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mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-12
Dev Status DEVELOPED
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

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Jose-Luis Blanco-Claraco
mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```
Other related papers [IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

  • Robot shape: The “2D foot-print” of the robot.
  • PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
  • Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

  • mrpt_reactivenav2d for the autonomous reactive navigation (this package),
  • mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
  • mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

  • xxx

Published topics

  • xxx

  • reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:

    • START: Start of navigation
    • END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
    • WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
    • WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
    • ERROR: Error asking sensory data from robot or sending motor commands.
    • WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
    • APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
    • CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

Can be used to navigate to a single target SE(2) pose.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal --feedback \ "target: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} " ``` Example output: ``` Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93 Feedback: state: total_waypoints: 1 reached_waypoints: 0 Feedback: state: total_waypoints: 1 reached_waypoints: 0 [...] Feedback: state: total_waypoints: 1 reached_waypoints: 0 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Can be used to navigate to a sequence of waypoints.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints --feedback \ "waypoints: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} waypoints: - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 " ``` Example output: ``` Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333 Feedback: state: total_waypoints: 2 reached_waypoints: -1 Feedback: state: total_waypoints: 2 reached_waypoints: 0 Feedback: state: total_waypoints: 2 reached_waypoints: 1 [...] Feedback: state: total_waypoints: 2 reached_waypoints: 1 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

  • XXX_config_file: Path to an INI file with…
CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.1 (2024-10-12)

  • Update for MRPT 2.14.3 (new RNAV weight for target heading)
  • Support speed_ratio property for Waypoints
  • Improve astar navigation demo
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • reformat clang-format with 100 column width
  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco
  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Hide example output into <details>
  • Merge branch 'ros2' into wip/port-tps-astar
  • rnav node now detects live changes in the parameter 'pure_pursuit_mode'
  • Merge branch 'ros2' into wip/port-tps-astar
  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • rnav: add new pure_pursuit mode
  • Implement two action servers: NavigateGoal and NavigateWaypoints
  • Comply with ROS2 REP 2003
  • expose waypoint sequence launch argument
  • use namespaces for launch files
  • rnav node: publish selected PTG as marker
  • FIX: waypoints should also observe frame_id
  • Fix obsolete tf2_geometry_msgs.h header
  • Unify and clarify license headers in all files
  • Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
  • Port to ROS 2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange

mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-12
Dev Status DEVELOPED
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

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Jose-Luis Blanco-Claraco
mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```
Other related papers [IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

  • Robot shape: The “2D foot-print” of the robot.
  • PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
  • Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

  • mrpt_reactivenav2d for the autonomous reactive navigation (this package),
  • mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
  • mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

  • xxx

Published topics

  • xxx

  • reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:

    • START: Start of navigation
    • END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
    • WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
    • WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
    • ERROR: Error asking sensory data from robot or sending motor commands.
    • WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
    • APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
    • CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

Can be used to navigate to a single target SE(2) pose.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal --feedback \ "target: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} " ``` Example output: ``` Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93 Feedback: state: total_waypoints: 1 reached_waypoints: 0 Feedback: state: total_waypoints: 1 reached_waypoints: 0 [...] Feedback: state: total_waypoints: 1 reached_waypoints: 0 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Can be used to navigate to a sequence of waypoints.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints --feedback \ "waypoints: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} waypoints: - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 " ``` Example output: ``` Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333 Feedback: state: total_waypoints: 2 reached_waypoints: -1 Feedback: state: total_waypoints: 2 reached_waypoints: 0 Feedback: state: total_waypoints: 2 reached_waypoints: 1 [...] Feedback: state: total_waypoints: 2 reached_waypoints: 1 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

  • XXX_config_file: Path to an INI file with…
CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.1 (2024-10-12)

  • Update for MRPT 2.14.3 (new RNAV weight for target heading)
  • Support speed_ratio property for Waypoints
  • Improve astar navigation demo
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • reformat clang-format with 100 column width
  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco
  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Hide example output into <details>
  • Merge branch 'ros2' into wip/port-tps-astar
  • rnav node now detects live changes in the parameter 'pure_pursuit_mode'
  • Merge branch 'ros2' into wip/port-tps-astar
  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • rnav: add new pure_pursuit mode
  • Implement two action servers: NavigateGoal and NavigateWaypoints
  • Comply with ROS2 REP 2003
  • expose waypoint sequence launch argument
  • use namespaces for launch files
  • rnav node: publish selected PTG as marker
  • FIX: waypoints should also observe frame_id
  • Fix obsolete tf2_geometry_msgs.h header
  • Unify and clarify license headers in all files
  • Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
  • Port to ROS 2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange

mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-12
Dev Status DEVELOPED
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

