No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. 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 master
Last Updated 2019-07-09
Dev Status DEVELOPED
Released RELEASED

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)

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.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged planner_cspace at answers.ros.org

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 master
Last Updated 2019-07-09
Dev Status DEVELOPED
Released RELEASED

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)

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.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged planner_cspace at answers.ros.org

No version for distro ardent. 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 master
Last Updated 2019-07-09
Dev Status DEVELOPED
Released RELEASED

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)

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

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Messages

No message files found.

Services

No service files found

Plugins

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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
Released RELEASED

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 answers.ros.org

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