Robot states Node

Definition:

This node has main function to set/get_base_movement_state and set/get_battery_level. Uses service to communicate data with other node, uses odom_callback() function to get current location of the robot ,and implementation of the state/get_pose service.

Subscribes to:

/odom —> to get odometry information of the current postion of the robot

Services:

/state/get_pose —> uses GetPose.srv

/state/set_battery_level —> uses SetBatteryLevel.srv

/state/get_battery_level —> uses GetBatteryLevel.srv

/state/set_base_movement_state —> use SetBaseMovmentSate.srv

/state/get_base_movement_state —> use GetBaseMovmentSate.srv

class scripts.robot_states.RobotState

RobotState class has importante rule to get/set various service like BATTERY_LEVEL , BASE_MOVEMENT ,and GET_POSE. Additionaly set initiale battery level, robot movement state ,and arm movement.

get_base_movement_state(request)

The state/get_base_movement_state 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 base movement state.

Parameters:request (GetBaseMovementStateRequest) – Returns:response(GetBaseMovementStateResponse)

get_battery_level(request)

The state/get_battery_level 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 battery level.

Parameters:request (GetBatteryLevelRequest) – Returns:response(GetBatteryLevelResponse)

get_pose(request)

The state/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 (GetPoseRequest) – Returns:response(GetPoseResponse)

odom_callback(data)

Odometry callback function useful to subscribe /odom topic, update robot current pose in robot_sates.py :param data: :type data: nav_msgs.msg.Odometry

set_base_movement_state(request)

The state/set_base_movement_state service implementation. The request input parameter is the current robot base movement state to be set, as given by the client. This server returns an empty response.

Arg:

request(SetBaseMovementStateRequest)

set_battery_level(request)

The state/set_battery_level service implementation. The request input parameter is the current robot battery level to be set, as given by the client. This server returns an empty response.

Arg:

request(SetBatteryLevelRequest)