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Package Summary

Tags No category tags.
Version 0.17.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2024-03-25
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

3-dof configuration space planner for mobile robot

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud] > debug output of planner internal costmap
  • ~/remembered [sensor_msgs::PointCloud] > debug output of obstacles probability estimated by BBF
  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim")) > debug output data type > - "hyst": path hysteresis cost > - "cost_estim": estimated cost to the goal used as A* heuristic function
  • "queue_size_limit" (int, default: 0)
  • "antialias_start" (bool, default: false) > If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub


patrol

stub

CHANGELOG

Changelog for package planner_cspace

0.17.1 (2024-03-22)

  • planner_3d: remove duplicated interpolation method (#733)
  • Contributors: Naotaka Hatao

0.17.0 (2023-11-02)

  • planner_3d: add an option to trigger planning by costmap updates (#727)
  • planner_3d: fix cost calculation bug on in-place turning (#725)
  • Contributors: Naotaka Hatao

0.16.0 (2023-09-14)

  • planner_cspace: start planning from expected robot pose (#717)
  • planner_cspace: add new parameters for cost function (#720)
  • planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated (#718)
  • Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

  • planner_cspace: enable dynamic reconfigure (#714)
  • planner_space: fix segmentation fault on out-of-map (#712)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.14.2 (2023-07-31)

  • planner_cspace: improve peformance of DistanceMap (#709)
  • planner_cspace: avoid multiple goal pose relocation (#708)
  • Contributors: Naotaka Hatao

0.14.1 (2023-07-07)

  • planner_cspace: fix error status handling after cost_estim_cache_ was not created (#705)
  • Contributors: Naotaka Hatao

0.14.0 (2023-06-06)

  • planner_cspace: publish planner_3d metrics (#701)
  • Contributors: Atsushi Watanabe

0.13.0 (2023-05-31)

  • planner_cspace: fix fast map update (#692)
  • planner_cspace: fix status when goal or robot is in rock on updating goal (#694)
  • planner_cspace: fix string template constexpr in test (#685)
  • Contributors: Atsushi Watanabe

0.12.2 (2023-02-28)

  • planner_cspace: fix planner_2dof_serial_joints status (#682)
  • planner_cspace: set timestamp to planner status message (#681)
  • planner_cspace: fix uninitialized variables in DistanceMap (#679)
  • planner_cspace: add scoped trace to some test cases (#680)
  • Contributors: Atsushi Watanabe

0.12.1 (2023-02-25)

  • Improve test logs on timeout (#673)
  • planner_cspace: fix map update range (#672)
  • planner_cspace: clear velocity of dummy_robot on position set (#669)
  • planner_cspace: fix flaky action tests (#665)
  • planner_cspace: fix planner_cspace_msgs version constraint (#663)
  • Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

  • planner_cspace: add continuous movement mode to MoveWithTolerance (#652)
  • Contributors: Naotaka Hatao

0.11.8 (2022-12-28)

  • planner_cspace: add missing array include (#658)
  • Contributors: Atsushi Watanabe

0.11.7 (2022-08-05)

  • planner_cspace: fix pose duplication on path interpolation (#648)
  • Contributors: Atsushi Watanabe

0.11.6 (2022-07-20)

  • planner_cspace: add more test case to Planner3DMapSize (#640)
  • Contributors: Atsushi Watanabe

0.11.5 (2022-07-06)

  • planner_cspace: fix access violation on wrong size costmap_update message (#637)
  • Contributors: Atsushi Watanabe

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

  • planner_cspace: fix DistanceMap::init() (#625)
  • Fix flaky tests and add debug outputs (#628)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.11.2 (2021-11-08)

  • planner_cspace: Fix header of fihish path (#622)
  • Contributors: Kazuki Takahashi

0.11.1 (2021-10-29)

  • planner_cspace: refactor distance map generator (#617)
  • planner_cspace: recover error on FINISHING state (#615)
  • planner_cspace: fix flaky actionlib tests (#616)
  • planner_cspace: remove unused variable (#614)
  • Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

  • Apply clang-format-11 with new setting (#605)
  • Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

  • planner_cspace: reset next_replan_time after waitUntil() (#602)
  • Contributors: Kazuki Takahashi

0.10.10 (2021-03-18)

  • planner_cspace: fix goal unreachable condition (#595)
  • Contributors: Atsushi Watanabe

0.10.9 (2021-03-16)

  • planner_cspace: abort A* search on continuous timeout (#592)
  • Contributors: Atsushi Watanabe

0.10.8 (2021-03-10)

  • planner_cspace: improve performance of costmap reset (#587)
  • Contributors: Naotaka Hatao

0.10.7 (2021-03-07)

  • planner_cspace: improve performance of hysteresis clearing (#586)
  • Contributors: Naotaka Hatao

0.10.6 (2021-01-28)

  • planner_cspace: fix condition of open queue (#576)
  • planner_cspace: add debug output about cost_estim_cache update (#577)
  • planner_cspace: reuse open/erase queue (#575)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.10.5 (2020-12-24)

  • planner_cspace: enable tolerance in make_plan (#570)
  • Contributors: Naotaka Hatao

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

  • planner_cspace: avoid publishing invalid path when escaping (#546)
  • Contributors: Naotaka Hatao

0.10.0 (2020-08-06)

  • planner_cspace: add test to MoveWithToleranceAction (#528)
  • planner_cspace: add test to distance map debug output (#526)
  • planner_cspace: periodically update local map in the test (#522)
  • Merge rostest coverage profiles (#520)
  • planner_cspace: fix search range of minimum cost in fast_map_update mode (#518)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

  • planner_cspace: avoid showing too many warning messages (#501)
  • Contributors: Naotaka Hatao

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

  • Fix duplicated tf timestamp (#494)
  • planner_cspace: add wait to navigation tests (#492)
  • planner_cspace: simplify path switch detection condition (#488)
  • planner_cspace: fix uninitialized variable (#486)
  • planner_cspace: enable replan when robot reaches the switchback point (#449)
  • planner_cspace: fix test_debug_outputs initial wait (#485)
  • Contributors: Atsushi Watanabe, Kazuki Takahashi

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

  • Clean unused dependencies (#472)
  • Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

  • Support Noetic (#461)
  • Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

  • planner_cspace: fix flaky debug_output test (#452)
  • planner_cspace: fix condition of planning finish (#451)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.8.0 (2020-03-04)

  • planner_cspace: replan immediately when path is blocked by new obstacles (#446)
  • Add message package version constraints (#443)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.7.0 (2020-02-04)

  • planner_cspace: add MoveWithToleranceAction server (#433)
  • planner_cspace: fix typo (#436)
  • planner_cspace: implement motion primitive algorithm for speed-up (#431)
  • Contributors: Daiki Maekawa, Naotaka Hatao

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

  • planner_cspace: disable blockmem_gridmap_performance test (#413)
  • Fix header namespaces (#408)
  • planner_cspace: fix installing planner_2dof_serial_joints node (#409)
  • Migrate from C math functions to C++ (#407)
  • planner_cspace: split search model definition (#323)
  • planner_cspace: fix debug output test (#404)
  • planner_cspace: fix navigation test stability (#403)
  • planner_cspace: add planner_2dof_serial_joints node test (#402)
  • Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

  • planner_cspace: fix debug output test stability (#399)
  • planner_cspace: publish internally used maps as OccupancyGrid (#396)
  • planner_cspace: clear hysteresis if new obstacle is on the previous path (#393)
  • planner_cspace: fix remember_updates feature (#391)
  • Contributors: Atsushi Watanabe

