[Documentation] [TitleIndex] [WordIndex

Package Summary

The nj_oa_costmap package is a navigating jockey for the Large Maps framework. Its role is to drive the robot forward while avoiding obstacles. It uses a local map which position is relative to the robot but which orientation is constant.

The nj_oa_costmap package implements a navigating jockey for the Large Maps Framework (LaMa) that drives the robot while avoiding obstacles. It is based on a local map (nav_msgs/OccupancyGrid). The local map has a fixed position relative to the robot but its orientation is constant in the world reference frame. It is a reactive, memory-less jockey.

Implemented action:

Moreover, the package provides the class TwistHandler that computes an appropriate geometry_msgs/Twist from a nav_msgs/OccupancyGrid in order to go as forward as possible while avoiding obstacles.

Usage

ROS API

Subscribed Topics

~<name>/local_map (nav_msgs/OccupancyGrid)

Published Topics

~<name>/cmd_vel (geometry_msgs/Twist)

Parameters

~<name>/robot_radius (Float) ~<name>/min_distance (Float, default: 2 * robot_radius) ~<name>/long_distance (Float, default: 5 * robot_radius) ~<name>/turnrate_collide (Float, default: 0.4) ~<name>/max_vel (Float, default: 1.0) ~<name>/vel_close_obstacle (Float, default: 0.5) ~<name>/turnrate_factor (Float, default: 0.9) ~<name>/laser_frame (String, default: "base_laser_link") ~<name>/navigating_jockey_server_name (String, default: node_name + "_server")


2019-07-13 12:55