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multipoint_navigation_receiver package from multipoint_navigation_receiver repomultipoint_navigation_receiver |
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/Inspur-ROS/multipoint_navigation_receiver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-08-19 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
It is a function table that receives multipoint information,
then controls the time of sending the target point and serves the Move_base
Additional Links
Maintainers
- qiuan ren
Authors
- qiuan ren
multipoint_navigation_receiver
基于ROS的多点导航功能包
下载和编译
cd catkin_ws/src
git clone https://github.com/SuperAruba/multipoint_navigation_receiver.git
cd ..
catkin_make
使用说明
多点导航需要用到multipoint_navigation_receiver节点，由于考虑到目标点可能出现长时间存在障碍物的情况，故增加了一个判断地图中某点的障碍物信息的节点obstacle_server节点。
obstacle_server节点订阅了/move_base/global_costmap/costmap话题，使用服务机制，服务名称为/obstacle_information，请求服务时参数为地图某点的X坐标和Y坐标。该节点可以直接用于其他节点请求地图中的障碍物数据。该节点依赖于global_costmap，所以需要在global_costmap中加入obstacle layer。
multipoint_navigation_receiver节点使用时需要先开启obstacle_server节点，也使用服务机制，传入的参数为位置和姿态一一对应的两个数组（考虑到某些其他语言无法直接得到move_base_msgs::MoveBaseGoal数据类型）分别为geometry_msgs/Vector3[]和geometry_msgs/Quaternion[]。
如需停止当前多点导航，发送两个空的数组即可。
许可证
BSD
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | actionlib_msgs | |
| 2 | geometry_msgs | |
| 3 | move_base_msgs | |
| 2 | nav_msgs | |
| 2 | roscpp | |
| 2 | std_msgs | |
| 1 | tf | |
| 1 | message_generation | |
| 1 | catkin | |
| 1 | message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
Plugins
No plugins found.
Recent questions tagged multipoint_navigation_receiver at answers.ros.org
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