Master Node

Uses rosparam:

/robot_state

This is the main python script in ros_gmapping_movebase package, it gets user request to choose robot behaviour using robot_state rosparam. Everytime you choose a behaviour for robot you should continue the process in the corresponding node shell, and then if you want to change the robot behaviour again you must come back to this shell.

scripts.master.change_state()

Function for changing robot’s behaviour and sending the corresponding response to other three nodes

robot_state can have valuse from 0 to 3 with the following rules:

0: waiting for user to choose robot behaviour

1: movebase client

2: teleop twist keyboard without obstacle avoidance

3: teleop twist keyboard with obstacle avoidance