On Mon, Jun 14, 2010 at 6:06 AM, Roderick de Nijs
<
rsdenijs@lsr.ei.tum.de> wrote:
> I wanted to know what mechanisms you use to switch from one behaviour to
> another. For instance, an autonomous robot may want to stop the
> exploration behaviour(a node that sends goals to move_base) when certain
> conditions are met, like some feature detected in the environment.
> Later on, we might want to continue running the exploration.
>
> Essentially I want to decide which node runs at each moment. What are
> the options for implementing such behaviour-switching abilities?
hi Roderick,
Most ROS nodes are written in a way that they can run all the time,
but don't make the robot do anything unless they've been specifically
triggered. This is true of move_base, which won't move the robot base
unless it is sent a goal. I recommend following this pattern with
your own nodes; e.g., if you have a node that's doing exploration by
sending goals to move_base, then make sure your exploration node
offers a ROS API that allows you to turn it on and off.
We implement this pattern using actionlib
(
http://www.ros.org/wiki/actionlib), which makes it easy wrap a piece
of functionality with a goal-triggering mechanism.
brian.
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