How to implement a complex application in ROS

asked 2011-05-17 00:11:38 -0500

BennyRos
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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 -0500

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

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 ( 2011-05-17 18:12:31 -0500 )edit

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answered 2011-05-18 11:23:46 -0500