Contents
Demo Description
This package was created for the FCTUC open day demo. The demo consisted on 2 Roombas equipped with Hokuyo lasers wandering inside and around a small arena while taking chemical measurements of the environment.
ROS API
demo
The node that runs the actual demo.Subscribed Topics
nose (lse_sensor_msgs/Nostril)- Chemical data from the LSE MOX nose.
- Roomba battery data to check battery level and if the Roomba is docked.
- Array of goal poses.
Published Topics
cmd_vel (geometry_msgs/Twist)- Velocity commands to the Roomba.
pose_reader
Reads a file containing poses for the robot and publishes them for the demo node to run.Published Topics
poses (fctuc_open_day/Poses)- Array of goal poses.