ABU_Nav

ABU R0b0c0n 2O24 navigator node. Using 3 VL53L1X ToF sensors.

Dependencies

• geometry_msgs
• rclcpp
• std_msgs
• mecanum_controller

Hardware requirement

• Linux based PC with GPIO control
• x3 VL53L1X ToF sensor
• mecanum_controller compatible odom

Sub

• /teammode (std_msgs/msg/String)

Pub

• /cmd_vel (geometry_msgs/msg/Twist)
• /abu_nav_stat (std_msgs/msg/String)

Example test

ros2 topic pub --once /teammode std_msgs/msg/String 'data: Red,Start'

ros2 topic pub --once /teammode std_msgs/msg/String 'data: Blue,RETRY'

ros2 topic pub --once /teammode std_msgs/msg/String 'data: stop,stop'

Status publish

on topic /abu_nav_stat will publish the string DONE when the robot reached the area 3. This will be used to trigger the Area 3 node to start the ball mission.