SPath_Control¶

SPath_Control receives s-Spline-parameter lists, calculates the correct output twist message of the rover and controls the actual pose and twist for a precise spline movement.

It contains following tasks: - S_Calculator: calculates the current sPath depending on the real rover position and sPath-Splines. - SplineHandler: handles incoming sPath-Splines and merges correctly into the SplineToOutput block. - SplineToOutput: Given to the sPath-Spline the correct output values are calculated. - PoseControl: Controls the Pose, if an error exists between real and should values. - TF_Twist_global_to_local: Transforms the Twist from TCP frame (in global view) to rover frame (local view).

The local rover twist is sent to the rover node.

System overview¶

sPath-Planner is a OFA-module to build up a OFA-rover. To use the module a minimal setup must built up: - Rover node: EEROS-Module, which chontrols hardware (wheel modules, remote control, ...). It accepts the Twist message for the rover frame. - TF2 tree: There must be a defintion from "global" frame to the "roverRef" frame and from "roverRef" to the "TCP" frame. - Pose Estimation: ROS2 OFA module, which calcualtes the accurate pose of the "TCP" frame

sPath-Planner¶

It's devided in two parts. 1. spath_control: receives sPath-Splines and controls the correct movement at rover. 2. spath_drive_to_pose: It creates a connection to spath_control and allows to send spline parameter from any other ROS2 node.

Maintained by: OST - Eastern Switzerland University of Applied Sciences and BFH - Bern University of Applied Sciences