rosmobilelib

rosmobilelib

Enable to struct movement robotic action with ROS, the open-source robotic middleware. This library make able to run that by Python3 code on external of ROS network and workspace.

This is depended roslibpy that allows ROS programing without defining as ROS Node by using rospy.

Main Features

• Manage features to set ROS robotic movement simply.
• Dynamic schedule to Goal with sending/waiting of Action.
• Provide some feature that use for programming with ROS such as coordinate transformation of TF.
• Give support to synchronize to single callback for needs to subscribed multi topic such as stereo camera system.

Installation

To install rosmobilelib, use pip:

pip install rosmobilelib

or

pip install rosmobilelib --extra-index-url https://test.pypi.org/simple

Documentation

Details coming soon. For now, just watch down and get through it.

Example implementation:

Import libraries.

import roslibpy as rlp
from rosmobilelib import MobileClient

Prepare connection with roslibpy. If you desire details see here.

client = rlp.Ros('localhost', port=9090)
lm1 = lambda: print('is ROS connected: ', client.is_connected)
client.on_ready(lm1)
client.run()

Define MobileClient object and wait for to subscribe needs topics.

lm2 = lambda r: print('reached goal', r)
ms = MobileClient(client, lm2, odom_topic='/odom', map_topic='/map')
ms.wait_for_ready()

Use dynamic FCFS scheduler. Set goal and make able to execute goals. You can set goal any time not only after call start().

Details:

• start(), stop(): make scheduling queue executable/inexecutable

ms.start()

# set scheduler a goal that go ahead 0.5 from robot body
ms.set_goal_relative_xy(0.5, 0, is_dynamic=False)

# set relative pos(x:front:-0.5, y:left:1) based basis vector that decided dynamic after previous executed
ms.set_goal_relative_xy(-0.5, 1, is_dynamic=True)

# set goal directly with world frame's pose
ms.set_goal(ms.get_vec_q(-0.4,-0.6,0), ms.get_rot_q(0,0,math.pi/2))

time.sleep(60)

ms.stop()

There are other way to wait for time until reach goal. Exchange time.sleep(n) to ms.wait_for_execute_all().

...
ms.wait_for_execute_all()
...