move_basic

Overview

This package contains a node that performs very basic navigation. The path planning consists of rotating in place to face the goal and then driving straight toward it. It is designed to provide the same interfaces as move_base. If lidar or sonar sensors are present, it will attemp to stop to avoid a collision with obstacles.

License

The source code is released under a BSD 3-Clause license.

Author: Jim Vaughan
Maintainer: Teodor Janez Podobnik, tp@ubiquityrobotics.org
Affiliation: Ubiquity Robotics

The move_basic package has been tested under ROS Kinetic and Melodic on respectively Ubuntu 16.04 and 18.04. This is a research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

First you must install ROS (Robot Operating System), see install ROS for more details.

Instalation from Packages

The package can be installed:

sudo apt-get install ros-kinetic-move-basic

Building from Source

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/UbiquityRobotics/move_basic.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build
source devel/setup.bash

Usage

To run, give the following command:

rosrun move_basic move_basic

Nodes

move_basic

Subscribed Topics

• /move_base_simple/goal ([geometry_msgs/PoseStamped])
• /move_base/stop ([std_msgs/Bool])

Published Topics

• /cmd_vel ([geometry_msgs/Twist])
• /plan ([nav_msgs/Path])
• /obstacle_distance ([geometry_msgs/Vector3])
• /lateral_error ([geometry_msgs/Vector3])
• /move_base/goal ([move_base_msgs/MoveBaseActionGoal])

Parameters

• min_turning_velocity (double, default: 0.18, min: 0, max: 1.0)

    Minimum turning velocity on spot.
  

• max_turning_velocity (double, default: 1.0, min: 0, max: 4.0)

  Maximum turning velocity on spot.

• max_lateral_velocity (double, default: 0.5, min: 0, max: 4.0)

  Maximum lateral velocity moving linear.

• max_linear_velocity (double, default: 0.5, min: 0, max: 1.1)

  Maximum linear velocity.

• min_linear_velocity (double, default: 0.1, min: 0, max: 1.1)

  Minimum linear velocity.

• linear_acceleration (double, default: 0.1, min: 0, max: 1.1)

  Maximum linear acceleration.

• turning_acceleration (double, default: 0.2, min: 0, max: 4.0)

  Maximum angular acceleration.

• angular_tolerance (double, default: 0.1, min: 0, max: 0.5)

  Within angular tolerance, orientation error is negligible.

• linear_tolerance (double, default: 0.1, min: 0, max: 1.0)

  Within linear tolerance, linear error is negligible.

• lateral_kp (double, default: 0, min: 0, max: 100)

    Proportional coefficient for lateral error correction.
  

• lateral_ki (double, default: 0, min: 0, max: 100)

    Integral coefficient for lateral error correction.
  

• lateral_kd (double, default: 3.0, min: 0, max: 100)

    Differential coefficient for lateral error correction.
  

• runaway_timeout (double, default: 1.0, min: 0, max: 10.0)

  Lateral velocity multiplier.

• obstacle_wait_threshold (double, default: 60.0, min: 0, max: 200.0)

  Maximum duration to wait for obstacle to remove.

• forward_obstacle_threshold (double, default: 0.5, min: 0, max: 3.0)

  Minimum distance to maintain in front.

• min_side_dist (double, default: 0.3, min: 0, max: 5.0)

  Minimum distance to maintain at each side.

• preferred_planning_frame (string, default: None)

  Preferred frame to plan a path in.

• alternate_planning_frame (string, default: odom)

  Alternative frame to plan a path in.

• preferred_driving_frame (string, default: map)

  Preferred frame to drive in.

• alternate_driving_frame (string, default: odom)

  Preferred frame to drive in.

• base_frame (string, default: base_footprint)

  Base frame of the robot.

For more details refer to the move_basic wiki page.

follow mode (wall following) was removed, the last version to have it was 0.3.2

backward drive was removed, the last version to have it was 0.4.0

Changelog for package move_basic

0.4.3 (2021-10-28)

• Continious directional correction while driving
• Linear and rotational part run as separate maneuvers
• Contributors: MoffKalast, Teo Podobnik

0.4.2 (2021-05-21)

• Fixes dependencies
• Contributors: Rohan Agrawal, Teo Podobnik

0.4.1 (2021-03-24)

• Removed backward drive
• Cosine Runaway safety abort
• Minimum velocity parameters
• Stop service
• Contributors: Janez Cimerman, Jim Vaughan, Mark Johnston, MoffKalast, Rohan Agrawal, Teodor Janez Podobnik

0.4.0 (2020-12-16)

• Add PID control for steering
• Fix final orientation bug
• Add action goal queueing
• Separated collision checking and obstacle points
• Add dynamic reconfigure
• Contributors: Teodor Janez Podobnik, Rohan Agrawal

0.3.2 (2018-03-03)

• Don't rotate to go small distances
• Reduce verbosity when rotating
• Contributors: Jim Vaughan

0.3.1 (2018-02-04)

• Publish forward obstacle distance (#31)
• Improve Lidar-based obstacle detection (#30)
• Contributors: Jim Vaughan

0.3.0 (2018-01-21)

• Add ObstacleDetector class to estimate distance to obstacles using range sensors during linear motion and rotation in-place.

• Contributors: Jim Vaughan, Rohan Agrawal

0.2.2 (2017-10-08)

• Will reverse for small distances without rotating
• Try to operate in the frame the goal is in if no map frame
• Add map_frame param
• Add frane to points in path
• Contributors: Jim Vaughan, Rohan Agrawal

0.2.1 (2017-07-17)

• Add map_frame param
• Contributors: Jim Vaughan

0.2.0 (2017-05-21)

• Add move_base_msgs dep
• Contributors: Jim Vaughan

0.1.1 (2017-05-15)

• Add URL to wiki page to README.md (#15)
• added all deps in the package xml (#14)
• Contributors: Jim Vaughan, Rohan Agrawal

0.1.0 (2017-05-10)

• Initial Release of a package for very basic navigation. The path planning consists of rotating in place to face the goal and then driving straight toward it. It is designed to provide the same interfaces as move_base.
• Contributors: Jim Vaughan, Rohan Agrawal