Minglong's profile - activity

I wrote a ROS package by myself about multi-task coordination among team robots.

However, when I want to release the package by the bloom-release tools, it broke down at the final step. The debug information is "Failed to open pull request: ValueError - Invalid placeholder in string: line 1, col 46".

I want to launch multiple turtlebots in real environment. In this scenario, there are several turtlebots and a remote workstation connected with each other. I want the robots to be controlled independently. I know how to revise the navigation and amcl launch files. But I don't know how to revise the minimal.launch file in turtlebot_bringup package of each robot to accomplish this. The ROS version I use is Indigo.Thank you!

On the web page of stage_ros wiki, I notice several topics including:
odom (nav_msgs/Odometry) base_scan (sensor_msgs/LaserScan) base_pose_ground_truth (nav_msgs/Odometry) image (sensor_msgs/Image) depth (sensor_msgs/Image) camera_info (sensor_msgs/CameraInfo)

However, when I launch turtlebot_stage. I don't find any depth or camera_info. I want to know that how to add a camera on a robot in the stage simulator. Thank you!

I also want to know what you wiped? All the ROS system?

Thank you for your clear and patient answers!

1. And another key word is "partial". The upper layer can either contain or suppress "partial" function units of lower layer. However, cmd_vel_mux just make the upper layer contain or suppress the function of the "whole" lower layer. Would I know your idea? Thank you.

1. I don't think that "zero input" in a cmd_vel_mux is a good idea. I can not call it a inhibitor. If an output of a moudle in subsumption model is inhibited, the module send nothing at all. But the "zero" Twist msg is also a msg, it may call callback and activate some events of the lower layer.

the inhibitors are also very important, we can inhibit some behavior of lower layer immediately, and then do some sensing or calculating things, output the result instead to the lower layer. but there is not inhibitor in the cmd velocity multiplexer.

However, all the inhibitors and suppressors in subsumption model is decentralized causing that we can insert them in any place of any layers.

I think the key idea of subsumption model is that the upper layer can either contain or suppress partial function units of lower layer. But the multiplexer is just a priority-based selector for velocity output. What's more，the multiplexer is just one single process.

Can multiplexer construct a subsumption architecture on ROS?

As we all know, Rodney Brooks' subsumption model is an extremely successful control architecture for robot. ROS provides us with a lot of driver and function packages. To construct a complex and intelligent robot software system, we should organize these packages. Subsumption model is a good choice. So, I want to know that whether ROS provide us with a mothod to implement subsumption model upon it?