Package Summary

Tags No category tags.
Version 0.3.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/utexas-bwi/segbot.git
VCS Type git
VCS Version kinetic
Last Updated 2018-12-07
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Contains launch files for running the ROS navigation stack on the segbot using the eband_local_planner approach, as well as launch files for amcl and gmapping.

Additional Links

Maintainers

  • Piyush Khandelwal
  • Jack O'Quin

Authors

  • Piyush Khandelwal
README
No README found. See repository README.
CHANGELOG

Changelog for package segbot_navigation

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

  • Added gmapping launch files for version 3 BWI Bot and added mapping instructions.
  • Resolving hardcoded directory in include A recent commit changed most of the rosparam .yaml files to be found based on the robot version (segbotv2 or v3). One file, eband_planner_params.yaml had the old directory structure hardcoded in, preventing successful startup when running the bwi launch files on a segbot_v2.
  • improved door sensing behavior. switched from navfn to global_planner
  • updated parameters, and separated v2 and v3 navigation configuration parameters.
  • fixed robot footprint.
  • updated for hokuyo on segbot v3
  • switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
  • Contributors: FernandezR, Piyush Khandelwal, maxsvetlik

0.3.3 (2015-08-05)

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

0.3.1 (2015-03-31)

  • Allow explicit amcl laser max range paramter instantiation. closes #31.
  • Closes #29 - Get latest version of move_base to get fix introduced in https://github.com/ros-planning/navigation/pull/295 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.
  • Increase local costmap size to 8m x 8m. Increasing obstacle and raytrace range for primary laser to match. Closes #26.

  • updated planner frequency to 1.0. Closes #25

  • Contributors: Piyush Khandelwal

0.3.0 (2015-03-24)

  • a number of navigation changes to allow for correct navigation with multiple namespaced robots, and use the multimap.
  • fixed a bunch of catkin_lint errors. also installed missing scripts. closes #23
  • added better approach point determination. only navigate via the current location
  • Fixed nan_to_inf filter, still testing laser on new robot.
  • revised map_server\'s node name to make it unique
  • tuned many of the amcl parameters to make navigation better.
  • Made the door checker test for the door to be open 3 times before going through. Works much better.
  • Contributors: BWI, Jivko Sinapov, Piyush Khandelwal, Shiqi Zhang, bwi

0.2.1 (2014-04-22)

0.2.0 (2014-04-19)

  • use roslaunch_add_files_check() to test that required launch file dependencies are declared.

0.1.5 (2013-09-03)

  • closes #8

0.1.4 (2013-08-12)

  • added a real world navigation file
  • updated and cleaned up visualization config
  • cleaned up launch and configuration files. closes #6
  • removed confusing map_namespace parameter
  • added map_topic parameter for multi-robot scenarios

0.1.3 (2013-07-16)

  • added missing dependencies (closes #4). Cleaned up package and cmake files.
  • changed costmap visualization to occupancy grid in rviz configuration

0.1.2 (2013-07-13)

  • removed dependency on navigation meta-package. progress towards #3

0.1.1 (2013-07-10)

  • navigation has been released as a system dependency

0.1.0 (2013-06-28)

  • removed redundant doc file
  • uncommented runtime launch dependencies on navigation and eband_local_planner as they have not been released into hydro yet
  • catkinized segbot_apps
  • updating the eband visualization configuration for hydro-devel
  • increased footprint size to produce an inscribed radius of 0.3
  • fixed footprint location while waiting for ros-planning/navigation#63 to be fixed
  • commenting out hydro-devel navigation test code. This should not be checked in until navigation through hydro-devel is fixed
  • changes to prepare for the catkinization of eband_local_planner against hydro-devel in navigation
  • some improvements to navigation
  • fixed a bug in the eband trajectory controller
  • in-place rotation at goal now supported
  • merged goal tolerance parameters between local planner and trajectory controller.
  • add launch for e-band navigation
  • fixed for the regular nav stack launch file as well. closes #1
  • hmm not sure why this file was here
  • fix for the eband costmap having an incorrect topic. #1
  • updated launch file to use any visualization configuration + reorganized eband configuration file
  • checking in new parameters for the eband local planner
  • inital differential drive trajectory controller - looks pretty good. needs a bit more code improvent, dynamic reconfigure and stricter obstacle testing
  • removed some unnecessary launch files and added an rviz configuration + launch file for testing autonomous navigation
  • basic amcl + move base demo works (but is not very good)
  • removed old ens basement maps from the repo
  • removed joy gmapping file - joystick control not directly supported
  • removed redundant sensor files (moved to segbot_sensors)
  • initial port of of navigation and controller code from the svn repository

