ros_node.md

Wire-Bot

Manages the control of the robot.

Functionality

• Monitors sensor inputs to determine bird presence
• Sets target speed, including calling a speed PID control service
• Engages deterrents

Messages

In

• activation: to set the state from IDLE to PATROL_FWD if true, otherwise set to IDLE
• /distance/front: distance to objects in the front in cm

Out

• target_speed: target speed of the robot in meters per second
• led_cmd: number of flashes for the led to blink

Services

Service Proxy

• speed_control: creates service request for a target speed after PID control

distance-estimator

Estimates the distance to both the front and the back

Functionality

• Receives sensor data from all four distance sensor
• Returns distance after sensor fusion

Messages

In

• /rangefinder/fore/MB: distance from the front ultrasonic rangefinder
• /rangefinder/aft/MB: distance from the back ultrasonic rangefinder
• /rangefinder/fore/TF: distance from the front TF rangefinder
• /rangefinder/aft/TF: distance from the back TF rangefinder

Out

• /distance/fore: distance to the front
• /distance/aft: distance to the back

speed_controller

Manages the PID control of speed

Functionality

• Receives target speed and current speed
• Implements PID control and calculates a new target speed

Services

Service

• speed_control: provides PID control service to control the motor speed