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CT: Updated default ros parameters and documentation.
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Carlos Tampier committed Aug 9, 2022
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29 changes: 15 additions & 14 deletions README.md
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Expand Up @@ -100,16 +100,17 @@ A python script implements a JSON API with the common requests (POST, PUT, GET)

A ROS node that fetches the robot data to create database entries. It can be run either as a Python or a C++ node. The following data are subscribed:

| Data | Type |
| ------------------------- | ---------------------------------------------------- |
| Operation mode | industrial_msgs/RobotMode |
| GPS position | sensor_msgs/NavSatFix |
| Local position | TF (map -> robot frame) or geometry_msgs/PoseStamped |
| Environment map | nav_msgs/OccupancyGrid |
| Map image<sup>\*</sup> | sensor_msgs/CompressedImage |
| Camera Image<sup>\*</sup> | sensor_msgs/Image or sensor_msgs/CompressedImage |

<span style="font-size:smaller">\* Only in the Python implementation.</span>
| Data | Type |
| ----------------------------- | ---------------------------------------------------- |
| Operation mode | industrial_msgs/RobotMode |
| GPS position | sensor_msgs/NavSatFix |
| Local position | TF (map -> robot frame) or geometry_msgs/PoseStamped |
| Environment map | nav_msgs/OccupancyGrid |
| Map image<sup>\*</sup> | sensor_msgs/CompressedImage |
| Camera image | sensor_msgs/Image |
| Compressed image<sup>\*</sup> | sensor_msgs/CompressedImage |

<span style="font-size:smaller">\* Options added only to the Python implementation to improve efficiency.</span>
<br/><br/>

Additionally, the node advertises the following services to interact with the web user interface:
Expand Down Expand Up @@ -444,9 +445,9 @@ Once the logging is activated, the node's parameters are read, the subscribers f
| ----------------------------- | --------------------------- |
| robot_mode | industrial_msgs/RobotMode |
| robot_position | sensor_msgs/NavSatFix |
| Environment map | nav_msgs/OccupancyGrid |
| Map image<sup>\*</sup> | sensor_msgs/CompressedImage |
| image_raw<sup>\*</sup> | sensor_msgs/Image |
| map | nav_msgs/OccupancyGrid |
| map_jpeg<sup>\*</sup> | sensor_msgs/CompressedImage |
| image | sensor_msgs/Image |
| image_compressed<sup>\*</sup> | sensor_msgs/CompressedImage |

<span style="font-size:smaller">\* Only in the Python implementation.</span>
Expand Down Expand Up @@ -527,7 +528,7 @@ The FTT ROS interface node has its parameters loaded from a YAML file in the pac
| topics/gps_position | robot_position | Name of the topic for GPS position data. |
| topics/map | map | Name of the topic for the map of the environment. |
| topics/map_jpeg | map_jpeg | Name of the topic for the map image (must be the same map as the above). |
| topics/image | image_raw | Name of the topic for robot frontal camera (raw) images. |
| topics/image | image | Name of the topic for robot frontal camera (raw) images. |
| topics/image_compressed | image_compressed | Name of the topic for robot frontal camera (compressed) images. |
| params/use_tf | true | Flag to create a TF listener to extract the robot's local position. |
| params/map_frame | map | Name of the map frame for the tf listener. |
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2 changes: 1 addition & 1 deletion ftt_ros_interface/config/ros2api_config.yaml
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Expand Up @@ -16,5 +16,5 @@ topics:
local_pose: local_pose
map: map
map_jpeg: map_jpeg
image: image_raw
image: image
image_compressed: image_compressed

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