11.10- transformation ARIA and move_base: action-mode and planning model

Program transformation plan

Foreword

• The current control is not handle avoidance function
• The current direct voice control commands using move_base module, we hope to be able to use the exact mobile module, and obstacle avoidance, voice control command is actually a direct approach control commands, one can see the state of the robot in real time. "Move forward 5M" "hurry up", etc.
• These instructions will only need to use the route planning, such as "to the A513" "to the front of the computer to" "go"
• Slow response to the instructions, should only be implemented when the path planning, is achieved by reconfiguring parameters of local programming. In direct mode to achieve it?

Realize the function

Speed ​​and other parameters

• Slow, fast

Voice control commands direct the roaming

• ROS in the client's keyboard instructions, and use Action and ActionGroup design behavior in ROS, the process should have run obstacle avoidance
• go
• left
• right
• stop
• slow
• fast
• stop

Under the direct control of the azimuth distance voice mode, during the operation should have obstacle avoidance

• Walked five meters
• faster
• slower
• stop

Under the control of the planning mode

• To 513
• stop
• A little faster, a little slower these can be customized to the state machine to achieve.
  

zsProxy of new demand

• Move_base should be able to subscribe to the implementation of good feedback to the robot interface state is normal or lost, etc.