mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

Configuration

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Demos

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Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

• topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

• topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

• show_gui: Shows its own MRPT GUI with the planned paths.

• topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

• topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

• xxx

Published topics

• <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
• <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

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Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

• XXX: XXX

Changelog for package mrpt_tps_astar_planner_node

2.2.1 (2024-10-12)

• Update demo for astar
• Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
• Improve astar navigation demo
• astar planner: add refine() step and parameter to optionally disable it
• astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
• astar params: add more comments and tune for speed
• PTGs .ini: Add docs on how to enable backward motions
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

• fix missing linters; tune tutorial params
• Update URL entries in package.xml to each package proper documentation
• ament linters: manually enable just cmake and xml linters
• Add roslog INFO traces to measure time spent initializing PTGs
• 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)

• Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
• added max duration to wait for tf data
• Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
• Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
• Implement two services for making navigation plans; code clean up; delete "replan" topic
• FIX: transform point cloud observations
• add frame_id params
• reset planner obstacles between path plans
• Add param to create subscribers with map-like QoS
• Enable multiple obstacle sources (grids and points)
• delete old ros1 files
• Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
• Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22