Package Summary

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Version 0.3.5
License BSD
Build type CATKIN

Repository Summary

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VCS Type git
VCS Version indigo
Last Updated 2018-03-09
CI status Continuous Integration
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Good First Issues (0)
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Package Description

High-level navigation application for the segbot allowing the segbot to approach and gothrough doors. The application can also be used to determine the segbot's logical location, as well as sense when a door in front of the robot is open or not.

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  • Piyush Khandelwal
  • Jack O'Quin


  • Piyush Khandelwal
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Changelog for package segbot_logical_translator

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

  • Updated approachObject observations to update facing and beside fluents.
  • segbot_logical_translator: fix broken add_dependency() (#61)
  • improved door sensing behavior. switched from navfn to global_planner
  • refined door open check behavior to also disable static costmap.
  • changed gothrough action to disable static map while executing navigation.
  • bug fixes to new floor location resolution functionality.
  • added functionality for resolving a change floor request, allowing robot teleportation.
  • Contributors: FernandezR, Jack O\'Quin, Piyush Khandelwal

0.3.3 (2015-08-05)

  • merge segbot_apps packages into segbot (#46)
  • Contributors: Jack O\'Quin

0.3.1 (2015-03-31)

  • Closes #29 - Get latest version of move_base to get fix introduced in This allows setting tolerance to 0 when calling make_plan from segbot_logical_translator.

    • Don\'t use any tolerance when testing whether a door was open or not.
    • Don\'t clear costmap around robot when testing for an open door.
  • fixed issue where the logical translator was returning beside and facing for two different doors. closes #30.

  • segbot_logical_navigator now checks for costmap updates to test whether the map has changed between door/no-door versions. closes #28

  • removed segbot_gazebo dependency. closes #27.

  • Contributors: Piyush Khandelwal

0.3.0 (2015-03-24)

  • completed migration of LogicalNavigationAction to bwi_msgs in bwi_common repository.
  • fixed bug in segbot_logical_translator where it would try and analyze facing/beside for doors not connected to the current location.
  • modified the segbot_logical_navigator to use action service instead of services.
  • read map file and data directory using multimap
  • some navigation changes for more robust navigation.
  • use correct approachable area for objects and doors.
  • added multimap support.
  • making the logical navigator advertise execute_logical_goal after the first pose has been received (github issue #18)
  • turning annoying prints into ROS_INFOs and removing more annoying ones.
  • Made the door checker test for the door to be open 3 times before going through. Works much better. Removed recovery behavior.
  • Contributors: Matteo Leonetti, Piyush Khandelwal

0.2.1 (2014-04-22)

0.2.0 (2014-04-19)

  • now actually read in object approach file
  • added the ability to approach an object, as well as added the ability to approach a door from any accessible location
  • now catkin_lint approved
  • better error checking, shared global nodehandle, added ability to sense whether a door is open or not
  • moved the cost estimator to the bwi_planning package
  • moved gazebo stuff to separate simulated app
  • Contributors: Jack O\'Quin, Piyush Khandelwal, piyushk

0.1.5 (2013-09-03)

0.1.4 (2013-08-12)

0.1.3 (2013-07-16)

0.1.2 (2013-07-13)

0.1.1 (2013-07-10)

0.1.0 (2013-06-28)

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