robot_state_controller/robot_state_controller.doctor.toml at ros2 · iscumd/robot_state_controller · GitHub

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#ROS package you are documenting
package_name = "robot_state_controller"
repo = "https://github.com/iscumd/robot_state_controller"

#You can have multiple nodes in one package
[[nodes]]
node_name = 'robot_state_controller'
#Relitive to this file
source_file = ['./src/robot_state_controller.cpp']
summary = '''
Encpasulates the current operating state of the robot. These are states like: ACTIVE, KILLED, PAUSED ect. These can be
modified by a service, and consumed via a publisher.
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/robot/state'
description = 'The current state of the robot, published on a set interval (currently 100hz)'

[[nodes.publishes]]
name = '/robot/set_state'
description = 'A service that sets the robots internal state to the passed state. Note that this node will do nothing but republish this state for other nodes.'

[[nodes]]
node_name = 'drive_mode_switch'
#Relitive to this file
source_file = ['./src/drive_mode_switch.cpp']
summary = '''
Switches over a stream of autonomous drive commands and teleop drive commands, selecting the one matching the current robots state.
It is expected that a joystick provides the telop source, and thus a button is configured that will swap the robot from autonomous
to telop operation when pressed.
This node is aware of robot state, and will stop forwarding either stream if the robot is not in the ACTIVE state.

This node will boot in ACTIVE and TELEOP (configurable).
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/robot/cmd_vel'
description = 'Control messages from whichever stream is currently selected.'

[[nodes.publishes]]
name = '/robot/ack_vel'
description = 'Control messages from whichever stream is currently selected (AckermannDrive version).'

[[nodes.publishes]]
name = '/robot/drive_mode'
description = 'Current drive mode of the system. AUTONOMOUS or TELEOP.'

[[nodes.subscribes]]
name = '/robot/state'
description = 'Current robot state. Will stop publishing /robot/cmd_vel when not ACTIVE.'

[[nodes.subscribes]]
name = '/joy'
description = 'Joy topic to listen for drive mode switch button.'

[[nodes.subscribes]]
name = '/nav_vel'
description = 'Twist commands from the autonomous system. This will be fowarded to /robot/cmd_vel if the drive mode is AUTONOMOUS'

[[nodes.subscribes]]
name = '/nav_ack_vel'
description = 'AckermannDrive commands from the autonomous system. This will be fowarded to /robot/ack_vel if the drive mode is AUTONOMOUS'

[[nodes.subscribes]]
name = '/cmd_vel'
description = 'Twist commands from the teleop source. This will be fowarded to /robot/cmd_vel if the drive mode is TELEOP'

[[nodes.subscribes]]
name = '/ack_vel'
description = 'AckermannDrive commands from the teleop source. This will be fowarded to /robot/ack_vel if the drive mode is TELEOP'

[[nodes.param]]
name = 'switch_button'
description = 'Joy button that will cause the drive mode to switch. Default 8'

[[nodes.param]]
name = 'init_value'
description = 'Selects the default drive mode state of the node. Default "teleop", options: ["teleop", "auton"]'

[[nodes]]
node_name = 'inital_point_publisher'
#Relitive to this file
source_file = ['./src/inital_point_publisher.cpp']
summary = '''
Publishes the inital pose of the robot in a map when entering auton for the first time. This is intended to be used with
the rest of the robot_state_controller utilities and something like nav2.

Semantically, this node will transform pose (0,0,0) in the robot frame into the map frame, then publish.
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/initalpose'
description = 'Topic on which the inital pose will be published'

[[nodes.subscribes]]
name = '/robot/drive_mode'
description = 'Drive mode to query. Will publish inital pose the first time this switches to AUTONOMOUS.'

[[nodes.param]]
name = 'robot_frame'
description = 'Frame of the robot. default base_footprint'

[[nodes.param]]
name = 'map_frame'
description = 'Frame of the map to transform into. default map'