Only released in EOL distros:
Package Summary
Implements synchronization and coordination functionalities of STDR Simulator.
- Maintainer status: maintained
- Maintainer: Chris Zalidis <zalidis AT gmail DOT com>
- Author: Chris Zalidis
- License: GPLv3
- External website: http://stdr-simulator-ros-pkg.github.io
- Bug / feature tracker: https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues
- Source: git https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git (branch: hydro-devel)
Package Summary
Implements synchronization and coordination functionalities of STDR Simulator.
- Maintainer status: developed
- Maintainer: Chris Zalidis <zalidis AT gmail DOT com>
- Author: Chris Zalidis
- License: GPLv3
- External website: http://stdr-simulator-ros-pkg.github.io
- Bug / feature tracker: https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues
- Source: git https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git (branch: indigo-devel)
Package Summary
Implements synchronization and coordination functionalities of STDR Simulator.
- Maintainer status: developed
- Maintainer: Chris Zalidis <zalidis AT gmail DOT com>
- Author: Chris Zalidis
- License: GPLv3
- External website: http://stdr-simulator-ros-pkg.github.io
- Bug / feature tracker: https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues
- Source: git https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git (branch: indigo-devel)
Package Summary
Implements synchronization and coordination functionalities of STDR Simulator.
- Maintainer status: developed
- Maintainer: Chris Zalidis <zalidis AT gmail DOT com>
- Author: Chris Zalidis
- License: GPLv3
- External website: http://stdr-simulator-ros-pkg.github.io
- Bug / feature tracker: https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues
- Source: git https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git (branch: indigo-devel)
Contents
Nodes
stdr_server_node
The stdr_server_node node implements the synchronization and coordination functionalities of stdr_simulator. It is used to serve the static map, which represents the simulated environment and keeps track of active robots.
Action API (Internal Usage)
The stdr_server_node node provides several action server implementations used for robot handling and coordination.
Action Topics
spawn_robot (stdr_msgs/SpawnRobotAction)
Action to spawn a new robot. Called either from STDR GUI or from robot_handler node.
delete_robot (stdr_msgs/DeleteRobotAction)
Action to handle robot deletion. Called either from STDR GUI or from robot_handler node.
register_robot (stdr_msgs/RegisterRobotAction)
Action to register a newly spawned robot. Called from stdr_robot nodelet itself, serves synchronization purposes.
Published Topics
map (nav_msgs/OccupancyGrid)- The world to be used at simulation, loaded as a map. Delegated to robots and GUIs, using a latched publisher.
- Publishes the map metadata.
- Publishes active robots when a deletion or an addition takes place, using a latched topic.
Services
load_static_map (stdr_msgs/LoadMap)- Allows an external user to load a map, providing the map filename.
- Allows an external user to load a map, providing an nav_msgs/OccupancyGrid. Used by map_loader_node, see below.
Services Called
robot_manager/load_nodelet (nodelet/NodeletLoad)- Called to load a new robot.
- Called to unload/delete a robot.
Provided tf Transforms
world → map- represents the map origin described in map description file. See map_server package for details.
- frame fixed to bottom left corner of the static map, regardless of the map origin. Useful for geometric calculations.
Command-Line Usage
stdr_server_node can run without any command-line arguments and simply waits until someone calls either load_static_map or load_static_map_external service. There is an option to run stdr_server_node passing an image file to load as the static map or you can include it to a launch file using the args option.
$ rosrun stdr_server stdr_server_node <map_file.yaml>
map_loader_node
The map_loader_node node uses map_server's image_loader library to load an map image from a file, fill a nav_msgs/OccupancyGrid message, call load_static_map_external service and load it to the simulator. The loading functionality is also provided in map_loader library and can be used by other packages.
Command-Line Usage
$ rosrun stdr_server load_map <map_file.yaml>
Tutorials
For tutorials see stdr_simulator/Tutorials.