Robot states Node
- Brief explanation of this node:
This node has main function to set_pose and get_pose. Use service to generate data and communicate with other node and also set the initial pose of robot use parameters.
- Service:
GET_POSE SET_POSE
- Param:
Get param from ‘/state/initial_pose’
- class scripts.robot_states.RobotState[source]
- The node manager class:
This class defines two services to get and set the current robot pose and next robot pose.
- get_pose(request)[source]
This function is the robot/get_pose service implementation. The request input parameter is given by the client as empty. Thus, it is not used. The response returned to the client contains the current robot pose.
- Parameters
request (float) – [x,y] coordinates of client pose
- Returns
get position response
- Return type
float
- set_pose(request)[source]
This function is the robot/set_pose service implementation. The request input parameter is the current robot pose to be set, as given by the client. This server returns an empty response.
- Parameters
request (float) – [x,y] coordinates of client pose
- Returns
set postion response
- Return type
float