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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dorezyuk/gpp.git
VCS Type git
VCS Version master
Last Updated 2021-02-18
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gpp_update_map plugin will update the map before running the global planner

Additional Links

No additional links.

Maintainers

  • Dima Dorezyuk

Authors

No additional authors.

GppUpdateMap

This package will update the map as a pre-planning action. This allows you to implement "lazy" map-updates - re-rendering your global-costmap only when its required (before your planning).

Behavior

This simple plugin only fails, if its preProcess function has been called before initializing it with a valid costmap_2d::Costmap2DROS.

Config

The package does not require any configuration. In order to activate it, add following into your GppPlugin-config:


# the gpp-plugin definition in your move-base-flex
planners:
    -{ name: gpp, type: gpp_plugin::GppPlugin }

gpp:
    pre_planning:
        - {name: gpp_update_map, type: gpp_update_map::GppUpdateMap, on_failure_break: false}
    pre_planning_default_value: true
    # ... now continue with your planning and post_planning definitions

# since we are always updating the costmap before plannig we may reduce the global-costmap update-frequency. You cannot set the update-frequency to zero however, until https://github.com/ros-planning/navigation/pull/1072 is released.
global_costmap:
    update_frequency: 0.5

CHANGELOG

Changelog for package gpp_update_map

0.0.1 (2021-01-27)

  • update documentation
  • add gpp_update_map
  • add gpp_prune_path example
  • formatting
  • update docs
  • disable spam in the test
  • Contributors: Dima Dorezyuk

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged gpp_update_map at answers.ros.org

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