Package Summary

Tags No category tags.
Version 1.0.3
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 2019-03-21
Dev Status DEVELOPED
Released RELEASED

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

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds \$(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile (#11)
    • added amcl.launch
    • changed amcl params to default mir amcl parameters
  • Merge pull request #13 from niniemann/fix-virtual-walls The previous configuration of the local costmap didn\'t work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. Also, I added a with_virtual_walls parameter to start_maps.launch and start_planner.launch.
  • added with_virtual_walls parameter to start_maps and start_planner
  • reorder local costmap plugins
  • Revert \"mir_navigation: Disable virtual walls if no map file set\" This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132. The reason is that the eval keyword was introduced in kinetic, so it doesn\'t work in indigo.
  • mir_navigation: Update rviz config
  • mir_navigation: Disable virtual walls if no map file set
  • mir_navigation: Rename virtual_walls args + files
  • mir_navigation: Remove parameter first_map_only This parameter must be set to false (the default) when running SLAM (otherwise the map updates won\'t be received), and when running a static map_server it doesn\'t matter; even then, it should be false to allow restarting the map_server with a different map. Therefore this commit removes it altogether and leaves it at the default of \"false\".
  • split parameter files between mapping/planning (#10) The differences are simple: When mapping, first_map_only must be set to false, and the virtual walls plugin must not be loaded (else move_base will wait for a topic that is not going to be published).
  • Document move_base params, add max_planning_retries Setting max_planning_retries to 10 makes the planner fail faster if the planning problem is infeasible. By default, there\'s an infinite number of retries, so we had to wait until the planner_patience ran out (5 s).
  • Update rviz config Make topics relative, so that ROS_NAMESPACE=... works.
  • Switch to binary sbpl_lattice_planner dependency ... instead of compiling from source.
  • Split scan_rep117 topic into two separate topics This fixes the problem that the back laser scanner was ignored in the navigation costmap in Gazebo (probably because in Gazebo, both laser scanners have the exact same timestamp).
  • mir_navigation: Add clear_params to move_base launch
  • mir_navigation: marking + clearing were switched Other than misleading names, this had no effect.
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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/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/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 1.0.3
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 2019-03-21
Dev Status DEVELOPED
Released RELEASED

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

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds \$(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile (#11)
    • added amcl.launch
    • changed amcl params to default mir amcl parameters
  • Merge pull request #13 from niniemann/fix-virtual-walls The previous configuration of the local costmap didn\'t work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. Also, I added a with_virtual_walls parameter to start_maps.launch and start_planner.launch.
  • added with_virtual_walls parameter to start_maps and start_planner
  • reorder local costmap plugins
  • Revert \"mir_navigation: Disable virtual walls if no map file set\" This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132. The reason is that the eval keyword was introduced in kinetic, so it doesn\'t work in indigo.
  • mir_navigation: Update rviz config
  • mir_navigation: Disable virtual walls if no map file set
  • mir_navigation: Rename virtual_walls args + files
  • mir_navigation: Remove parameter first_map_only This parameter must be set to false (the default) when running SLAM (otherwise the map updates won\'t be received), and when running a static map_server it doesn\'t matter; even then, it should be false to allow restarting the map_server with a different map. Therefore this commit removes it altogether and leaves it at the default of \"false\".
  • split parameter files between mapping/planning (#10) The differences are simple: When mapping, first_map_only must be set to false, and the virtual walls plugin must not be loaded (else move_base will wait for a topic that is not going to be published).
  • Document move_base params, add max_planning_retries Setting max_planning_retries to 10 makes the planner fail faster if the planning problem is infeasible. By default, there\'s an infinite number of retries, so we had to wait until the planner_patience ran out (5 s).
  • Update rviz config Make topics relative, so that ROS_NAMESPACE=... works.
  • Switch to binary sbpl_lattice_planner dependency ... instead of compiling from source.
  • Split scan_rep117 topic into two separate topics This fixes the problem that the back laser scanner was ignored in the navigation costmap in Gazebo (probably because in Gazebo, both laser scanners have the exact same timestamp).
  • mir_navigation: Add clear_params to move_base launch
  • mir_navigation: marking + clearing were switched Other than misleading names, this had no effect.
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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/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/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 1.0.3
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 2019-03-21
Dev Status DEVELOPED
Released RELEASED

