Custom nodes - FontysAtWork/ESA-PROJ GitHub Wiki

Our strategy is to use as many ROS standard nodes as possible (for portability and existing community). However for some problems we need to write custom nodes. This chapter describes the different custom nodes written.

Keep-out map server

This node is used to draw an nogo-zone costmap from the GUI. This can be used before the actual match to signal the robot that some areas are off limits. See the Keep-out map server page for more information.

Panic node

This node is used to create a software based emergency stop. The GUI can use this node to send a stop signal to the node which interrupts commands send to the robot base. See the Panic node page for more information.