ros2mapper_io_node

IO Node

Description

Receives input from the user via a CLI and controls the functions of the TurtleBot3 by publishing messages to appropriate topics.

Has three different views for different functions:

Main menu

Command	Publishes to topic	Published value	Description
1	/autonomous_exploration	"1"	Starts the autonomous exploration
2	/autonomous_exploration	"2"	Stops the autonomous exploration
3	N/A	N/A	Changes view to QR code menu
4	N/A	N/A	Changes view to manual control menu
CTRL+C	N/A	N/A	Quits the program

QR code menu

Command	Publishes to topic	Published value	Description
1-9	/qr_navigator	QRCode(...)	Navigates to QR code with given ID
0	/autonomous_exploration	"2"	Stops the autonomous exploration
m	N/A	N/A	Return to main menu
CTRL+C	N/A	N/A	Quits the program

Manual control menu

Command	Publishes to topic	Published value	Description
w	/cmd_vel	Twist(...)	Increase linear velocity (move forward)
x	/cmd_vel	Twist(...)	Decrease linear velocity (move backward)
a	/cmd_vel	Twist(...)	Increase angular velocity (turn left)
w	/cmd_vel	Twist(...)	Increase angular velocity (turn right)
space key, s	/cmd_vel	Twist(...)	Stop all movement
m	N/A	N/A	Return to main menu
CTRL+C	N/A	N/A	Quits the program

Dependencies

• rclpy
• geometry_msgs
• interfaces

Topics

Publish/Subscribe	Topic	Type	Description
Subscribe	/qr_code_list	interfaces/msg/QRCodeList	Updates internal QR code list when a new list is published to this topic
Subscribe	/log	std_msgs/msg/String	Prints the data that is published here
Publish	/autonomous_exploration	std_msgs/msg/String	Publishes the commands for the exploration node
Publish	/cmd_vel	geometry_msgs/msg/Twist	Publishes the movement when using manual control

Usage

ros2 run ros2mapper_io_node control