Hey Guys I just finished my first ROS-Tutorial and now I have a basic Question about Publisher/Actions/Services. I have the following Example in Mind:
Imagine I I have a System consisting of: a Robot, a Joystick and a Station. The goal is, that when a button on the joystick is pressed, The robot should drive to the Station. I am not quiet sure where to use which concept. My idea would be:
joystick_node [Publisher + Service Client]: It would publish the inputs and when a certain button is pressed, start the Station Detection Service.
station_detection_node [Subscriber + Service Server + Action Client]: Is a service that starts, when the button ist pressed. Needs to Subscribe to the sensor data, to be able to detect the station. And starts the go-to-Station Action, when its done.
go_to_Station_Node**[Action Server, Subscriber]**: Starts only when station_detection is done. And subscribes to the localiztation data.
What do you think about this? So far I only have seen Nodes to be Subscriber or Publisher or Client or Server. But my Station Detection would be Subscriber, Service Server and Action Client. Is that even possible? Are there more typical Ros-Ways?