Dependences To perform patrolling tasks, you should have navigation packages installed on the robot:
- turtlebro
- turtlebro_navigation
- amcl
- dwa_local_planner
- global_planner
- gmapping
- map_server
- move_base
- move_base_msgs
- actionlib
Install the package on RaspberryPi in the "standard" way:
cd ~/catkin_ws/src
git clone https://github.com/voltbro/turtlebro_patrol
cd ..
catkin_make --pkg turtlebro_patrol
Before launch you have to clear data from stm32 by sending reset command:
rosservice call /reset
# Navigation node and patrol node launch
roslaunch turtlebro_patrol patrol.launch
# Patrol node launch only
roslaunch turtlebro_patrol patrol_run.launch
The coordinates of the points where the robot starts patrolling are located in the file:
~/catkin_ws/src/turtlebro_patrol/data/goals.xml
Important note!
when you adding to goals.xml point like
<goal x='1' y='0' theta='90' name="point_name"/>
remember that x axis is forward for robot, and y-axis is left for robot. "Theta" should be set in degrees with right-hand-rule rotation
The control of the patrol bot is performed by sending messages of the std_msgs/String type to the topic /patrol_control
Accepted commands:
- start - starts the patrol cycle or switch robot to next goal
- pause - pauses patrolling at any point
- resume - resume patrolling at any point
- home - go to home position
- shutdown - stops patrolling and executing the package
If you need run any action on patrol point, you must specify point_callback_service from .launch file
Patrol node will run Service request with PatrolPointCallback message type on the reach of the point.
run with callback_service
python3 patrol.py _point_callback_service:=my_service_name