<> == Documentation == === goal_saver === ==== Subscribed Topics ==== `goals` (`tuw_multi_robot_msgs/RobotGoalsArray`) goals to store === Parameters === `~run_once` (`string` default: "/tmp/goals.txt") Filename used to store messages. if run_once is false a three digit number will be added for each stored message. `~file_name` (`bool` default: "false") On true it will exit the program after the first received message. On false it will write a file with 3 digit suffix number for each received messages === goal_server === ==== Published Topics ==== `goals` (`tuw_multi_robot_msgs/RobotGoalsArray`) Topic to publish goals === Parameters === `~file_name` (`string` default: "/tmp/goals.txt") Filename used to read messages. if run_once is false a patch of goals will be published by using the filename as prefix and a three digit increasing number as suffix. `~loop_rate` (`double` default: "1.0") Publishing rate if run_once is false `~run_once` (`bool` default: "false") On true it will exit the program after publishing one message. On false it will look for files matching the file_name and three digits starting with 000 `~time_now` (`time_now` default: "true") On true will used ros::now for the header timestamp otherwise the stored timestamp === goal_random === ==== Subscribed Topics ==== `map` (`nav_msgs/OccupancyGrid`) map to identify free spots for goals ==== Published Topics ==== `goals` (`tuw_multi_robot_msgs/RobotGoalsArray`) Topic to publish goals `valid_goal_locations` (`nav_msgs/OccupancyGrid`) For debugging: a map with the valid/invalid goal locations === Parameters === `~nr_of_robots` (`int` default: "-") number of robots to generate goals `~nr_of_available_robots` (`int` default: "-1") number of available robots e.g. you have available 200 robots but you just want to generate goals for 40 random robots out of does 200. On -1 it will be equal to nr_of_robots. `~frame_id` (`string` default: "map") Frame id for the generated goals `~robot_name_prefix` (`string` default: "robot_") prefix for the available robots `~distance_boundary` (`double` default: "0.5") A goal parameter: minimal allowed to an obstacle `~distance_between_robots` (`double` default: "2.0") A goal parameter: minimal allowed distance between goals `~distance_to_map_border` (`double` default: "0.2") A goal parameter: minimal allowed distance of a goal to the map border `~max_resample` (`int` default: "1000") how often should a goal be re-sampled if it was on an invalid spot until an error occurs (the implementation can be better to avoid this parameter) == Report a Bug == <> ##i.e.<> ## AUTOGENERATED DON'T DELETE ## CategoryStack