Other function description

Before we get into it, let me explain what will help you understand the behind the scenes once you know it.

  • IMU : Rotation angle value output from inertial sensor

  • Angle : Output the angle value of robot heading using robot coordinates and inertial sensor data


  • Map File : Designate the file name of the map to be saved, save location is <.ros> in the home

  • WP File : Edit route point storage file name

  • Cycle : number of scheduling repetitions


  • MR Status : Output of the current operating status of the robot

  • FR : front safety laser detection area selection number

  • RR : rear safety laser detection area selection number

  • F-WF : Front safety area detection operation status

  • R-WF : Rear safety area detection operation status

  • Pump : Pump operation status

  • Sol : Solenoid valve operation status

  • UVCE : Operating state of the ultraviolet lamp at the end of the robot

  • UVCB : Operating state of the UV lamp at the bottom of the robot

  • SCRUB : scrubber operation status

  • GL : Green laser operation status

  • RL : Red laser operation status


  • Charg. : Automatic charger parking status output

  • Navi : Indicates robot autonomous driving status (Blue, Green, Red)

  • Estop: emergency stop state (Red)


  • Message Box : Outputs various messages related to robot operation, driving, and control


  • Log file storage location : /home/zetabank/catkin_ws/src/robot_control_gui/log