0.4.3 (2019-09-10)

  • planner_cspace: make sure that planner error will be cleared if the goal is aborted (#372)
  • Contributors: Daiki Maekawa

0.4.2 (2019-08-19)

  • planner_cspace: fix planner performance (#369)
  • Contributors: Atsushi Watanabe

0.4.1 (2019-08-15)

  • planner_cspace: fix debug build compatibility (#368)
  • planner_cspace: fix out-of-boundary validation (#362)
  • planner_cspace: fix incomplete output path after search timeout (#357)
  • planner_cspace: reduce position quantization error on planning (#351)
  • planner_cspace: latch publish data in navigation test (#353)
  • planner_cspace: improve grid search performance (#342)
  • planner_cspace: optimize BlockmemGridmap (#315)
  • planner_cspace: add a launch for planner performance evaluation (#343)
  • planner_cspace: fix parallel memory access (#306)
  • planner_cspace: remove hist mode of debug output (#336)
  • planner_cspace: fix navigation test setup (#335)
  • planner_cspace: add a navigation test case with map update (#334)
  • planner_cspace: add const to the end pos (#332)
  • planner_cspace: reject request if input frame are located at diffrent frame to the map (#327)
  • planner_cspace: publish empty path immediately after planning aborted (#326)
  • planner_cspace: revert default sw_wait parameter (#313)
  • Drop ROS Indigo and Ubuntu Trusty support (#310)
  • planner_cspace: calculate path hysteresis in 3-DOF space (#304)
  • Fix include directory priority (#308)
  • planner_cspace: fix CyclicVector dimension of planner_2dof_serial_joints (#307)
  • planner_cspace, costmap_cspace: minor refactoring (#305)
  • Fix empty path publish (#301)
  • planner_cspace: refactor CyclicVec (#300)
  • planner_cspace: refactor rotation cache (#299)
  • planner_cspace: fix path cost calculation and interpolation (#298)
  • Contributors: Atsushi Watanabe, Daiki Maekawa, Yuta Koga

0.4.0 (2019-05-09)

  • planner_cspace: limit negative cost to avoid infinite search loop (#288)
  • trajectory_tracker: remove unused parameters (#274)
  • Support melodic (#266)
  • Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

  • trajectory_tracker: support PathWithVelocity (#244)
  • planner_cspace: fix stability of test_costmap_watchdog (#242)
  • planner_cspace: add watchdog to costmap update (#235)
  • planner_cspace: add missing test dependencies (#234)
  • Fix pointer alignment style (#233)
  • Migrate tf to tf2 (#230)
  • planner_cspace: add diagnostics to planner node (#226)
  • planner_cspace: stop robot motion if new map received (#218)
  • planner_cspace: split grid-metric converter functions (#213)
  • planner_cspace: split motion cache class (#212)
  • planner_cspace: fix goal and start tolerance parameter (#211)
  • planner_cspace: add cost for turning near obstacles (#210)
  • Fix catkin package definitions (#206)
  • planner_cspace: use odometry position difference in jump detection (#205)
  • planner_cspace: refactoring (#204)
  • Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • planner_cspace: fix restriction of path segment connection (#191)
  • planner_cspace: fix boundary check (#190)
  • planner_cspace: fix unconverged switching back vibration (#183)
  • Reduce random test failure (#181)
  • Update CI (#179)
  • Fix cost in heuristic function for make_plan service (#178)
  • Fix namespace migration messages (#174)
  • planner_cspace: add make plan service (#169)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • planner_cspace: fix clearing remembered costmap (#158)
  • planner_cspace: fix partial costmap update with unknown cells (#156)
  • planner_cspace: remember costmap using binary bayes filter (#149)
  • planner_cspace: fix position jump detection (#150)
  • planner_cspace: fix remembering costmap (#147)
  • planner_cspace: use frame_id of incoming message to set dummy robot pose (#145)
  • planner_cspace: add odom publisher to dummy robot (#143)
  • planner_cspace: add preempt (#137)
  • planner_cspace: minor optimizations (#129)
  • planner_cspace: disable performance test by default (#127)
  • planner_cspace: support parallel distance map search (#125)
  • planner_cspace: support parallel aster search (#118)
  • Add abort (#116)
  • planner_cspace: increase navigation test time limit (#98)
  • planner_cspace: validate goal position. (#90)
  • Suppress compile warnings and test with -Werror. (#82)
  • Fix header of empty path. (#79)
  • planner_cspace: cache motion interpolation. (#75)
  • planner_cspace: add planning performance test. (#74)
  • planner_cspace: add navigation integration test. (#73)
  • planner_cspace: add test for cyclic_vec. (#72)
  • planner_cspace: fix naming styles in blockmem_gridmap. (#69)
  • planner_cspace: add test for blockmem_gridmap. (#70)
  • planner_cspace: install patrol actionlib client. (#64)
  • planner_cspace: initialize dummy robot status. (#62)
  • planner_cspace: add simple action client for robot patrol. (#61)
  • planner_cspace: add missing dependency to boost::chrono. (#60)
  • planner_cspace: add actionlib support. (#58)
  • neonavigation_launch, planner_cspace: add simple simulator. (#59)
  • planner_space: fix naming styles. (#57)
  • planner_cspace: refactor separating classes. (#55)
  • planner_cspace: fix distance map init timing. (#53)
  • Remove dummy dep to system_lib. (#51)
  • Support package install. (#45)
  • Fix coding styles. (#39)
  • planner_cspace: fixes ignore range handling (#28)
  • planner_cspace: fixes memory leak on remembered costmap (#27)
  • planner_cspace: adds service to forget remembered costmap (#26)
  • planner_cspace: fixes logic of remember_update parameter (#25)
  • planner_cspace: fixes wrong direction of path end (#24)
  • planner_cspace: fixes straight motion discriminant (#23)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • planner_cspace: adds planner for 2dof serial joints (#6)
  • planner_cspace: uses template to specify dimension
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe, Yuta Koga, Yutaka Takaoka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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Package Summary

Tags No category tags.
Version 0.17.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2024-03-25
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

3-dof configuration space planner for mobile robot

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud] > debug output of planner internal costmap
  • ~/remembered [sensor_msgs::PointCloud] > debug output of obstacles probability estimated by BBF
  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim")) > debug output data type > - "hyst": path hysteresis cost > - "cost_estim": estimated cost to the goal used as A* heuristic function
  • "queue_size_limit" (int, default: 0)
  • "antialias_start" (bool, default: false) > If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub


patrol

stub

CHANGELOG

Changelog for package planner_cspace

0.17.1 (2024-03-22)

  • planner_3d: remove duplicated interpolation method (#733)
  • Contributors: Naotaka Hatao

0.17.0 (2023-11-02)

  • planner_3d: add an option to trigger planning by costmap updates (#727)
  • planner_3d: fix cost calculation bug on in-place turning (#725)
  • Contributors: Naotaka Hatao

0.16.0 (2023-09-14)

  • planner_cspace: start planning from expected robot pose (#717)
  • planner_cspace: add new parameters for cost function (#720)
  • planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated (#718)
  • Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

  • planner_cspace: enable dynamic reconfigure (#714)
  • planner_space: fix segmentation fault on out-of-map (#712)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.14.2 (2023-07-31)

