obstacle_avoid Namespace Reference

Classes
class	ObstacleAvoidance

Functions
	is_front_hazard_active (hazards)
	send_velocity_command (self, hazard_detected)
	hazard_callback (self, HazardDetectionVector hazards)
	hazard callback.
	main (args=None)
	Use spin() to continuously run the node.

Variables
str	yaml_file_path = "room_map_save.yaml"
	yaml_data = yaml.safe_load(file)
	Open the YAML file and load its contents.
	cmd_vel_pub
	Twist publisher.
	hazard_sub
	Hazard subscriber.
	_start_time

Function Documentation

hazard_callback()

obstacle_avoid.hazard_callback	(		self,
		HazardDetectionVector	hazards )

hazard callback.

Parameters

self.
hazards:HazardDetectionVector.

See also

is_front_hazard_active()

is_front_hazard_active()

obstacle_avoid.is_front_hazard_active

(

hazards

)

Note

This function uses the bumper to detect if it hit an object

Parameters

hazards

Returns

True or False

main()

obstacle_avoid.main

(

args = None

)

Use spin() to continuously run the node.

send_velocity_command()

obstacle_avoid.send_velocity_command	(		self,
			hazard_detected )

Parameters

self
hazard_detected

Variable Documentation

_start_time

obstacle_avoid._start_time

protected

Parameters

double

cmd_vel_pub

obstacle_avoid.cmd_vel_pub

Twist publisher.

 self.cmd_vel_pub = self.create_publisher(Twist, "/cmd_vel", 10)    

hazard_sub

obstacle_avoid.hazard_sub

Hazard subscriber.

 self.hazard_sub = self.create_subscription(HazardDetectionVector, "/hazard_detection", self.hazard_callback, QoSProfile(depth=10, reliability=ReliabilityPolicy.BEST_EFFORT))

Warning

QoSProfile reliabilty has to be set to BEST EFFORT.

yaml_data

obstacle_avoid.yaml_data = yaml.safe_load(file)

Open the YAML file and load its contents.

yaml_file_path

str obstacle_avoid.yaml_file_path = "room_map_save.yaml"

Note

Can be changed to any .yaml file