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

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


  • Piyush Khandelwal
  • Jack O'Quin


  • Piyush Khandelwal
No README found. See repository README.

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 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/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/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/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/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/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/gmapping.launch
      • scan_topic [default: scan_filtered]
  • 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/rviz.launch
      • config [default: nav_eband]
      • config_file [default: $(find segbot_navigation)/rviz/$(arg config).rviz]


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