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How to implement a complex application in ROS

asked 2011-05-17 00:11:38 -0600

BennyRos gravatar image

Hi everybody!

I managed to get the navigation and arm_navigation stack running on my robot system (a custom system built at my university). So, I know how to send navigation goals to a mobile base and an arm. Now, I want to realize a more complex applikation, e.g. find objects in a room, move the base to them and grasp them.

I wonder what is the recommended way in ROS to implement a control structure for the application? I'm thinking about implementing a state machine in one node that controlles the others, or is there a better way? How is it done on pr2?

Thanks for your help! kind regards, Benny

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answered 2011-05-17 01:40:43 -0600

You could have a look at SMACH.

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Thanks for your answer! SMACH looks interesting. I'll try it. Has anybody experiences with other approaches? I use ROS within a student project and it would be nice if I could compare several approaches.
BennyRos gravatar image BennyRos  ( 2011-05-17 18:12:31 -0600 )edit

answered 2011-05-18 11:23:46 -0600

bhaskara gravatar image

updated 2011-05-18 11:26:05 -0600

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Thank for your help, bhaskara! I'll have a look at these approaches.
BennyRos gravatar image BennyRos  ( 2011-05-18 19:28:57 -0600 )edit

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Asked: 2011-05-17 00:11:38 -0600

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Last updated: May 18 '11