Src

Ros-Nodes of the src folder.

MoveIt Module

Controls a robot arm to move to predefined positions based on a service request.

Author

Matteo Carlone

Functions

bool reach(patrol_robot::MarkerRoutine::Request &req, patrol_robot::MarkerRoutine::Response &resp)

Service callback function for the move_arm service.

Parameters

  • req – Service request message. Contains the position to move the arm to.

  • resp – Service response message. Contains the name of the target position.

Returns

True if the service call was successful.

int main(int argc, char **argv)

Variables

int position = 0

MoveIt headers.

Global variable to store the current position of the robot arm

Marker Server Module

Functions

bool markerCallback(assignment2::RoomInformation::Request &req, assignment2::RoomInformation::Response &res)

Service callback function for the room_information service.

Parameters

  • req – Service request message. Contains the ID of the marker.

  • res – Service response message. Contains the room name, x and y coordinates, and a list of connections for the room associated with the marker ID in the request message.

Returns

True if the service call was successful.

int main(int argc, char **argv)