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/robot_with_gmapping_v2.launch
      • map_file [default: $(find utexas_gdc)/maps/3ne-real-new.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v2.launch]
  • launch/rviz.launch
      • config [default: nav_eband]
      • config_file [default: $(find segbot_navigation)/rviz/$(arg config).rviz]
  • launch/navigation_v2.launch
      • map_file [default: $(find utexas_gdc)/maps/real/3ne/3ne.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v2.launch]
  • launch/robot_with_gmapping_v3.launch
      • map_file [default: $(find utexas_gdc)/maps/3ne-real-new.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v3.launch]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • map_service [default: static_map]
      • map_topic [default: map]
      • scan_topic [default: scan_filtered]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • map_frame_id [default: map]
      • base_frame_id [default: base_footprint]
      • odom_frame_id [default: odom]
      • odom_alpha1 [default: 0.4]
      • odom_alpha2 [default: 0.4]
      • odom_alpha3 [default: 0.4]
      • odom_alpha4 [default: 0.4]
      • odom_alpha5 [default: 0.4]
      • laser_max_range [default: 20.0]
  • launch/move_base_eband.launch
      • map_topic [default: /map]
      • move_base_server [default: move_base]
      • debug [default: false]
      • config [default: segbotv2]
      • global_frame [default: map]
      • eband_rotational_threshold_multiplier [default: 1.0]
      • eband_disallow_hysteresis [default: false]
  • launch/navigation.launch
      • map_file [default: $(find utexas_gdc)/maps/real/3ne/3ne.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v1.launch]
  • launch/gmapping_v3.launch
      • scan_topic [default: velodyne/scan_filtered]
  • launch/gmapping.launch
      • scan_topic [default: scan_filtered]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged segbot_navigation at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/utexas-bwi/segbot.git
VCS Type git
VCS Version indigo
Last Updated 2018-03-09
Dev Status DEVELOPED
Released RELEASED

Package Description

Contains launch files for running the ROS navigation stack on the segbot using the eband_local_planner approach, as well as launch files for amcl and gmapping.

Additional Links

Maintainers

  • Piyush Khandelwal
  • Jack O'Quin

Authors

  • Piyush Khandelwal
README
No README found. See repository README.
CHANGELOG

Changelog for package segbot_navigation

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

  • Added gmapping launch files for version 3 BWI Bot and added mapping instructions.
  • Resolving hardcoded directory in include A recent commit changed most of the rosparam .yaml files to be found based on the robot version (segbotv2 or v3). One file, eband_planner_params.yaml had the old directory structure hardcoded in, preventing successful startup when running the bwi launch files on a segbot_v2.
  • improved door sensing behavior. switched from navfn to global_planner
  • updated parameters, and separated v2 and v3 navigation configuration parameters.
  • fixed robot footprint.
  • updated for hokuyo on segbot v3
  • switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
  • Contributors: FernandezR, Piyush Khandelwal, maxsvetlik

0.3.3 (2015-08-05)

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

0.3.1 (2015-03-31)

  • Allow explicit amcl laser max range paramter instantiation. closes #31.
  • Closes #29 - Get latest version of move_base to get fix introduced in https://github.com/ros-planning/navigation/pull/295 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.
  • Increase local costmap size to 8m x 8m. Increasing obstacle and raytrace range for primary laser to match. Closes #26.

  • updated planner frequency to 1.0. Closes #25

  • Contributors: Piyush Khandelwal

0.3.0 (2015-03-24)

  • a number of navigation changes to allow for correct navigation with multiple namespaced robots, and use the multimap.
  • fixed a bunch of catkin_lint errors. also installed missing scripts. closes #23
  • added better approach point determination. only navigate via the current location
  • Fixed nan_to_inf filter, still testing laser on new robot.
  • revised map_server\'s node name to make it unique
  • tuned many of the amcl parameters to make navigation better.
  • Made the door checker test for the door to be open 3 times before going through. Works much better.
  • Contributors: BWI, Jivko Sinapov, Piyush Khandelwal, Shiqi Zhang, bwi

0.2.1 (2014-04-22)

0.2.0 (2014-04-19)

  • use roslaunch_add_files_check() to test that required launch file dependencies are declared.

