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navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A path planner library and node.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: David Lu!!
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A path planner library and node.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: David Lu!!
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A path planner library and node.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: David Lu!!
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A path planner library and node.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: David Lu!!
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)

Overview

This package provides an implementation of a fast, interpolated global planner for navigation. This class adheres to the nav_core::BaseGlobalPlanner interface specified in the nav_core package. It was built as a more flexible replacement to navfn, which in turn is based on NF1.

Examples of Different Parameterizations

Standard Behavior

All parameters default. GlobalPlanner.png

Grid Path

use_grid_path=True GridPath.png Path follows the grid boundaries.

Simple Potential Calculation

use_quadratic=False Nonquad.png Slightly different calculation for the potential. Note that the original potential calculation from navfn is a quadratic approximation. Of what, the maintainer of this package has no idea.

A* Path

use_dijkstra=False AStar.png Note that a lot less of the potential has been calculated (indicated by the colored areas). This is indeed faster than using Dijkstra's, but has the effect of not necessarily producing the same paths. Another thing to note is that in this implementation of A*, the potentials are computed using 4-connected grid squares, while the path found by tracing the potential gradient from the goal back to the start uses the same grid in an 8-connected fashion. Thus, the actual path found may not be fully optimal in an 8-connected sense. (Also, no visited-state set is tracked while computing potentials, as in a more typical A* implementation, because such is unnecessary for 4-connected grids). To see the differences between the behavior of Dijkstra's and the behavior of A*, consider the following example.

Dijkstra's

Dijkstra.png

A*

AStar2.png

Old Navfn Behavior

old_navfn_behavior=True For reproducing paths just like NavFn did. OldNavFn.png

Note:

Orientation filter

As a post-processing step, an orientation can be added to the points on the path. With use of the ~orientation_mode parameter (dynamic reconfigure), the following orientation modes can be set:

The orientation of point i is calculated using the positions of i - orientation_window_size and `i + orientation_window_size`. The window size can be altered to smoothen the orientation calculation.

ROS API

Published Topics

~<name>/plan (nav_msgs/Path)

Parameters

~<name>/allow_unknown (bool, default: true) ~<name>/default_tolerance (double, default: 0.0) ~<name>/visualize_potential (bool, default: false) ~<name>/use_dijkstra (bool, default: true) ~<name>/use_quadratic (bool, default: true) ~<name>/use_grid_path (bool, default: false) ~<name>/old_navfn_behavior (bool, default: false) ~<name>/lethal_cost (int, default: 253) ~<name>/neutral_cost (int, default: 50) ~<name>/cost_factor (double, default: 3.) ~<name>/publish_potential (bool, default: True) ~<name>/orientation_mode (int, default: 0) ~<name>/orientation_window_size (int, default: 1)


2019-07-13 12:40