Welcome to final_assignment’s documentation!

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UI Module

This code is the core of the program. We need the user to choose one of the modality, so we have to active one while the others are waiting.

scripts.UI.switch()

This function will start the different modalities depending on what the user decides to choose. The variable boolprint is used to wait in the first modality the end of the task. The input is got with the function input(). This is the core of the program because it gives the user the possibility to choose the modality.

it is important to say that the code manages the possibility of the first modality to cancel the goal to be reached.

Parameters

none. –

Modality1 Module

Subscribes to:

none

Publishes to:

none

This node is needed to the first modality of the program. The node makes the robot autonomously reach a x,y position inserted by the user on the UI interface. It uses actionlib, which permits to us to make the code simplier and better. It is really important to say that we have three parameters that we get from the UI:

• active which is the variable determinating the status of the modality, if it’s on or not.

• desired_position_x which communicates the desired x position.

• desired_position_y which communicates the desired y position.

scripts.modality1.ActionClient()

Function to define the ActionClient and create the action.

Parameters

none. –

scripts.modality1.UpdatingVariables()

Function to update the variables:

• active

• desired_position_x

• desired_position_y

Parameters

none. –

scripts.modality1.done_cb(status, result)

Function to define the functionalities of the action, like advising the user of the goal received and other useful messages. We want the action to do the following dues:

• Advising the user Advising the user that the goal was cancelled.

• Advising the user that the goal was achieved.

• Advising the user that the goal was aborted because the timer expired.

• Advising the user that the goal was not accepted.

Parameters

none –

Returns

none

scripts.modality1.main()

Function to start all the features. The function if active is toggled or not it will do different tasks, it will wait when it is 0 and it will check the situation of the robot and the task, obviously it is all helped by the action.

Parameters

none. –

Modality2 Module

This code is just the already existing teleop_twist_keyboard package on ROS. Some of the code has been modified in order to incorporate the script with the final_assignment package. Some code won’t be commented as gar as you can check the ROS wiki package of it by googling it. Anyway, here’s the link for getting deeper in the code: http://wiki.ros.org/teleop_twist_keyboard

class scripts.modality2.PublishThread(rate)

robot_stop()

Function to stop the robot.

Parameters

self –

run()

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

scripts.modality2.getKey(key_timeout)

Function to get the input from the keyboard without having the need to wait for the user to press enter.

Parameters

key_timeout –

Returns

the key.

scripts.modality2.main()

The main here is really important because as the different input arrives it changes the key moving the robots. As the other two modalities, we have again active which permits the user to use the modality as he wants.

Modality3 Module

This code is just the already existing teleop_twist_keyboard package on ROS. Some of the code has been modified in order to incorporate the script with the final_assignment package. Some code won’t be commented as gar as you can check the ROS wiki package of it by googling it. Anyway, here’s the link for getting deeper in the code: http://wiki.ros.org/teleop_twist_keyboard The dictionary moveBindings will have some features popped out because when the robot is close to the walls. This permits to the user to avoid colliding with the walls.

scripts.modality3.CallbackLaser(msg)

Function to check if some wall is close to the robot.

Parameters

robot (message from the odometry of the) –

class scripts.modality3.PublishThread(rate)

run()

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

scripts.modality3.getKey(key_timeout)

Function to get the input from the keyboard without having the need to wait for the user to press enter.

Parameters

key_timeout –

Returns

the k

scripts.modality3.main()

The main here is really important because as the different input arrives it changes the key moving the robots. As the other two modalities, we have again active which permits the user to use the modality as he wants. As you could see, the modality 1 and the modality 2 are pretty equal, but here’s the difference, when the robot is close to a wall, we pop the keys in the dictionary permitting the robot to move towards the robot.

scripts.modality3.pop_it(dictionary)

Function to pop the key from the dictionary. As you can see it’s pretty intuitive, because depending by the position of the wall we pop some precise keys.

Parameters

dictionary –