  • planner_cspace: improve peformance of DistanceMap (#709)
  • planner_cspace: avoid multiple goal pose relocation (#708)
  • Contributors: Naotaka Hatao

0.14.1 (2023-07-07)

  • planner_cspace: fix error status handling after cost_estim_cache_ was not created (#705)
  • Contributors: Naotaka Hatao

0.14.0 (2023-06-06)

  • planner_cspace: publish planner_3d metrics (#701)
  • Contributors: Atsushi Watanabe

0.13.0 (2023-05-31)

  • planner_cspace: fix fast map update (#692)
  • planner_cspace: fix status when goal or robot is in rock on updating goal (#694)
  • planner_cspace: fix string template constexpr in test (#685)
  • Contributors: Atsushi Watanabe

0.12.2 (2023-02-28)

  • planner_cspace: fix planner_2dof_serial_joints status (#682)
  • planner_cspace: set timestamp to planner status message (#681)
  • planner_cspace: fix uninitialized variables in DistanceMap (#679)
  • planner_cspace: add scoped trace to some test cases (#680)
  • Contributors: Atsushi Watanabe

0.12.1 (2023-02-25)

  • Improve test logs on timeout (#673)
  • planner_cspace: fix map update range (#672)
  • planner_cspace: clear velocity of dummy_robot on position set (#669)
  • planner_cspace: fix flaky action tests (#665)
  • planner_cspace: fix planner_cspace_msgs version constraint (#663)
  • Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

  • planner_cspace: add continuous movement mode to MoveWithTolerance (#652)
  • Contributors: Naotaka Hatao

0.11.8 (2022-12-28)

  • planner_cspace: add missing array include (#658)
  • Contributors: Atsushi Watanabe

0.11.7 (2022-08-05)

  • planner_cspace: fix pose duplication on path interpolation (#648)
  • Contributors: Atsushi Watanabe

0.11.6 (2022-07-20)

  • planner_cspace: add more test case to Planner3DMapSize (#640)
  • Contributors: Atsushi Watanabe

0.11.5 (2022-07-06)

  • planner_cspace: fix access violation on wrong size costmap_update message (#637)
  • Contributors: Atsushi Watanabe

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

  • planner_cspace: fix DistanceMap::init() (#625)
  • Fix flaky tests and add debug outputs (#628)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.11.2 (2021-11-08)

  • planner_cspace: Fix header of fihish path (#622)
  • Contributors: Kazuki Takahashi

0.11.1 (2021-10-29)

  • planner_cspace: refactor distance map generator (#617)
  • planner_cspace: recover error on FINISHING state (#615)
  • planner_cspace: fix flaky actionlib tests (#616)
  • planner_cspace: remove unused variable (#614)
  • Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

  • Apply clang-format-11 with new setting (#605)
  • Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

  • planner_cspace: reset next_replan_time after waitUntil() (#602)
  • Contributors: Kazuki Takahashi

0.10.10 (2021-03-18)

  • planner_cspace: fix goal unreachable condition (#595)
  • Contributors: Atsushi Watanabe

0.10.9 (2021-03-16)

  • planner_cspace: abort A* search on continuous timeout (#592)
  • Contributors: Atsushi Watanabe

0.10.8 (2021-03-10)

  • planner_cspace: improve performance of costmap reset (#587)
  • Contributors: Naotaka Hatao

0.10.7 (2021-03-07)

  • planner_cspace: improve performance of hysteresis clearing (#586)
  • Contributors: Naotaka Hatao

0.10.6 (2021-01-28)

  • planner_cspace: fix condition of open queue (#576)
  • planner_cspace: add debug output about cost_estim_cache update (#577)
  • planner_cspace: reuse open/erase queue (#575)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.10.5 (2020-12-24)

  • planner_cspace: enable tolerance in make_plan (#570)
  • Contributors: Naotaka Hatao

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

  • planner_cspace: avoid publishing invalid path when escaping (#546)
  • Contributors: Naotaka Hatao

0.10.0 (2020-08-06)

  • planner_cspace: add test to MoveWithToleranceAction (#528)
  • planner_cspace: add test to distance map debug output (#526)
  • planner_cspace: periodically update local map in the test (#522)
  • Merge rostest coverage profiles (#520)
  • planner_cspace: fix search range of minimum cost in fast_map_update mode (#518)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

  • planner_cspace: avoid showing too many warning messages (#501)
  • Contributors: Naotaka Hatao

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

  • Fix duplicated tf timestamp (#494)
  • planner_cspace: add wait to navigation tests (#492)
  • planner_cspace: simplify path switch detection condition (#488)
  • planner_cspace: fix uninitialized variable (#486)
  • planner_cspace: enable replan when robot reaches the switchback point (#449)
  • planner_cspace: fix test_debug_outputs initial wait (#485)
  • Contributors: Atsushi Watanabe, Kazuki Takahashi

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

  • Clean unused dependencies (#472)
  • Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

  • Support Noetic (#461)
  • Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

  • planner_cspace: fix flaky debug_output test (#452)
  • planner_cspace: fix condition of planning finish (#451)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.8.0 (2020-03-04)

  • planner_cspace: replan immediately when path is blocked by new obstacles (#446)
  • Add message package version constraints (#443)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.7.0 (2020-02-04)

  • planner_cspace: add MoveWithToleranceAction server (#433)
  • planner_cspace: fix typo (#436)
  • planner_cspace: implement motion primitive algorithm for speed-up (#431)
  • Contributors: Daiki Maekawa, Naotaka Hatao

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

  • planner_cspace: disable blockmem_gridmap_performance test (#413)
  • Fix header namespaces (#408)
  • planner_cspace: fix installing planner_2dof_serial_joints node (#409)
  • Migrate from C math functions to C++ (#407)
  • planner_cspace: split search model definition (#323)
  • planner_cspace: fix debug output test (#404)
  • planner_cspace: fix navigation test stability (#403)
  • planner_cspace: add planner_2dof_serial_joints node test (#402)
  • Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

  • planner_cspace: fix debug output test stability (#399)
  • planner_cspace: publish internally used maps as OccupancyGrid (#396)
  • planner_cspace: clear hysteresis if new obstacle is on the previous path (#393)
  • planner_cspace: fix remember_updates feature (#391)
  • Contributors: Atsushi Watanabe

0.4.3 (2019-09-10)

  • planner_cspace: make sure that planner error will be cleared if the goal is aborted (#372)
  • Contributors: Daiki Maekawa

0.4.2 (2019-08-19)

  • planner_cspace: fix planner performance (#369)
  • Contributors: Atsushi Watanabe

0.4.1 (2019-08-15)

