Robot Gateways

This repository contains the base implementation to build drivers and gateways for robots.

Dependencies:

This service does not depend on any other service.

Events:

⇒ Triggered By	Triggers ⇒	Description
📨 topic: RobotGateway.{id}.SetConfig 💎 schema: RobotConfig	📨 topic: {request.reply_to} 💎 schema: Empty	Configure robot parameters, like current speed.
📨 topic: RobotGateway.{id}.GetConfig 💎 schema: Empty	📨 topic: {request.reply_to} 💎 schema: RobotConfig	Get the current robot configuration.
🕔 interval: {config.sampling_rate}	📨 topic: RobotGateway.{id}.SonarScan 💎 schema: RangeScan	Periodically publishes the readings from the robot sonars.

Configuration:

The behavior of the service can be customized by passing a JSON configuration file as the first argument, e.g: ./service config.json. The schema and documentation for this file can be found in src/is/robot-gateway/conf/options.proto. An example configuration file can be found in etc/conf/options.json.

Examples:

Examples on how to configure the robot speed and read sensors are provided in examples/ directory.