mirte_lc_labclean.test_node module

Simple ROS2 test node for Mirte sensor-driven base control.

This module defines a basic test controller that subscribes to front range sensors and publishes Twist commands for simple motion behavior.

class mirte_lc_labclean.test_node.MirteTestController

Bases: rclpy.node.Node

ROS2 node for testing Mirte base control via range sensors.

controller_callback()

Compute and publish wheel commands from front range sensors.

left_sensor_callback(msg: sensor_msgs.msg._range.Range)

Update the left range measurement from the sensor.

Args:

msg (sensor_msgs.msg.Range): The left distance measurement.

right_sensor_callback(msg: sensor_msgs.msg._range.Range)

Update the right range measurement from the sensor.

Args:

msg (sensor_msgs.msg.Range): The right distance measurement.

mirte_lc_labclean.test_node.main(args=None)

Initialize and run the Mirte test controller node.

Args:

args (list, optional): Arguments forwarded to rclpy.init().