  • planner_cspace: fix debug build compatibility (#368)
  • planner_cspace: fix out-of-boundary validation (#362)
  • planner_cspace: fix incomplete output path after search timeout (#357)
  • planner_cspace: reduce position quantization error on planning (#351)
  • planner_cspace: latch publish data in navigation test (#353)
  • planner_cspace: improve grid search performance (#342)
  • planner_cspace: optimize BlockmemGridmap (#315)
  • planner_cspace: add a launch for planner performance evaluation (#343)
  • planner_cspace: fix parallel memory access (#306)
  • planner_cspace: remove hist mode of debug output (#336)
  • planner_cspace: fix navigation test setup (#335)
  • planner_cspace: add a navigation test case with map update (#334)
  • planner_cspace: add const to the end pos (#332)
  • planner_cspace: reject request if input frame are located at diffrent frame to the map (#327)
  • planner_cspace: publish empty path immediately after planning aborted (#326)
  • planner_cspace: revert default sw_wait parameter (#313)
  • Drop ROS Indigo and Ubuntu Trusty support (#310)
  • planner_cspace: calculate path hysteresis in 3-DOF space (#304)
  • Fix include directory priority (#308)
  • planner_cspace: fix CyclicVector dimension of planner_2dof_serial_joints (#307)
  • planner_cspace, costmap_cspace: minor refactoring (#305)
  • Fix empty path publish (#301)
  • planner_cspace: refactor CyclicVec (#300)
  • planner_cspace: refactor rotation cache (#299)
  • planner_cspace: fix path cost calculation and interpolation (#298)
  • Contributors: Atsushi Watanabe, Daiki Maekawa, Yuta Koga

0.4.0 (2019-05-09)

  • planner_cspace: limit negative cost to avoid infinite search loop (#288)
  • trajectory_tracker: remove unused parameters (#274)
  • Support melodic (#266)
  • Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

  • trajectory_tracker: support PathWithVelocity (#244)
  • planner_cspace: fix stability of test_costmap_watchdog (#242)
  • planner_cspace: add watchdog to costmap update (#235)
  • planner_cspace: add missing test dependencies (#234)
  • Fix pointer alignment style (#233)
  • Migrate tf to tf2 (#230)
  • planner_cspace: add diagnostics to planner node (#226)
  • planner_cspace: stop robot motion if new map received (#218)
  • planner_cspace: split grid-metric converter functions (#213)
  • planner_cspace: split motion cache class (#212)
  • planner_cspace: fix goal and start tolerance parameter (#211)
  • planner_cspace: add cost for turning near obstacles (#210)
  • Fix catkin package definitions (#206)
  • planner_cspace: use odometry position difference in jump detection (#205)
  • planner_cspace: refactoring (#204)
  • Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • planner_cspace: fix restriction of path segment connection (#191)
  • planner_cspace: fix boundary check (#190)
  • planner_cspace: fix unconverged switching back vibration (#183)
  • Reduce random test failure (#181)
  • Update CI (#179)
  • Fix cost in heuristic function for make_plan service (#178)
  • Fix namespace migration messages (#174)
  • planner_cspace: add make plan service (#169)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • planner_cspace: fix clearing remembered costmap (#158)
  • planner_cspace: fix partial costmap update with unknown cells (#156)
  • planner_cspace: remember costmap using binary bayes filter (#149)
  • planner_cspace: fix position jump detection (#150)
  • planner_cspace: fix remembering costmap (#147)
  • planner_cspace: use frame_id of incoming message to set dummy robot pose (#145)
  • planner_cspace: add odom publisher to dummy robot (#143)
  • planner_cspace: add preempt (#137)
  • planner_cspace: minor optimizations (#129)
  • planner_cspace: disable performance test by default (#127)
  • planner_cspace: support parallel distance map search (#125)
  • planner_cspace: support parallel aster search (#118)
  • Add abort (#116)
  • planner_cspace: increase navigation test time limit (#98)
  • planner_cspace: validate goal position. (#90)
  • Suppress compile warnings and test with -Werror. (#82)
  • Fix header of empty path. (#79)
  • planner_cspace: cache motion interpolation. (#75)
  • planner_cspace: add planning performance test. (#74)
  • planner_cspace: add navigation integration test. (#73)
  • planner_cspace: add test for cyclic_vec. (#72)
  • planner_cspace: fix naming styles in blockmem_gridmap. (#69)
  • planner_cspace: add test for blockmem_gridmap. (#70)
  • planner_cspace: install patrol actionlib client. (#64)
  • planner_cspace: initialize dummy robot status. (#62)
  • planner_cspace: add simple action client for robot patrol. (#61)
  • planner_cspace: add missing dependency to boost::chrono. (#60)
  • planner_cspace: add actionlib support. (#58)
  • neonavigation_launch, planner_cspace: add simple simulator. (#59)
  • planner_space: fix naming styles. (#57)
  • planner_cspace: refactor separating classes. (#55)
  • planner_cspace: fix distance map init timing. (#53)
  • Remove dummy dep to system_lib. (#51)
  • Support package install. (#45)
  • Fix coding styles. (#39)
  • planner_cspace: fixes ignore range handling (#28)
  • planner_cspace: fixes memory leak on remembered costmap (#27)
  • planner_cspace: adds service to forget remembered costmap (#26)
  • planner_cspace: fixes logic of remember_update parameter (#25)
  • planner_cspace: fixes wrong direction of path end (#24)
  • planner_cspace: fixes straight motion discriminant (#23)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • planner_cspace: adds planner for 2dof serial joints (#6)
  • planner_cspace: uses template to specify dimension
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe, Yuta Koga, Yutaka Takaoka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged planner_cspace at Robotics Stack Exchange

No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.4.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-05-22
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

3-dof configuration space planner for mobile robot

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud]
  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim"))
  • "queue_size_limit" (int, default: 0)

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub


patrol

stub

CHANGELOG

Changelog for package planner_cspace

0.4.0 (2019-05-09)

  • planner_cspace: limit negative cost to avoid infinite search loop (#288)
  • trajectory_tracker: remove unused parameters (#274)
  • Support melodic (#266)
  • Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

  • trajectory_tracker: support PathWithVelocity (#244)
  • planner_cspace: fix stability of test_costmap_watchdog (#242)
  • planner_cspace: add watchdog to costmap update (#235)
  • planner_cspace: add missing test dependencies (#234)
  • Fix pointer alignment style (#233)
  • Migrate tf to tf2 (#230)
  • planner_cspace: add diagnostics to planner node (#226)
  • planner_cspace: stop robot motion if new map received (#218)
  • planner_cspace: split grid-metric converter functions (#213)
  • planner_cspace: split motion cache class (#212)
  • planner_cspace: fix goal and start tolerance parameter (#211)
  • planner_cspace: add cost for turning near obstacles (#210)
  • Fix catkin package definitions (#206)
  • planner_cspace: use odometry position difference in jump detection (#205)
  • planner_cspace: refactoring (#204)
  • Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • planner_cspace: fix restriction of path segment connection (#191)
  • planner_cspace: fix boundary check (#190)
  • planner_cspace: fix unconverged switching back vibration (#183)
  • Reduce random test failure (#181)
  • Update CI (#179)
  • Fix cost in heuristic function for make_plan service (#178)
  • Fix namespace migration messages (#174)
  • planner_cspace: add make plan service (#169)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • planner_cspace: fix clearing remembered costmap (#158)
  • planner_cspace: fix partial costmap update with unknown cells (#156)
  • planner_cspace: remember costmap using binary bayes filter (#149)
  • planner_cspace: fix position jump detection (#150)
  • planner_cspace: fix remembering costmap (#147)
  • planner_cspace: use frame_id of incoming message to set dummy robot pose (#145)
  • planner_cspace: add odom publisher to dummy robot (#143)
  • planner_cspace: add preempt (#137)
  • planner_cspace: minor optimizations (#129)
  • planner_cspace: disable performance test by default (#127)
  • planner_cspace: support parallel distance map search (#125)
  • planner_cspace: support parallel aster search (#118)
  • Add abort (#116)
  • planner_cspace: increase navigation test time limit (#98)
  • planner_cspace: validate goal position. (#90)
  • Suppress compile warnings and test with -Werror. (#82)
  • Fix header of empty path. (#79)
  • planner_cspace: cache motion interpolation. (#75)
  • planner_cspace: add planning performance test. (#74)
  • planner_cspace: add navigation integration test. (#73)
  • planner_cspace: add test for cyclic_vec. (#72)
  • planner_cspace: fix naming styles in blockmem_gridmap. (#69)
  • planner_cspace: add test for blockmem_gridmap. (#70)
  • planner_cspace: install patrol actionlib client. (#64)
  • planner_cspace: initialize dummy robot status. (#62)
  • planner_cspace: add simple action client for robot patrol. (#61)
  • planner_cspace: add missing dependency to boost::chrono. (#60)
  • planner_cspace: add actionlib support. (#58)
  • neonavigation_launch, planner_cspace: add simple simulator. (#59)
  • planner_space: fix naming styles. (#57)
  • planner_cspace: refactor separating classes. (#55)
  • planner_cspace: fix distance map init timing. (#53)
  • Remove dummy dep to system_lib. (#51)
  • Support package install. (#45)
  • Fix coding styles. (#39)
  • planner_cspace: fixes ignore range handling (#28)
  • planner_cspace: fixes memory leak on remembered costmap (#27)
  • planner_cspace: adds service to forget remembered costmap (#26)
  • planner_cspace: fixes logic of remember_update parameter (#25)
  • planner_cspace: fixes wrong direction of path end (#24)
  • planner_cspace: fixes straight motion discriminant (#23)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • planner_cspace: adds planner for 2dof serial joints (#6)
  • planner_cspace: uses template to specify dimension
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe, Yuta Koga, Yutaka Takaoka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged planner_cspace at Robotics Stack Exchange

