turtlebot_actions

Summary

turtlebot_actions
Version:

2.3.3
Description:

turtlebot_actions provides several basic actionlib actions for the TurtleBot.
Maintainers:
  • OSRF <turtlebot AT osrfoundation DOT org>
Licenses:
  • BSD
Urls:
Authors:
  • Helen Oleynikova
  • Melonee Wise
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Action types

turtlebot_actions/TurtlebotMove
Field (Goal):
  • turn_distance (float32) –
  • forward_distance (float32) –
Field (Result):
  • turn_distance (float32) –
  • forward_distance (float32) –
Field (Feedback):
 
  • turn_distance (float32) –
  • forward_distance (float32) –

goal definition

#goal definition
float32 turn_distance     # in radians, ccw = +, cw = -
float32 forward_distance  # in meters, forward = +, backward = -
---
#result definition
float32 turn_distance
float32 forward_distance
---
#feedback
float32 turn_distance
float32 forward_distance
turtlebot_actions/FindFiducial
Constant (Goal):
 
  • CHESSBOARD (uint8):1 –
  • CIRCLES_GRID (uint8):2 –
  • ASYMMETRIC_CIRCLES_GRID (uint8):3 –
Field (Goal):
  • camera_name (string) –
  • pattern_width (uint8) –
  • pattern_height (uint8) –
  • pattern_size (float32) –
  • pattern_type (uint8) –
Field (Result):

goal definition

#goal definition
uint8   CHESSBOARD = 1
uint8   CIRCLES_GRID = 2
uint8   ASYMMETRIC_CIRCLES_GRID =3

string    camera_name       # name of the camera 
uint8     pattern_width     # number of objects across
uint8     pattern_height    # number of objects down
float32   pattern_size      # size the object pattern (square size or circle size)
uint8     pattern_type      # type of pattern (CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID)
---
#result definition
geometry_msgs/PoseStamped pose
---
#feedback