_msgs/LoadExternalMap)

Services Called

robot_manager/load_nodelet (nodelet/NodeletLoad) robot_manager/unload_nodelet (nodelet/NodeletUnload)

Provided tf Transforms

worldmap worldmap_static

Command-Line Usage

stdr_server_node can run without any command-line arguments and simply waits until someone calls either load_static_map or load_static_map_external service. There is an option to run stdr_server_node passing an image file to load as the static map or you can include it to a launch file using the args option.

$ rosrun stdr_server stdr_server_node <map_file.yaml>

map_loader_node

The map_loader_node node uses map_server's image_loader library to load an map image from a file, fill a nav_msgs/OccupancyGrid message, call load_static_map_external service and load it to the simulator. The loading functionality is also provided in map_loader library and can be used by other packages.

Command-Line Usage

$ rosrun stdr_server load_map <map_file.yaml>

Tutorials

For tutorials see stdr_simulator/Tutorials.


2019-08-24 13:21