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multipoint_navigation_receiver package from multipoint_navigation_receiver repo

multipoint_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

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Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

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Plugins

No plugins found.

Recent questions tagged multipoint_navigation_receiver at answers.ros.org

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