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Only released in EOL distros:  

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

ROS Nodes

This package contains ROS nodes for navigating the ART autonomous vehicle.

commander

Global path planning for the ART vehicle.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)

Parameters

Initial Parameters
~frame_id (string, default: "/map") ~mdf (string, default: "") ~mission_state (string, default: "") ~rndf (string, default: "")

Examples

Run the ART commander, sending navigator/cmd messages.

  rosrun art_nav commander _rndf:=road_map.rndf _mdf:=mission_ckpts.mdf

Local path control for the ART vehicle.

Subscribed Topics

navigator/cmd (art_msgs/NavigatorCommand)

Published Topics

navigator/state (art_msgs/NavigatorState) pilot/cmd (art_msgs/CommandCar)

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~blockage_timeout_secs (double, default: 9.0) ~close_stopping_distance (double, default: 15.3) ~desired_following_time (double, default: 5.0) ~heading_change_ratio (double, default: 0.75) ~initialize_distance (double, default: 10.0) ~initialize_min_angle (double, default: 0.785398163397) ~lane_change_secs (double, default: 2.0) ~lane_width_ratio (double, default: 0.3) ~lookahead_distance (double, default: 100.0) ~lost_speed (double, default: 2.0) ~max_creep_distance (double, default: 4.8) ~max_deceleration (double, default: 0.4) ~max_speed (double, default: 15.0) ~max_speed_for_sharp (double, default: 3.0) ~max_yaw_rate (double, default: 0.15) ~min_approach_speed (double, default: 2.0) ~min_curve_length (double, default: 1.5) ~min_following_time (double, default: 3.0) ~min_lane_steer_dist (double, default: 7.0) ~min_speed_for_curves (double, default: 3.0) ~min_stop_distance (double, default: 5.0) ~offensive_driving (bool, default: False) ~passing_delay (double, default: 5.0) ~precedence_delay (double, default: 10.0) ~real_max_yaw_rate (double, default: 0.9) ~roadblock_delay (double, default: 5.0) ~spot_waypoint_radius (double, default: 0.5) ~spring_lookahead (double, default: 0.0) ~stop_approach_speed (double, default: 3.0) ~stop_creep_speed (double, default: 1.0) ~stop_deceleration (double, default: 2.0) ~stop_distance (double, default: 2.0) ~stop_latency (double, default: 0.0) ~stop_line_delay (double, default: 1.0) ~turning_heading_tune (double, default: 0.5) ~turning_int_tune (double, default: 1.25) ~turning_latency (double, default: 1.0) ~turning_offset_tune (double, default: 0.5) ~uturn_speed (double, default: 2.0) ~uturn_stop_heading (double, default: 0.785398163397) ~uturn_threshold (double, default: 1.0) ~uturn_yaw_rate (double, default: 1.5) ~zone_waypoint_radius (double, default: 1.0)

Examples

Run the ART navigator, accepting navigator/cmd messages.

  rosrun art_nav navigator

estop

Graphical client for navigator E-stop control.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)

Examples

Run GUI for sending Run and Pause orders to the navigator.

  rosrun art_nav estop.py


2019-10-12 12:26