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nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: developed
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: hydro)
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: maintained
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: indigo)
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: maintained
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: jade)
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: maintained
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: kinetic)
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: maintained
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: lunar)
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

This package provides a node for higher level navigation of a mobile robot in a planar environment. It needs a map and the robot's position within this map to create a plan for navigation. When used together with a SLAM module it can also be used to perform autonomous exploration of the robot's workspace.

  • Maintainer status: maintained
  • Maintainer: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • Author: Sebastian Kasperski <sebastian.kasperski AT dfki DOT de>
  • License: GPLv3
  • Source: git https://github.com/skasperski/navigation_2d.git (branch: melodic)

General usage

The navigator is a ROS node that implements a path planner for navigation and is supposed to be used in conjunction with the 'operator' node. Beside this, the whole functionality is provided by the RobotNavigator class, which is exported by this package and can be used from within other nodes as well.

Interaction with the Navigator is implemented using the actionlib interface. This allows other nodes (e.g. some high level mission control) to start actions like goal navigation or exploration, monitor the progress and eventually cancel an action in progress. The following four actions are available:

Example

See the Navigator Tutorial for an example how to setup the Navigator in Stage with a given map of the environment.

ROS Interface

The navigator takes a map and the robot's position in this map to generate a path to a goal point and send motion commands to the operator.

Subscribed Topics

scan (sensor_msgs/LaserScan) tf (tf/tfMessage)

Published Topics

cmd (nav2d_operator/cmd) ~plan (nav_msgs/GridCells) ~markers (visualization_msgs/Marker)

Parameters

robot_id (int, default: 1) map_frame (string, default: "map") robot_frame (string, default: "robot") map_service (string, default: "get_map") ~robot_radius (double, default: 0.3) ~map_inflation_radius (double, default: 1.0) ~navigation_goal_distance (double, default: 1.0) ~navigation_goal_angle (double, default: 1.0) ~navigation_homing_distance (double, default: 3.0) ~exploration_strategy (string, default: "NearestFrontierPlanner") ~exploration_goal_distance (double, default: 3.0) ~min_replanning_period (double, default: 3.0) ~max_replanning_period (double, default: 1.0)

set_goal_client

Send a goal to the navigator via action interface.

Subscribed Topics

goal (geometry_msgs/PoseStamped)

get_map_client

Initialize mapping (drive forward and turn) via action interface.

Services

StartMapping (nav2d_navigator/SendCommand)

explore_client

Start exploration via action interface.

Services

StartExploration (nav2d_navigator/SendCommand)


2019-07-20 12:57