soccer_pycontrol.navigator_ros.NavigatorRos

class soccer_pycontrol.navigator_ros.NavigatorRos(useCalibration=True)

Bases: Navigator

The Navigator class, receives commands from ROS and executes them in real life and in webots simulation. For functions common to both ROS and pybullet simulation, see Navigator

__init__(useCalibration=True)

Initializes The NavigatorRos class

Parameters:

useCalibration – Whether or not to use movement calibration files located in config/robot_model.yaml, which adjusts the calibration to the movement given

Methods

__init__([useCalibration])	Initializes The NavigatorRos class
close()
getPose([footprint_name])	Get the 3D pose of the robot
goal_callback(pose)	Callback function for when a new goal arrives.
ready()	Puts the robot into a ready pose to begin walking
run([single_trajectory])	The main run loop for the navigator, executes goals given through setGoal and then stops
setGoal(goal)	Set the goal of the robot, will create the path to the goal that will be executed in the run() loop
setPose(pose)	Relocate the robot at the certain pose
update_robot_pose([footprint_name])	Function to update the location of the robot based on odometry.
wait(steps)	Make the robot wait for a few steps

Attributes

PYBULLET_STEP

getPose(footprint_name='/base_footprint_gt')

Get the 3D pose of the robot

Returns:

The 3D pose of the robot

goal_callback(pose: PoseStamped) → None

Callback function for when a new goal arrives. It creates the path in the callback function and dynamically updates the current path if it exists (currently not working). Note the path computation occurs here instead of run because the computation will disturb the main thread. Main thread should still be running

Parameters:

pose – The pose sent by the strategy for the robot to go to

ready() → None

Puts the robot into a ready pose to begin walking

run(single_trajectory=False)

The main run loop for the navigator, executes goals given through setGoal and then stops

Parameters:

single_trajectory – If set to true, then the software will exit after a single trajectory is completed

Returns:

True if the robot succeeds navigating to the goal, False if it doesn’t reach the goal and falls

setGoal(goal: Transformation)

Set the goal of the robot, will create the path to the goal that will be executed in the run() loop

Parameters:

goal – The 3D location goal for the robot

setPose(pose: Transformation)

Relocate the robot at the certain pose

Parameters:

pose – 3D pose of the robot

update_robot_pose(footprint_name='/base_footprint') → bool

Function to update the location of the robot based on odometry. Called before movement to make sure the starting position is correct

Parameters:

footprint_name –

Returns:

True if the position is updated, otherwise False

wait(steps: int)

Make the robot wait for a few steps

Parameters:

steps – Defined by Navigator.PYBULLET_STEP, which is usually 0.01