mrpt_tps_astar_planner package from mrpt_navigation repomrpt_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 |
|
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
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 | 2024-10-07 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
- Shravan S Rai
Authors
- Shravan_S_Rai
- Jose-Luis Blanco-Claraco
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
Write me!
Demos
Write me!
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, asnav_msgs::Path
. Mostly useful for visualization only.
Services
Write me!
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
2.2.0 (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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mrpt_tps_astar_planner at Robotics Stack Exchange
mrpt_tps_astar_planner package from mrpt_navigation repomrpt_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 |
|
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
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 | 2024-10-07 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
- Shravan S Rai
Authors
- Shravan_S_Rai
- Jose-Luis Blanco-Claraco
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
Write me!
Demos
Write me!
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, asnav_msgs::Path
. Mostly useful for visualization only.
Services
Write me!
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
2.2.0 (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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mrpt_tps_astar_planner at Robotics Stack Exchange
mrpt_tps_astar_planner package from mrpt_navigation repomrpt_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 |
|
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
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 | 2024-10-07 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
- Shravan S Rai
Authors
- Shravan_S_Rai
- Jose-Luis Blanco-Claraco
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
Write me!
Demos
Write me!
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, asnav_msgs::Path
. Mostly useful for visualization only.
Services
Write me!
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
2.2.0 (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
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mrpt_tps_astar_planner at Robotics Stack Exchange
mrpt_tps_astar_planner package from mrpt_navigation repomrpt_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 |
|
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
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 | 2024-10-07 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
- Shravan S Rai
Authors
- Shravan_S_Rai
- Jose-Luis Blanco-Claraco
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
Write me!
Demos
Write me!
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, asnav_msgs::Path
. Mostly useful for visualization only.
Services
Write me!
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
2.2.0 (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