No version for distro hydro. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.17.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2024-03-25
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

3-dof configuration space planner for mobile robot

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud] > debug output of planner internal costmap
  • ~/remembered [sensor_msgs::PointCloud] > debug output of obstacles probability estimated by BBF
  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim")) > debug output data type > - "hyst": path hysteresis cost > - "cost_estim": estimated cost to the goal used as A* heuristic function
  • "queue_size_limit" (int, default: 0)
  • "antialias_start" (bool, default: false) > If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub


patrol

stub

CHANGELOG

Changelog for package planner_cspace

0.17.1 (2024-03-22)

  • planner_3d: remove duplicated interpolation method (#733)
  • Contributors: Naotaka Hatao

0.17.0 (2023-11-02)

  • planner_3d: add an option to trigger planning by costmap updates (#727)
  • planner_3d: fix cost calculation bug on in-place turning (#725)
  • Contributors: Naotaka Hatao

0.16.0 (2023-09-14)

  • planner_cspace: start planning from expected robot pose (#717)
  • planner_cspace: add new parameters for cost function (#720)
  • planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated (#718)
  • Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

  • planner_cspace: enable dynamic reconfigure (#714)
  • planner_space: fix segmentation fault on out-of-map (#712)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.14.2 (2023-07-31)

  • planner_cspace: improve peformance of DistanceMap (#709)
  • planner_cspace: avoid multiple goal pose relocation (#708)
  • Contributors: Naotaka Hatao

0.14.1 (2023-07-07)

  • planner_cspace: fix error status handling after cost_estim_cache_ was not created (#705)
  • Contributors: Naotaka Hatao

0.14.0 (2023-06-06)

  • planner_cspace: publish planner_3d metrics (#701)
  • Contributors: Atsushi Watanabe

0.13.0 (2023-05-31)

  • planner_cspace: fix fast map update (#692)
  • planner_cspace: fix status when goal or robot is in rock on updating goal (#694)
  • planner_cspace: fix string template constexpr in test (#685)
  • Contributors: Atsushi Watanabe

0.12.2 (2023-02-28)

  • planner_cspace: fix planner_2dof_serial_joints status (#682)
  • planner_cspace: set timestamp to planner status message (#681)
  • planner_cspace: fix uninitialized variables in DistanceMap (#679)
  • planner_cspace: add scoped trace to some test cases (#680)
  • Contributors: Atsushi Watanabe

0.12.1 (2023-02-25)

  • Improve test logs on timeout (#673)
  • planner_cspace: fix map update range (#672)
  • planner_cspace: clear velocity of dummy_robot on position set (#669)
  • planner_cspace: fix flaky action tests (#665)
  • planner_cspace: fix planner_cspace_msgs version constraint (#663)
  • Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

  • planner_cspace: add continuous movement mode to MoveWithTolerance (#652)
  • Contributors: Naotaka Hatao

0.11.8 (2022-12-28)

  • planner_cspace: add missing array include (#658)
  • Contributors: Atsushi Watanabe

0.11.7 (2022-08-05)

  • planner_cspace: fix pose duplication on path interpolation (#648)
  • Contributors: Atsushi Watanabe

0.11.6 (2022-07-20)

  • planner_cspace: add more test case to Planner3DMapSize (#640)
  • Contributors: Atsushi Watanabe

0.11.5 (2022-07-06)

  • planner_cspace: fix access violation on wrong size costmap_update message (#637)
  • Contributors: Atsushi Watanabe

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

  • planner_cspace: fix DistanceMap::init() (#625)
  • Fix flaky tests and add debug outputs (#628)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.11.2 (2021-11-08)

  • planner_cspace: Fix header of fihish path (#622)
  • Contributors: Kazuki Takahashi

0.11.1 (2021-10-29)

  • planner_cspace: refactor distance map generator (#617)
  • planner_cspace: recover error on FINISHING state (#615)
  • planner_cspace: fix flaky actionlib tests (#616)
  • planner_cspace: remove unused variable (#614)
  • Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

  • Apply clang-format-11 with new setting (#605)
  • Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

  • planner_cspace: reset next_replan_time after waitUntil() (#602)
  • Contributors: Kazuki Takahashi

0.10.10 (2021-03-18)

  • planner_cspace: fix goal unreachable condition (#595)
  • Contributors: Atsushi Watanabe

0.10.9 (2021-03-16)

  • planner_cspace: abort A* search on continuous timeout (#592)
  • Contributors: Atsushi Watanabe

0.10.8 (2021-03-10)

  • planner_cspace: improve performance of costmap reset (#587)
  • Contributors: Naotaka Hatao

0.10.7 (2021-03-07)

  • planner_cspace: improve performance of hysteresis clearing (#586)
  • Contributors: Naotaka Hatao

0.10.6 (2021-01-28)

  • planner_cspace: fix condition of open queue (#576)
  • planner_cspace: add debug output about cost_estim_cache update (#577)
  • planner_cspace: reuse open/erase queue (#575)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.10.5 (2020-12-24)

  • planner_cspace: enable tolerance in make_plan (#570)
  • Contributors: Naotaka Hatao

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

  • planner_cspace: avoid publishing invalid path when escaping (#546)
  • Contributors: Naotaka Hatao

0.10.0 (2020-08-06)

  • planner_cspace: add test to MoveWithToleranceAction (#528)
  • planner_cspace: add test to distance map debug output (#526)
  • planner_cspace: periodically update local map in the test (#522)
  • Merge rostest coverage profiles (#520)
  • planner_cspace: fix search range of minimum cost in fast_map_update mode (#518)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

  • planner_cspace: avoid showing too many warning messages (#501)
  • Contributors: Naotaka Hatao

