Multiple ros nodes like shells?

asked 2018-09-15 21:53:17 -0600

dta800 gravatar image


I am building an autonomous rc car. Right now I am building navigation stack and it is almost finished, after that I will proceed with teb local planner. If I manage to do it I want to add; my opencv code which detects lane and follows it, another opencv for sign detection and finally I don't know how will I do it but a code that I will give coordinates to the car and it will go there in the map that I detected, edited before.

Let's say I manage to do all of them (opencv's are done, I hope teb will be too very soon); how can I run them all in order? Lane follow and sign should be my core code for driving, then I should have teb local planner and finally coordinate stuff. Would it work if I just run all these nodes together or should I create a new package? If both works, what would be the most easy one for computational power?

edit retag flag offensive close merge delete


I'm not sure to understand correctly your issue here : you want to know how to combine all your nodes to have a complete navigation ? From my understanding I think you could use the cmd_vel_mux nodelet that takes in input your velocity commands. Setting a greater priority to the sign detection...

Delb gravatar image Delb  ( 2018-09-17 01:08:37 -0600 )edit

...than the lane follow and use actionlib to send your differents goals once calculated from the coordinates of the car. So yes you can run all the nodes together.

Delb gravatar image Delb  ( 2018-09-17 01:10:59 -0600 )edit