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Only released in EOL distros:  

youbot_overhead_cameras: youbot_overhead_localization | youbot_overhead_vision

Package Summary

A package containing localization software for use with the Kuka youBot in a room with two overhead cameras.

Nodes

path_planner

path_planner implements an actionlib server to plan paths for the robot base. The paths are planned by constructing a costmap with costmap2d and using the A* algorithm in navfn. Once a path is planned, it will be followed until the goal is reached, or until a new goal is given.

Subscribed Topics

/base_localizer/pose_2d (youbot_overhead_localization/Pose2d) /map (nav_msgs/OccupancyGrid)

Published Topics

/cmd_vel (geometry_msgs/Twist) /base_localizer/cost (actionlib_msgs/CostmapCost)

Services

/path_planner/get_cost (youbot_overhead_localization/GetCost)

Parameters

/path_planner/runFromSimulation (boolean)

base_localizer

base_localizer localizes the robot base using odometry and the overhead camera information acquired from the 'youbot_overhead_vision' package.

Subscribed Topics

/image_calibration/position_from_camera (youbot_overhead_vision/PositionFromCamera) /odom (nav_msgs/Odometry)

Published Topics

/base_localizer/pose_2d (youbot_overhead_localization/Pose2d)

planner_map_server

planner_map_server is a modification of the map_server node written by Brian Gerkey from the ROS navigation stack to work with dynamic overhead maps.

Subscribed Topics

/image_calibration/image_cal (sensor_msgs/Image)

Published Topics

/map (nav_msgs/OccupancyGrid) /map_metadata (nav_msgs/MapMetaData)

Services

/static_map (nav_msgs/GetMap)

Parameters

/planner_map_server/map_file_yaml ('string') /planner_map_server/map_save_debug_location ('string')

key_nav_safety

key_nav_safety bounds the speed of the robot when it is close to obstacles to ensure the robot does not get damaged.

Subscribed Topics

/base_localizer/cost (youbot_overhead_localization/CostmapCost) /base_localizer/pose_2d (youbot_overhead_localization/Pose2d) /key_nav_safety/vel (geometry_msgs/Twist)

Published Topics

/cmd_vel (geometry_msgs/Twist)

Parameters

/path_planner/moveCommandTopic (string)

path_planner_client

path_planner_client Allows for the testing of path planning by creating an updateGoal service which can circumvent the need for creating an actionlib client

Services

/update_goal (youbot_overhead_localization/SetGoal)

Startup

The youbot_overhead_localization package should be launched at the same time as the 'youbot_overhead_vision' package with the use of the 'path_planner.launch' or the 'path_planner_sim.launch" launch files depending on whether the camera streams are real or simulated. However, the node can be run on its own by using one of the following commands:

   1 rosmake youbot_overhead_localization
   2 roslaunch youbot_overhead_localization youbot_overhead_localization.launch

or

   1 rosmake youbot_overhead_localization
   2 roslaunch youbot_overhead_localization youbot_overhead_localization_sim.launch

The path planning itself normally requires a node to create an actionlib client to set path goals, but this can be avoided for testing purposes by launching the 'path_planner_client' node with the following command:

   1 rosrun youbot_overhead_localization path_planner_client

This will create the /update_goal service, which can be called to set goals for the path planner.


2019-07-13 13:21