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

  • Fix duplicated tf timestamp (#494)
  • planner_cspace: add wait to navigation tests (#492)
  • planner_cspace: simplify path switch detection condition (#488)
  • planner_cspace: fix uninitialized variable (#486)
  • planner_cspace: enable replan when robot reaches the switchback point (#449)
  • planner_cspace: fix test_debug_outputs initial wait (#485)
  • Contributors: Atsushi Watanabe, Kazuki Takahashi

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

  • Clean unused dependencies (#472)
  • Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

  • Support Noetic (#461)
  • Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

  • planner_cspace: fix flaky debug_output test (#452)
  • planner_cspace: fix condition of planning finish (#451)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.8.0 (2020-03-04)

  • planner_cspace: replan immediately when path is blocked by new obstacles (#446)
  • Add message package version constraints (#443)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.7.0 (2020-02-04)

  • planner_cspace: add MoveWithToleranceAction server (#433)
  • planner_cspace: fix typo (#436)
  • planner_cspace: implement motion primitive algorithm for speed-up (#431)
  • Contributors: Daiki Maekawa, Naotaka Hatao

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

  • planner_cspace: disable blockmem_gridmap_performance test (#413)
  • Fix header namespaces (#408)
  • planner_cspace: fix installing planner_2dof_serial_joints node (#409)
  • Migrate from C math functions to C++ (#407)
  • planner_cspace: split search model definition (#323)
  • planner_cspace: fix debug output test (#404)
  • planner_cspace: fix navigation test stability (#403)
  • planner_cspace: add planner_2dof_serial_joints node test (#402)
  • Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

  • planner_cspace: fix debug output test stability (#399)
  • planner_cspace: publish internally used maps as OccupancyGrid (#396)
  • planner_cspace: clear hysteresis if new obstacle is on the previous path (#393)
  • planner_cspace: fix remember_updates feature (#391)
  • Contributors: Atsushi Watanabe

0.4.3 (2019-09-10)

  • planner_cspace: make sure that planner error will be cleared if the goal is aborted (#372)
  • Contributors: Daiki Maekawa

0.4.2 (2019-08-19)

  • planner_cspace: fix planner performance (#369)
  • Contributors: Atsushi Watanabe

0.4.1 (2019-08-15)

  • planner_cspace: fix debug build compatibility (#368)
  • planner_cspace: fix out-of-boundary validation (#362)
  • planner_cspace: fix incomplete output path after search timeout (#357)
  • planner_cspace: reduce position quantization error on planning (#351)
  • planner_cspace: latch publish data in navigation test (#353)
  • planner_cspace: improve grid search performance (#342)
  • planner_cspace: optimize BlockmemGridmap (#315)
  • planner_cspace: add a launch for planner performance evaluation (#343)
  • planner_cspace: fix parallel memory access (#306)
  • planner_cspace: remove hist mode of debug output (#336)
  • planner_cspace: fix navigation test setup (#335)
  • planner_cspace: add a navigation test case with map update (#334)
  • planner_cspace: add const to the end pos (#332)
  • planner_cspace: reject request if input frame are located at diffrent frame to the map (#327)
  • planner_cspace: publish empty path immediately after planning aborted (#326)
  • planner_cspace: revert default sw_wait parameter (#313)
  • Drop ROS Indigo and Ubuntu Trusty support (#310)
  • planner_cspace: calculate path hysteresis in 3-DOF space (#304)
  • Fix include directory priority (#308)
  • planner_cspace: fix CyclicVector dimension of planner_2dof_serial_joints (#307)
  • planner_cspace, costmap_cspace: minor refactoring (#305)
  • Fix empty path publish (#301)
  • planner_cspace: refactor CyclicVec (#300)
  • planner_cspace: refactor rotation cache (#299)
  • planner_cspace: fix path cost calculation and interpolation (#298)
  • Contributors: Atsushi Watanabe, Daiki Maekawa, Yuta Koga

0.4.0 (2019-05-09)

  • planner_cspace: limit negative cost to avoid infinite search loop (#288)
  • trajectory_tracker: remove unused parameters (#274)
  • Support melodic (#266)
  • Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

  • trajectory_tracker: support PathWithVelocity (#244)
  • planner_cspace: fix stability of test_costmap_watchdog (#242)
  • planner_cspace: add watchdog to costmap update (#235)
  • planner_cspace: add missing test dependencies (#234)
  • Fix pointer alignment style (#233)
  • Migrate tf to tf2 (#230)
  • planner_cspace: add diagnostics to planner node (#226)
  • planner_cspace: stop robot motion if new map received (#218)
  • planner_cspace: split grid-metric converter functions (#213)
  • planner_cspace: split motion cache class (#212)
  • planner_cspace: fix goal and start tolerance parameter (#211)
  • planner_cspace: add cost for turning near obstacles (#210)
  • Fix catkin package definitions (#206)
  • planner_cspace: use odometry position difference in jump detection (#205)
  • planner_cspace: refactoring (#204)
  • Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • planner_cspace: fix restriction of path segment connection (#191)
  • planner_cspace: fix boundary check (#190)
  • planner_cspace: fix unconverged switching back vibration (#183)
  • Reduce random test failure (#181)
  • Update CI (#179)
  • Fix cost in heuristic function for make_plan service (#178)
  • Fix namespace migration messages (#174)
  • planner_cspace: add make plan service (#169)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • planner_cspace: fix clearing remembered costmap (#158)
  • planner_cspace: fix partial costmap update with unknown cells (#156)
  • planner_cspace: remember costmap using binary bayes filter (#149)
  • planner_cspace: fix position jump detection (#150)
  • planner_cspace: fix remembering costmap (#147)
  • planner_cspace: use frame_id of incoming message to set dummy robot pose (#145)
  • planner_cspace: add odom publisher to dummy robot (#143)
  • planner_cspace: add preempt (#137)
  • planner_cspace: minor optimizations (#129)
  • planner_cspace: disable performance test by default (#127)
  • planner_cspace: support parallel distance map search (#125)
  • planner_cspace: support parallel aster search (#118)
  • Add abort (#116)
  • planner_cspace: increase navigation test time limit (#98)
  • planner_cspace: validate goal position. (#90)
  • Suppress compile warnings and test with -Werror. (#82)
  • Fix header of empty path. (#79)
  • planner_cspace: cache motion interpolation. (#75)
  • planner_cspace: add planning performance test. (#74)
  • planner_cspace: add navigation integration test. (#73)
  • planner_cspace: add test for cyclic_vec. (#72)
  • planner_cspace: fix naming styles in blockmem_gridmap. (#69)
  • planner_cspace: add test for blockmem_gridmap. (#70)
  • planner_cspace: install patrol actionlib client. (#64)
  • planner_cspace: initialize dummy robot status. (#62)
  • planner_cspace: add simple action client for robot patrol. (#61)
  • planner_cspace: add missing dependency to boost::chrono. (#60)
  • planner_cspace: add actionlib support. (#58)
  • neonavigation_launch, planner_cspace: add simple simulator. (#59)
  • planner_space: fix naming styles. (#57)
  • planner_cspace: refactor separating classes. (#55)
  • planner_cspace: fix distance map init timing. (#53)
  • Remove dummy dep to system_lib. (#51)
  • Support package install. (#45)
  • Fix coding styles. (#39)
  • planner_cspace: fixes ignore range handling (#28)
  • planner_cspace: fixes memory leak on remembered costmap (#27)
  • planner_cspace: adds service to forget remembered costmap (#26)
  • planner_cspace: fixes logic of remember_update parameter (#25)
  • planner_cspace: fixes wrong direction of path end (#24)
  • planner_cspace: fixes straight motion discriminant (#23)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • planner_cspace: adds planner for 2dof serial joints (#6)
  • planner_cspace: uses template to specify dimension
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe, Yuta Koga, Yutaka Takaoka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Messages

No message files found.

