Package Summary

Tags No category tags.
Version 1.0.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dfki-ric/mir_robot.git
VCS Type git
VCS Version melodic
Last Updated 2020-05-17
Dev Status DEVELOPED
CI status
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn\'t changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)

    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics. - remove Oscillation critic (never helped)

  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.

  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).

  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom_comb]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: odom_comb]
      • base_frame_id [default: base_footprint]
      • global_frame_id [default: /map]
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dfki-ric/mir_robot.git
VCS Type git
VCS Version kinetic
Last Updated 2020-05-17
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn\'t changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)

    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics. - remove Oscillation critic (never helped)

  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.

  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).

  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom_comb]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: odom_comb]
      • base_frame_id [default: base_footprint]
      • global_frame_id [default: /map]
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dfki-ric/mir_robot.git
VCS Type git
VCS Version lunar
Last Updated 2019-05-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: odom_comb]
      • base_frame_id [default: base_footprint]
      • global_frame_id [default: /map]
  • launch/move_base.xml
      • local_planner — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames
  • launch/hector_mapping.launch.xml
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom_comb]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dfki-ric/mir_robot.git
VCS Type git
VCS Version indigo
Last Updated 2019-05-06
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: odom_comb]
      • base_frame_id [default: base_footprint]
      • global_frame_id [default: /map]
  • launch/move_base.xml
      • local_planner — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames
  • launch/hector_mapping.launch.xml
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom_comb]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at answers.ros.org