Pioneer Hallway

Making a pioneer robot move down a hallway -- fast!

Nodes

Obstacle Tracker

Controller

Executive

controller_msg - publisher type String - the actions from the planner

exec_planner.py - Forks the planner as a subprocess, sends it the current state and publishes the action from the planner, listens to obst_tracker to update the state for the planner

exec_control_pub.py - Sends a "forward" message to the controller as String

exec_obst_listen.py - Listens to obst_tracker for String

exec_test_listener.py - Simple test by publishing a dummy node

Usage

Make sure you have your own catkin workspace and use this repo as your src/ folder.

You can work inside your own folder in src/ make sure to make it executable.

To build the package/nodes:

cd ~/your_ws
catkin_make

Testing/Running

roscore
cd ~/your_ws
source devel/setup.bash
rosrun pioneer_hallway node.py