Services

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Plugins

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Recent questions tagged planner_cspace at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.17.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/at-wat/neonavigation.git
VCS Type git
VCS Version master
Last Updated 2024-03-25
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

3-dof configuration space planner for mobile robot

Additional Links

No additional links.

Maintainers

  • Atsushi Watanabe

Authors

  • Atsushi Watanabe

planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud] > debug output of planner internal costmap
  • ~/remembered [sensor_msgs::PointCloud] > debug output of obstacles probability estimated by BBF
  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim")) > debug output data type > - "hyst": path hysteresis cost > - "cost_estim": estimated cost to the goal used as A* heuristic function
  • "queue_size_limit" (int, default: 0)
  • "antialias_start" (bool, default: false) > If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub


patrol

stub

CHANGELOG

Changelog for package planner_cspace

0.17.1 (2024-03-22)

  • planner_3d: remove duplicated interpolation method (#733)
  • Contributors: Naotaka Hatao

0.17.0 (2023-11-02)

  • planner_3d: add an option to trigger planning by costmap updates (#727)
  • planner_3d: fix cost calculation bug on in-place turning (#725)
  • Contributors: Naotaka Hatao

0.16.0 (2023-09-14)

  • planner_cspace: start planning from expected robot pose (#717)
  • planner_cspace: add new parameters for cost function (#720)
  • planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated (#718)
  • Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

  • planner_cspace: enable dynamic reconfigure (#714)
  • planner_space: fix segmentation fault on out-of-map (#712)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.14.2 (2023-07-31)

  • planner_cspace: improve peformance of DistanceMap (#709)
  • planner_cspace: avoid multiple goal pose relocation (#708)
  • Contributors: Naotaka Hatao

0.14.1 (2023-07-07)

  • planner_cspace: fix error status handling after cost_estim_cache_ was not created (#705)
  • Contributors: Naotaka Hatao

0.14.0 (2023-06-06)

  • planner_cspace: publish planner_3d metrics (#701)
  • Contributors: Atsushi Watanabe

0.13.0 (2023-05-31)

  • planner_cspace: fix fast map update (#692)
  • planner_cspace: fix status when goal or robot is in rock on updating goal (#694)
  • planner_cspace: fix string template constexpr in test (#685)
  • Contributors: Atsushi Watanabe

0.12.2 (2023-02-28)

  • planner_cspace: fix planner_2dof_serial_joints status (#682)
  • planner_cspace: set timestamp to planner status message (#681)
  • planner_cspace: fix uninitialized variables in DistanceMap (#679)
  • planner_cspace: add scoped trace to some test cases (#680)
  • Contributors: Atsushi Watanabe

0.12.1 (2023-02-25)

  • Improve test logs on timeout (#673)
  • planner_cspace: fix map update range (#672)
  • planner_cspace: clear velocity of dummy_robot on position set (#669)
  • planner_cspace: fix flaky action tests (#665)
  • planner_cspace: fix planner_cspace_msgs version constraint (#663)
  • Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

  • planner_cspace: add continuous movement mode to MoveWithTolerance (#652)
  • Contributors: Naotaka Hatao

0.11.8 (2022-12-28)

  • planner_cspace: add missing array include (#658)
  • Contributors: Atsushi Watanabe

0.11.7 (2022-08-05)

  • planner_cspace: fix pose duplication on path interpolation (#648)
  • Contributors: Atsushi Watanabe

0.11.6 (2022-07-20)

  • planner_cspace: add more test case to Planner3DMapSize (#640)
  • Contributors: Atsushi Watanabe

0.11.5 (2022-07-06)

  • planner_cspace: fix access violation on wrong size costmap_update message (#637)
  • Contributors: Atsushi Watanabe

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

  • planner_cspace: fix DistanceMap::init() (#625)
  • Fix flaky tests and add debug outputs (#628)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.11.2 (2021-11-08)

  • planner_cspace: Fix header of fihish path (#622)
  • Contributors: Kazuki Takahashi

0.11.1 (2021-10-29)

  • planner_cspace: refactor distance map generator (#617)
  • planner_cspace: recover error on FINISHING state (#615)
  • planner_cspace: fix flaky actionlib tests (#616)
  • planner_cspace: remove unused variable (#614)
  • Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

  • Apply clang-format-11 with new setting (#605)
  • Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

  • planner_cspace: reset next_replan_time after waitUntil() (#602)
  • Contributors: Kazuki Takahashi

0.10.10 (2021-03-18)

  • planner_cspace: fix goal unreachable condition (#595)
  • Contributors: Atsushi Watanabe

0.10.9 (2021-03-16)

  • planner_cspace: abort A* search on continuous timeout (#592)
  • Contributors: Atsushi Watanabe

0.10.8 (2021-03-10)

  • planner_cspace: improve performance of costmap reset (#587)
  • Contributors: Naotaka Hatao

0.10.7 (2021-03-07)

  • planner_cspace: improve performance of hysteresis clearing (#586)
  • Contributors: Naotaka Hatao

0.10.6 (2021-01-28)

  • planner_cspace: fix condition of open queue (#576)
  • planner_cspace: add debug output about cost_estim_cache update (#577)
  • planner_cspace: reuse open/erase queue (#575)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.10.5 (2020-12-24)

  • planner_cspace: enable tolerance in make_plan (#570)
  • Contributors: Naotaka Hatao

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

  • planner_cspace: avoid publishing invalid path when escaping (#546)
  • Contributors: Naotaka Hatao

0.10.0 (2020-08-06)

  • planner_cspace: add test to MoveWithToleranceAction (#528)
  • planner_cspace: add test to distance map debug output (#526)
  • planner_cspace: periodically update local map in the test (#522)
  • Merge rostest coverage profiles (#520)
  • planner_cspace: fix search range of minimum cost in fast_map_update mode (#518)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

  • planner_cspace: avoid showing too many warning messages (#501)
  • Contributors: Naotaka Hatao

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

  • Fix duplicated tf timestamp (#494)
  • planner_cspace: add wait to navigation tests (#492)
  • planner_cspace: simplify path switch detection condition (#488)
  • planner_cspace: fix uninitialized variable (#486)
  • planner_cspace: enable replan when robot reaches the switchback point (#449)
  • planner_cspace: fix test_debug_outputs initial wait (#485)
  • Contributors: Atsushi Watanabe, Kazuki Takahashi

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

  • Clean unused dependencies (#472)
  • Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

  • Support Noetic (#461)
  • Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

  • planner_cspace: fix flaky debug_output test (#452)
  • planner_cspace: fix condition of planning finish (#451)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.8.0 (2020-03-04)

  • planner_cspace: replan immediately when path is blocked by new obstacles (#446)
  • Add message package version constraints (#443)
  • Contributors: Atsushi Watanabe, Naotaka Hatao

0.7.0 (2020-02-04)

  • planner_cspace: add MoveWithToleranceAction server (#433)
  • planner_cspace: fix typo (#436)
  • planner_cspace: implement motion primitive algorithm for speed-up (#431)
  • Contributors: Daiki Maekawa, Naotaka Hatao

