Mobile_Robot_Systems

A ROS2 package to receive order_ids, arrange them and finding the shortest path to collect parts and deliver to the destination.

Author:

Sina Dehbari

Reference:

Changelog

Requirements:

Ubuntu 22.04 LTS

ROS2 Humble (at least Desktop version - see ROS2 wiki)

Setup Dependencies:

• cpp-yaml

  sudo apt-get install libyaml-cpp-dev

How To Run

After installing the dependencies and clone this package in to your workspace, run the code as below:

ros2 run mobile_robot_systems OrderOptimizer --ros-args -p directory_path:=/path/to/the/directory

Note: if the directory is not provided for the node, it gets the default directory (src/mobile_robot_systems/files)

Note: if there is no publishing message you can publish the below two messages on Terminals:

ros2 topic pub  /currentPosition geometry_msgs/msg/PoseStamped "{header: {stamp: {sec: 1, nanosec: 123456789}}, pose: {position: {x: 1.0, y: 2.0, z: 3.0}, orientation: {w: 1.0}}}"


ros2 topic pub /nextOrder mobile_robot_systems/msg/NextOrder "{order_id: 1100001, description: 'dummy message'}" --rate 1

Parameters

This pacakge includes three nodes:

node	type	value	summary
pose_subscriber_	subscriber	PoseStamped	position of the Robot
oder_subscriber_	subscriber	NextOrder	subscribe to the next order
marker_array_publisher_	publisher	MarkerArray	publishing location of robot as well as part

NextOrder is a customized message inside this file with below infos:

uint32 order_id string description

Test and Deploy

TODO Use the built-in continuous integration in GitLab.

Project status

This is the Sample work for company Knapp to evaluate coding style.