01. Overview
Overview
Overview
In this lesson, you’ll be learning how to write nodes in C++.
The first node that you will write is called
simple_mover
. The
simple_mover
node does nothing more than publish joint angle commands to
simple_arm
.
Once you understand the general structure of a ROS node, you will write another node called
arm_mover
. The
arm_mover
node provides a service called
safe_move
, which allows the arm to be moved to any position within its workspace that has been deemed safe. The safe zone is bounded by minimum and maximum joint angles, and is configurable via the ROS parameter server.
The last node you’ll write in this lesson is the
look_away
node. This node subscribes to the arm joint positions and a topic where camera data is being published. When the camera detects an image with uniform color, meaning that it’s looking at the sky, and the arm is not moving, the node will call the
safe_move
service via a client to move the arm to a new position.