ROS Integration

what is this node?

-The purpose of this node is to integrate the CosPhi localization module into the ROS environment -The node will listen to the TCP Socket 6666 -which used by the CosPhi- to publish the result of the localization and parse it then publish ROS topic for each robot with Pose2D standard geometry msgs

Setup and Running :

1. add the folder CosPhi_ros_bridge to "catkin_ws/src" or your workspace/src 2)run $catkin_make to consider the new files 3)run the main program as illustrated in the main tutorial of CosPhi 4)run the roscore node by using command $roscore 4)run the bridge by using command
   $rosrun CosPhi_ros_bridge CosPhi_ros_bridge_node.py 5)type $rostopic list you will find a topic for each robot detected

Test the output :

To see the output run this command $rostopic echo /cosphi_ros_bridge/robotXXX where XXX is the robot ID

now let each robot subscribe for it's position t of the node on the topic

you can listen to the old output on this topic $rostopic echo /cosphi_ros_bridge/poses

error and solution :

if this error appears just try to run the node again

"Traceback (most recent call last): File "/home/gemad/catkin_ws/src/cosphi_ros_bridge/scripts/cosphi_ros_bridge_node.py", line 49, in main()
File "/home/gemad/catkin_ws/src/cosphi_ros_bridge/scripts/cosphi_ros_bridge_node.py", line 32, in main X = float(Array_All[2]) ValueError: could not convert string to float: of "