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

  • planner_cspace: disable blockmem_gridmap_performance test (#413)
  • Fix header namespaces (#408)
  • planner_cspace: fix installing planner_2dof_serial_joints node (#409)
  • Migrate from C math functions to C++ (#407)
  • planner_cspace: split search model definition (#323)
  • planner_cspace: fix debug output test (#404)
  • planner_cspace: fix navigation test stability (#403)
  • planner_cspace: add planner_2dof_serial_joints node test (#402)
  • Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

  • planner_cspace: fix debug output test stability (#399)
  • planner_cspace: publish internally used maps as OccupancyGrid (#396)
  • planner_cspace: clear hysteresis if new obstacle is on the previous path (#393)
  • planner_cspace: fix remember_updates feature (#391)
  • Contributors: Atsushi Watanabe

0.4.3 (2019-09-10)

  • planner_cspace: make sure that planner error will be cleared if the goal is aborted (#372)
  • Contributors: Daiki Maekawa

0.4.2 (2019-08-19)

  • planner_cspace: fix planner performance (#369)
  • Contributors: Atsushi Watanabe

0.4.1 (2019-08-15)

  • planner_cspace: fix debug build compatibility (#368)
  • planner_cspace: fix out-of-boundary validation (#362)
  • planner_cspace: fix incomplete output path after search timeout (#357)
  • planner_cspace: reduce position quantization error on planning (#351)
  • planner_cspace: latch publish data in navigation test (#353)
  • planner_cspace: improve grid search performance (#342)
  • planner_cspace: optimize BlockmemGridmap (#315)
  • planner_cspace: add a launch for planner performance evaluation (#343)
  • planner_cspace: fix parallel memory access (#306)
  • planner_cspace: remove hist mode of debug output (#336)
  • planner_cspace: fix navigation test setup (#335)
  • planner_cspace: add a navigation test case with map update (#334)
  • planner_cspace: add const to the end pos (#332)
  • planner_cspace: reject request if input frame are located at diffrent frame to the map (#327)
  • planner_cspace: publish empty path immediately after planning aborted (#326)
  • planner_cspace: revert default sw_wait parameter (#313)
  • Drop ROS Indigo and Ubuntu Trusty support (#310)
  • planner_cspace: calculate path hysteresis in 3-DOF space (#304)
  • Fix include directory priority (#308)
  • planner_cspace: fix CyclicVector dimension of planner_2dof_serial_joints (#307)
  • planner_cspace, costmap_cspace: minor refactoring (#305)
  • Fix empty path publish (#301)
  • planner_cspace: refactor CyclicVec (#300)
  • planner_cspace: refactor rotation cache (#299)
  • planner_cspace: fix path cost calculation and interpolation (#298)
  • Contributors: Atsushi Watanabe, Daiki Maekawa, Yuta Koga

0.4.0 (2019-05-09)

  • planner_cspace: limit negative cost to avoid infinite search loop (#288)
  • trajectory_tracker: remove unused parameters (#274)
  • Support melodic (#266)
  • Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

  • trajectory_tracker: support PathWithVelocity (#244)
  • planner_cspace: fix stability of test_costmap_watchdog (#242)
  • planner_cspace: add watchdog to costmap update (#235)
  • planner_cspace: add missing test dependencies (#234)
  • Fix pointer alignment style (#233)
  • Migrate tf to tf2 (#230)
  • planner_cspace: add diagnostics to planner node (#226)
  • planner_cspace: stop robot motion if new map received (#218)
  • planner_cspace: split grid-metric converter functions (#213)
  • planner_cspace: split motion cache class (#212)
  • planner_cspace: fix goal and start tolerance parameter (#211)
  • planner_cspace: add cost for turning near obstacles (#210)
  • Fix catkin package definitions (#206)
  • planner_cspace: use odometry position difference in jump detection (#205)
  • planner_cspace: refactoring (#204)
  • Contributors: Atsushi Watanabe, So Jomura, Yuta Koga

0.2.3 (2018-07-19)

  • Fix test names (#202)
  • Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

  • Fix missing package dependencies (#194)
  • Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

  • planner_cspace: fix restriction of path segment connection (#191)
  • planner_cspace: fix boundary check (#190)
  • planner_cspace: fix unconverged switching back vibration (#183)
  • Reduce random test failure (#181)
  • Update CI (#179)
  • Fix cost in heuristic function for make_plan service (#178)
  • Fix namespace migration messages (#174)
  • planner_cspace: add make plan service (#169)
  • Fix topic/service namespace model (#168)
  • Fix package dependencies (#167)
  • Fix naming styles (#166)
  • Update package descriptions and unify license and version (#165)
  • Use neonavigation_msgs package (#164)
  • planner_cspace: fix clearing remembered costmap (#158)
  • planner_cspace: fix partial costmap update with unknown cells (#156)
  • planner_cspace: remember costmap using binary bayes filter (#149)
  • planner_cspace: fix position jump detection (#150)
  • planner_cspace: fix remembering costmap (#147)
  • planner_cspace: use frame_id of incoming message to set dummy robot pose (#145)
  • planner_cspace: add odom publisher to dummy robot (#143)
  • planner_cspace: add preempt (#137)
  • planner_cspace: minor optimizations (#129)
  • planner_cspace: disable performance test by default (#127)
  • planner_cspace: support parallel distance map search (#125)
  • planner_cspace: support parallel aster search (#118)
  • Add abort (#116)
  • planner_cspace: increase navigation test time limit (#98)
  • planner_cspace: validate goal position. (#90)
  • Suppress compile warnings and test with -Werror. (#82)
  • Fix header of empty path. (#79)
  • planner_cspace: cache motion interpolation. (#75)
  • planner_cspace: add planning performance test. (#74)
  • planner_cspace: add navigation integration test. (#73)
  • planner_cspace: add test for cyclic_vec. (#72)
  • planner_cspace: fix naming styles in blockmem_gridmap. (#69)
  • planner_cspace: add test for blockmem_gridmap. (#70)
  • planner_cspace: install patrol actionlib client. (#64)
  • planner_cspace: initialize dummy robot status. (#62)
  • planner_cspace: add simple action client for robot patrol. (#61)
  • planner_cspace: add missing dependency to boost::chrono. (#60)
  • planner_cspace: add actionlib support. (#58)
  • neonavigation_launch, planner_cspace: add simple simulator. (#59)
  • planner_space: fix naming styles. (#57)
  • planner_cspace: refactor separating classes. (#55)
  • planner_cspace: fix distance map init timing. (#53)
  • Remove dummy dep to system_lib. (#51)
  • Support package install. (#45)
  • Fix coding styles. (#39)
  • planner_cspace: fixes ignore range handling (#28)
  • planner_cspace: fixes memory leak on remembered costmap (#27)
  • planner_cspace: adds service to forget remembered costmap (#26)
  • planner_cspace: fixes logic of remember_update parameter (#25)
  • planner_cspace: fixes wrong direction of path end (#24)
  • planner_cspace: fixes straight motion discriminant (#23)
  • adds READMEs (#11)
  • costmap_cspace, planner_cspace: fixes pkg dependencies
  • planner_cspace: adds planner for 2dof serial joints (#6)
  • planner_cspace: uses template to specify dimension
  • changes planner and costmap package names with a postfix _cspace
  • Contributors: Atsushi Watanabe, Yuta Koga, Yutaka Takaoka

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