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

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds \$(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile (#11)
    • added amcl.launch
    • changed amcl params to default mir amcl parameters
  • Merge pull request #13 from niniemann/fix-virtual-walls The previous configuration of the local costmap didn\'t work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. Also, I added a with_virtual_walls parameter to start_maps.launch and start_planner.launch.
  • added with_virtual_walls parameter to start_maps and start_planner
  • reorder local costmap plugins
  • Revert \"mir_navigation: Disable virtual walls if no map file set\" This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132. The reason is that the eval keyword was introduced in kinetic, so it doesn\'t work in indigo.
  • mir_navigation: Update rviz config
  • mir_navigation: Disable virtual walls if no map file set
  • mir_navigation: Rename virtual_walls args + files
  • mir_navigation: Remove parameter first_map_only This parameter must be set to false (the default) when running SLAM (otherwise the map updates won\'t be received), and when running a static map_server it doesn\'t matter; even then, it should be false to allow restarting the map_server with a different map. Therefore this commit removes it altogether and leaves it at the default of \"false\".
  • split parameter files between mapping/planning (#10) The differences are simple: When mapping, first_map_only must be set to false, and the virtual walls plugin must not be loaded (else move_base will wait for a topic that is not going to be published).
  • Document move_base params, add max_planning_retries Setting max_planning_retries to 10 makes the planner fail faster if the planning problem is infeasible. By default, there\'s an infinite number of retries, so we had to wait until the planner_patience ran out (5 s).
  • Update rviz config Make topics relative, so that ROS_NAMESPACE=... works.
  • Switch to binary sbpl_lattice_planner dependency ... instead of compiling from source.
  • Split scan_rep117 topic into two separate topics This fixes the problem that the back laser scanner was ignored in the navigation costmap in Gazebo (probably because in Gazebo, both laser scanners have the exact same timestamp).
  • mir_navigation: Add clear_params to move_base launch
  • mir_navigation: marking + clearing were switched Other than misleading names, this had no effect.
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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/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/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 1.0.3
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 2019-03-21
Dev Status DEVELOPED
Released RELEASED

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

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds \$(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile (#11)
    • added amcl.launch
    • changed amcl params to default mir amcl parameters
  • Merge pull request #13 from niniemann/fix-virtual-walls The previous configuration of the local costmap didn\'t work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. Also, I added a with_virtual_walls parameter to start_maps.launch and start_planner.launch.
  • added with_virtual_walls parameter to start_maps and start_planner
  • reorder local costmap plugins
  • Revert \"mir_navigation: Disable virtual walls if no map file set\" This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132. The reason is that the eval keyword was introduced in kinetic, so it doesn\'t work in indigo.
  • mir_navigation: Update rviz config
  • mir_navigation: Disable virtual walls if no map file set
  • mir_navigation: Rename virtual_walls args + files
  • mir_navigation: Remove parameter first_map_only This parameter must be set to false (the default) when running SLAM (otherwise the map updates won\'t be received), and when running a static map_server it doesn\'t matter; even then, it should be false to allow restarting the map_server with a different map. Therefore this commit removes it altogether and leaves it at the default of \"false\".
  • split parameter files between mapping/planning (#10) The differences are simple: When mapping, first_map_only must be set to false, and the virtual walls plugin must not be loaded (else move_base will wait for a topic that is not going to be published).
  • Document move_base params, add max_planning_retries Setting max_planning_retries to 10 makes the planner fail faster if the planning problem is infeasible. By default, there\'s an infinite number of retries, so we had to wait until the planner_patience ran out (5 s).
  • Update rviz config Make topics relative, so that ROS_NAMESPACE=... works.
  • Switch to binary sbpl_lattice_planner dependency ... instead of compiling from source.
  • Split scan_rep117 topic into two separate topics This fixes the problem that the back laser scanner was ignored in the navigation costmap in Gazebo (probably because in Gazebo, both laser scanners have the exact same timestamp).
  • mir_navigation: Add clear_params to move_base launch
  • mir_navigation: marking + clearing were switched Other than misleading names, this had no effect.
  • Contributors: Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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/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/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