0.1.5 (2013-09-03)

  • closes #8

0.1.4 (2013-08-12)

  • added a real world navigation file
  • updated and cleaned up visualization config
  • cleaned up launch and configuration files. closes #6
  • removed confusing map_namespace parameter
  • added map_topic parameter for multi-robot scenarios

0.1.3 (2013-07-16)

  • added missing dependencies (closes #4). Cleaned up package and cmake files.
  • changed costmap visualization to occupancy grid in rviz configuration

0.1.2 (2013-07-13)

  • removed dependency on navigation meta-package. progress towards #3

0.1.1 (2013-07-10)

  • navigation has been released as a system dependency

0.1.0 (2013-06-28)

  • removed redundant doc file
  • uncommented runtime launch dependencies on navigation and eband_local_planner as they have not been released into hydro yet
  • catkinized segbot_apps
  • updating the eband visualization configuration for hydro-devel
  • increased footprint size to produce an inscribed radius of 0.3
  • fixed footprint location while waiting for ros-planning/navigation#63 to be fixed
  • commenting out hydro-devel navigation test code. This should not be checked in until navigation through hydro-devel is fixed
  • changes to prepare for the catkinization of eband_local_planner against hydro-devel in navigation
  • some improvements to navigation
  • fixed a bug in the eband trajectory controller
  • in-place rotation at goal now supported
  • merged goal tolerance parameters between local planner and trajectory controller.
  • add launch for e-band navigation
  • fixed for the regular nav stack launch file as well. closes #1
  • hmm not sure why this file was here
  • fix for the eband costmap having an incorrect topic. #1
  • updated launch file to use any visualization configuration + reorganized eband configuration file
  • checking in new parameters for the eband local planner
  • inital differential drive trajectory controller - looks pretty good. needs a bit more code improvent, dynamic reconfigure and stricter obstacle testing
  • removed some unnecessary launch files and added an rviz configuration + launch file for testing autonomous navigation
  • basic amcl + move base demo works (but is not very good)
  • removed old ens basement maps from the repo
  • removed joy gmapping file - joystick control not directly supported
  • removed redundant sensor files (moved to segbot_sensors)
  • initial port of of navigation and controller code from the svn repository

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot_with_gmapping_v2.launch
      • map_file [default: $(find utexas_gdc)/maps/3ne-real-new.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v2.launch]
  • launch/rviz.launch
      • config [default: nav_eband]
      • config_file [default: $(find segbot_navigation)/rviz/$(arg config).rviz]
  • launch/navigation_v2.launch
      • map_file [default: $(find utexas_gdc)/maps/real/3ne/3ne.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v2.launch]
  • launch/robot_with_gmapping_v3.launch
      • map_file [default: $(find utexas_gdc)/maps/3ne-real-new.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v3.launch]
  • launch/amcl.launch
      • use_map_topic [default: true]
      • map_service [default: static_map]
      • map_topic [default: map]
      • scan_topic [default: scan_filtered]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • map_frame_id [default: map]
      • base_frame_id [default: base_footprint]
      • odom_frame_id [default: odom]
      • odom_alpha1 [default: 0.4]
      • odom_alpha2 [default: 0.4]
      • odom_alpha3 [default: 0.4]
      • odom_alpha4 [default: 0.4]
      • odom_alpha5 [default: 0.4]
      • laser_max_range [default: 20.0]
  • launch/move_base_eband.launch
      • map_topic [default: /map]
      • move_base_server [default: move_base]
      • debug [default: false]
      • config [default: segbotv2]
      • global_frame [default: map]
      • eband_rotational_threshold_multiplier [default: 1.0]
      • eband_disallow_hysteresis [default: false]
  • launch/navigation.launch
      • map_file [default: $(find utexas_gdc)/maps/real/3ne/3ne.yaml]
      • robot_configuration [default: $(find segbot_bringup)/launch/segbot_v1.launch]
  • launch/gmapping_v3.launch
      • scan_topic [default: velodyne/scan_filtered]
  • launch/gmapping.launch
      • scan_topic [default: scan_filtered]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged segbot_navigation at answers.ros.org