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Jose-Luis Blanco-Claraco
mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```
Other related papers [IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

  • Robot shape: The “2D foot-print” of the robot.
  • PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
  • Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

  • mrpt_reactivenav2d for the autonomous reactive navigation (this package),
  • mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
  • mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

  • xxx

Published topics

  • xxx

  • reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:

    • START: Start of navigation
    • END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
    • WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
    • WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
    • ERROR: Error asking sensory data from robot or sending motor commands.
    • WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
    • APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
    • CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

Can be used to navigate to a single target SE(2) pose.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal --feedback \ "target: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} " ``` Example output: ``` Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93 Feedback: state: total_waypoints: 1 reached_waypoints: 0 Feedback: state: total_waypoints: 1 reached_waypoints: 0 [...] Feedback: state: total_waypoints: 1 reached_waypoints: 0 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Can be used to navigate to a sequence of waypoints.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints --feedback \ "waypoints: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} waypoints: - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 " ``` Example output: ``` Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333 Feedback: state: total_waypoints: 2 reached_waypoints: -1 Feedback: state: total_waypoints: 2 reached_waypoints: 0 Feedback: state: total_waypoints: 2 reached_waypoints: 1 [...] Feedback: state: total_waypoints: 2 reached_waypoints: 1 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

  • XXX_config_file: Path to an INI file with…
CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.1 (2024-10-12)

  • Update for MRPT 2.14.3 (new RNAV weight for target heading)
  • Support speed_ratio property for Waypoints
  • Improve astar navigation demo
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • reformat clang-format with 100 column width
  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco
  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Hide example output into <details>
  • Merge branch 'ros2' into wip/port-tps-astar
  • rnav node now detects live changes in the parameter 'pure_pursuit_mode'
  • Merge branch 'ros2' into wip/port-tps-astar
  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • rnav: add new pure_pursuit mode
  • Implement two action servers: NavigateGoal and NavigateWaypoints
  • Comply with ROS2 REP 2003
  • expose waypoint sequence launch argument
  • use namespaces for launch files
  • rnav node: publish selected PTG as marker
  • FIX: waypoints should also observe frame_id
  • Fix obsolete tf2_geometry_msgs.h header
  • Unify and clarify license headers in all files
  • Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
  • Port to ROS 2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange

mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros2
Last Updated 2024-10-12
Dev Status DEVELOPED
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

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Jose-Luis Blanco-Claraco
mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```
Other related papers [IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

  • Robot shape: The “2D foot-print” of the robot.
  • PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
  • Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

  • mrpt_reactivenav2d for the autonomous reactive navigation (this package),
  • mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
  • mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

  • xxx

Published topics

  • xxx

  • reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:

    • START: Start of navigation
    • END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
    • WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
    • WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
    • ERROR: Error asking sensory data from robot or sending motor commands.
    • WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
    • APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
    • CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

Can be used to navigate to a single target SE(2) pose.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal --feedback \ "target: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} " ``` Example output: ``` Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93 Feedback: state: total_waypoints: 1 reached_waypoints: 0 Feedback: state: total_waypoints: 1 reached_waypoints: 0 [...] Feedback: state: total_waypoints: 1 reached_waypoints: 0 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Can be used to navigate to a sequence of waypoints.

