Robot States Script

Subscribes to:

/odom

Uses Service:

/state/set_battery_level

/state/get_battery_level

/state/get_pose

/state/set_base_movement_state

/state/get_base_movement_state

This node defines battery level, robot pose and robot base movement state in order to be used by other nodes in the software architecture.

class scripts.robot_states.RobotState

Inits robot-states node to provide some usefull information about robot current state, such as pose, battery level and base movement state

get_base_movement_state(request)

The state/get_base_movement_state service implementation. The request input parameter is given by the client as empty. Thus, it is not used. The response returned to the client contains the current robot base movement state.

Parameters

request (GetBaseMovementStateRequest) –

Returns

response(GetBaseMovementStateResponse)

get_battery_level(request)

The state/get_battery_level service implementation. The request input parameter is given by the client as empty. Thus, it is not used. The response returned to the client contains the current robot battery level.

Parameters

request (GetBatteryLevelRequest) –

Returns

response(GetBatteryLevelResponse)

get_pose(request)

The state/get_pose service implementation. The request input parameter is given by the client as empty. Thus, it is not used. The response returned to the client contains the current robot pose.

Parameters

request (GetPoseRequest) –

Returns

response(GetPoseResponse)

odom_callback(data)

Callback function for /odom topic subscriber, update robot current pose in robot-states node.

Parameters

data (nav_msgs.msg.Odometry) –

set_base_movement_state(request)

The state/set_base_movement_state service implementation. The request input parameter is the current robot base movement state to be set, as given by the client. This server returns an empty response.

Arg:

request(SetBaseMovementStateRequest)

set_battery_level(request)

The state/set_battery_level service implementation. The request input parameter is the current robot battery level to be set, as given by the client. This server returns an empty response.

Arg:

request(SetBatteryLevelRequest)