Package Summary

Tags No category tags.
Version 0.3.5
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version led_study_kinetic
Last Updated 2018-12-14
CI status No Continuous Integration
Package Tags No category tags.

Package Description

High-level navigation application used by robots of the Building-Wide Intelligence project at UT Austin for approaching doors and going through them. This package also provides tools to determine the robot's logical location, and sense when a door in front of it is open or not.

Additional Links


  • Piyush Khandelwal
  • Jack O'Quin


  • Piyush Khandelwal
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Changelog for package bwi_logical_translator


  • Moved package to bwi_common, changing name to bwi_logical_translator (#33).

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

  • Updated approachObject observations to update facing and beside fluents.
  • segbot_logical_translator: fix broken add_dependency() (#61)
  • improved door sensing behavior. switched from navfn to global_planner
  • refined door open check behavior to also disable static costmap.
  • changed gothrough action to disable static map while executing navigation.
  • bug fixes to new floor location resolution functionality.
  • added functionality for resolving a change floor request, allowing robot teleportation.
  • Contributors: FernandezR, Jack O\'Quin, Piyush Khandelwal

0.3.3 (2015-08-05)

  • merge segbot_apps packages into segbot (#46)
  • Contributors: Jack O\'Quin

0.3.1 (2015-03-31)

  • Closes #29 - Get latest version of move_base to get fix introduced in This allows setting tolerance to 0 when calling make_plan from segbot_logical_translator.

    • Don\'t use any tolerance when testing whether a door was open or not.
    • Don\'t clear costmap around robot when testing for an open door.
  • fixed issue where the logical translator was returning beside and facing for two different doors. closes #30.

  • segbot_logical_navigator now checks for costmap updates to test whether the map has changed between door/no-door versions. closes #28

  • removed segbot_gazebo dependency. closes #27.

  • Contributors: Piyush Khandelwal

0.3.0 (2015-03-24)

  • completed migration of LogicalNavigationAction to bwi_msgs in bwi_common repository.
  • fixed bug in segbot_logical_translator where it would try and analyze facing/beside for doors not connected to the current location.
  • modified the segbot_logical_navigator to use action service instead of services.
  • read map file and data directory using multimap
  • some navigation changes for more robust navigation.
  • use correct approachable area for objects and doors.
  • added multimap support.
  • making the logical navigator advertise execute_logical_goal after the first pose has been received (github issue #18)
  • turning annoying prints into ROS_INFOs and removing more annoying ones.
  • Made the door checker test for the door to be open 3 times before going through. Works much better. Removed recovery behavior.
  • Contributors: Matteo Leonetti, Piyush Khandelwal

0.2.1 (2014-04-22)

0.2.0 (2014-04-19)

  • now actually read in object approach file
  • added the ability to approach an object, as well as added the ability to approach a door from any accessible location
  • now catkin_lint approved
  • better error checking, shared global nodehandle, added ability to sense whether a door is open or not
  • moved the cost estimator to the bwi_planning package
  • moved gazebo stuff to separate simulated app
  • Contributors: Jack O\'Quin, Piyush Khandelwal, piyushk

0.1.5 (2013-09-03)

0.1.4 (2013-08-12)

0.1.3 (2013-07-16)

0.1.2 (2013-07-13)

0.1.1 (2013-07-10)

0.1.0 (2013-06-28)

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