Example output Example CLI call: ```bash ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints --feedback \ "waypoints: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} waypoints: - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 " ``` Example output: ``` Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333 Feedback: state: total_waypoints: 2 reached_waypoints: -1 Feedback: state: total_waypoints: 2 reached_waypoints: 0 Feedback: state: total_waypoints: 2 reached_waypoints: 1 [...] Feedback: state: total_waypoints: 2 reached_waypoints: 1 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

  • XXX_config_file: Path to an INI file with…
CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.1 (2024-10-12)

  • Update for MRPT 2.14.3 (new RNAV weight for target heading)
  • Support speed_ratio property for Waypoints
  • Improve astar navigation demo
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • reformat clang-format with 100 column width
  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco
  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Hide example output into <details>
  • Merge branch 'ros2' into wip/port-tps-astar
  • rnav node now detects live changes in the parameter 'pure_pursuit_mode'
  • Merge branch 'ros2' into wip/port-tps-astar
  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • rnav: add new pure_pursuit mode
  • Implement two action servers: NavigateGoal and NavigateWaypoints
  • Comply with ROS2 REP 2003
  • expose waypoint sequence launch argument
  • use namespaces for launch files
  • rnav node: publish selected PTG as marker
  • FIX: waypoints should also observe frame_id
  • Fix obsolete tf2_geometry_msgs.h header
  • Unify and clarify license headers in all files
  • Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
  • Port to ROS 2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange

mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_local_obstacles mrpt_localization mrpt_map mrpt_msgs_bridge mrpt_navigation mrpt_rawlog mrpt_reactivenav2d mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros1
Last Updated 2024-09-17
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Reactive navigation for 2D robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco
README
No README found. See repository README.
CHANGELOG

Changelog for package mrpt_reactivenav2d

1.0.7 (2024-09-17)

1.0.6 (2024-09-04)

  • port to new mrpt_lib ROS packages as dependencies
  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-03-19)

  • fix mrpt2 API
  • Optional plugin files for ptgs
  • observe the waypoint ignore_heading field
  • waypoint navigation enabled
  • Contributors: Jose Luis Blanco-Claraco, SRai22

1.0.4 (2023-03-28)

  • Fix demo launch files for newer MVSIM
  • Contributors: Jose Luis Blanco Claraco

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange

mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_local_obstacles mrpt_localization mrpt_map mrpt_msgs_bridge mrpt_navigation mrpt_rawlog mrpt_reactivenav2d mrpt_tutorials

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros1
Last Updated 2024-09-17
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Reactive navigation for 2D robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco
README
No README found. See repository README.
CHANGELOG

Changelog for package mrpt_reactivenav2d

1.0.7 (2024-09-17)

1.0.6 (2024-09-04)

  • port to new mrpt_lib ROS packages as dependencies
  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-03-19)

  • fix mrpt2 API
  • Optional plugin files for ptgs
  • observe the waypoint ignore_heading field
  • waypoint navigation enabled
  • Contributors: Jose Luis Blanco-Claraco, SRai22

1.0.4 (2023-03-28)

  • Fix demo launch files for newer MVSIM
  • Contributors: Jose Luis Blanco Claraco

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9
  • Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

  • fix all catkin_lint errors
  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)
  • fix build against mrpt 2.0
  • partial fix build w mrpt 2.0
  • optimized build (-O3)
  • fix build errors against mrpt 1.5.5
  • Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
  • Merge branch 'master' into master
  • CMake finds MRPT >=1.5 in ROS master branch
  • Merge branch 'master' into compat-mrpt-1.5
  • CMake finds MRPT >=1.9
  • avoid Eigen warnings with GCC-7
  • Removed unnecessry MRPT_VERSION checks
  • Fixes for clang format
  • Removed c++11 declarations in cmake
  • Fixed error in demo launch file
  • Adapted CMakeLists to new mrpt
  • Ported to a new version of MRPT
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • Issue #75: fix mrpt_reactivenav2d compilation errors
  • deprecated mrpt 2.0 module names
  • Update launch file to work with MRPT 1.5.0
  • fix build with MRPT 1.5.0
  • Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • fix build against latest mrpt 1.5.0
  • make catkin_lint clean
  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
  • Update to MRPT 1.5.0
  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix #52
  • Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix mrpt-reactivenav2d compilation errors
  • Fix compilation for MRPT < 1.5.0
  • Add include guard for MRPT >= 1.5.0, fill timestamp entries
  • Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
  • Fix mrpt-reactivenav2d compilation errors
  • Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

  • fix build error against mrpt < 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

  • fix build against mrpt 1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

  • Reactive nav default config file: coarser collision grid for faster initialization
  • fix build and sample config file for reactivenav with mrpt>=1.5.0
  • Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

  • more build fixes
  • reactivenav: more complete template config file
  • Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

  • First working version of the reactive navigator
  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_reactivenav2d at Robotics Stack Exchange