Overview
The Python command-line client is a demonstrator client that provides a more-or-less minimal example of how to talk to MIRO's ROS interface from Python code, which may be a good starting point for your own client. It listens to several streams, and publishes a simple drive pattern in return. You may like to review the code for the Python GUI Client to learn more about the broader set of signal streams that are available on the interface, and how to listen to or drive them.
Usage
To launch the client, proceed as follows.
What is it doing?
The client listens to the platform/sensors message, and sends back a platform/control message on receipt. That is, it treats MIRO as a straightforward robot platform. The pattern it sends has four phases:
- Turn left at π/2 Rad/sec for two seconds (total movement 180 degrees).
- Drive forward at 200 mm/sec for two seconds (total movement 400mm).
- Turn right at π/2 Rad/sec for two seconds (total movement 180 degrees).
- Drive forward at 200 mm/sec for two seconds (total movement 400mm).
Thus, MIRO will parade back and forth across the floor, staying—more or less—in the same place.
Moving on
For a fuller understanding of the interface offered by MIRO, next try the Python GUI Client. Or, to try a client in a compiled language, try the C++ Command-line Client.
