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

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

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

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

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

stepback_and_steerturn_recovery package from steer_drive_ros repo

steer_bot_hardware_gazebo steer_drive_controller steer_drive_ros stepback_and_steerturn_recovery

API Docs
Browse Code
Wiki
RosEco

Package Summary

Tags	No category tags.
Version	1.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/CIR-KIT/steer_drive_ros.git
VCS Type	git
VCS Version	kinetic-devel
Last Updated	2018-09-06
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

This package provides a recovery behavior for the navigation stack which steps back and proceed with a specified steer angle

Additional Links

Maintainers

Masaru Morita

Authors

CIR-KIT
Masaru Morita

stepback_and_steerturn_recovery/README.md

stepback_and_steerturn_recovery

仕様

ざっくりしたものはissue参照→Recovery の挙動について #10
実際には，これよりもうちょっと色々やっている．
- 左に障害物があったら，「右旋回」→「直進」→「左旋回」を行うことで進路クリアを図っている
移動量、回転量で制御．制御量はパラメータで設定可能．
移動中リアルタイムにcostmapを参照し，衝突前に停止する．許容距離はパラメータで設定可能．
「後退→旋回→直進→反対旋回」or「後退→旋回」をパラメータで選択可能.
行動前に障害物をチェック．障害物が存在したら下記に従って目標移動距離を修正．
- 修正前: hogehoge_length (パラメータ)
- 修正後: 障害物までの距離 - obstacle_patience (パラメータ)
各動作毎にタイムアウトを設定可能．

Topic

Publish

/recover_run
- Type: std_msgs::Bool
- リカバリ開始時にtrue, リカバリ終了時にfalseをpublish．

挙動

動画サンプル→https://www.youtube.com/watch?v=j6GID9XuiiU

使い方

事前設定

まずはcatkin_makeする．
navigation の planner.yaml(NavfanROSやTrajectoryPlannerROSの設定が入っているファイル)に，以下のパラメータを追加する．

recovery_behaviour_enabled: true

recovery_behaviors:
  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
  - {name: stepback_and_steerturn_recovery, type: stepback_and_steerturn_recovery/StepBackAndSteerTurnRecovery}
  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}

stepback_and_steerturn_recovery:
    # 最初の一回だけ旋回したい場合にtrue
    only_single_steering: true
    # リカバリ行動の試行回数[回]
    trial_times         : 3
    # 障害物までの許容距離[m]．
    #-- 移動中に，移動方向に対して最も近い障害物がこの距離以内に出現したら停止する．
    obstacle_patience   : 0.3
    #-- 移動中に，障害物を確認する頻度[回/sec]
    obstacle_check_frequency: 5.0
    # 障害物探索時の角度の分解能[rad] costmapアクセス数を低減したいときに調整する．
    sim_angle_resolution: 0.1
    # 障害物探索時のsim更新周期[回/sec] costmapアクセス回数を低減したいときに調整する．
    simulation_frequency    : 5
    # back(初回後退時の速度[m/s], 移動距離[m], タイムアウト[sec])
    linear_vel_back     : -0.3
    step_back_length    : 1.0
    step_back_timeout   : 15.0
    # steer(旋回時の速度[rad/s]と目標回転角度[rad], タイムアウト[sec])
    linear_vel_steer    : 0.3
    angular_speed_steer : 0.5
    turn_angle          : 1.5
    steering_timeout    : 15.0
    # forward(旋回→直進→旋回の直進時の速度[m/s]と目標移動距離[m], タイムアウト[sec])
    linear_vel_forward  : 0.3
    step_forward_length : 1.0
    step_forward_timeout: 15.0

使用時挙動

move_base立ち上げ時に以下のメッセージが出ていれば初期化成功

[ INFO] [1476905975.890241798, 6973.810000000]: Initialized with only_single_steering = false
[ INFO] [1476905975.890302193, 6973.810000000]: Initialized with recovery_trial_times = 3
[ INFO] [1476905975.890322274, 6973.810000000]: Initialized with obstacle_patience = 0.50
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with obstacle_check_frequency = 6.00
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with simulation_frequency = 5.10
[ INFO] [1476905975.890357877, 6973.810000000]: Initialized with sim_angle_resolution = 0.15
[ INFO] [1476905975.890378780, 6973.810000000]: Initialized with linear_vel_back = -0.30, step_back_length = 8.00, step_back_steering = 3.00
[ INFO] [1476905975.890576838, 6973.810000000]: Initialized with linear_vel_steer = 0.50, angular_speed_steer = 0.50, turn_angle = 2.00, steering_timeout = 3.10
[ INFO] [1476905975.890605697, 6973.810000000]: Initialized with linear_vel_forward = 0.30, step_forward_length = 8.00, step_forward_timeout = 3.20

パラメータサーバに次のように登録されていればOK

rosparam list | grep stepback_and_steerturn_recovery
/move_base/stepback_and_steerturn_recovery/angular_speed_steer
/move_base/stepback_and_steerturn_recovery/linear_vel_back
/move_base/stepback_and_steerturn_recovery/linear_vel_forward
/move_base/stepback_and_steerturn_recovery/linear_vel_steer
/move_base/stepback_and_steerturn_recovery/obstacle_check_frequency
/move_base/stepback_and_steerturn_recovery/obstacle_patience
/move_base/stepback_and_steerturn_recovery/only_single_steering
/move_base/stepback_and_steerturn_recovery/sim_angle_resolution
/move_base/stepback_and_steerturn_recovery/simulation_frequency
/move_base/stepback_and_steerturn_recovery/steering_timeout
/move_base/stepback_and_steerturn_recovery/step_back_length
/move_base/stepback_and_steerturn_recovery/step_back_timeout
/move_base/stepback_and_steerturn_recovery/step_forward_length
/move_base/stepback_and_steerturn_recovery/step_forward_timeout
/move_base/stepback_and_steerturn_recovery/trial_times
/move_base/stepback_and_steerturn_recovery/turn_angle

リカバリ行動に入ったら以下のようなメッセージが出る．
- 1秒に1回，移動横行と障害物までの最短距離を出力する．
- 障害物発見時はWARNINGで表示．

[ INFO] [1476868375.829523527, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829690887, 2480.590000000]: **********Start StepBackAndSteerRecovery!!!**********
[ INFO] [1476868375.829753797, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829794323, 2480.590000000]: ==== 1 th recovery trial ====
[ INFO] [1476868383.643012049, 2488.400000000]: min dist to obstacle = 1.59 [m] in BACKWARD
[ INFO] [1476868384.840226745, 2489.590000000]: min dist to obstacle = 0.92 [m] in BACKWARD
[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD
[ INFO] [1476868386.036321913, 2490.790000000]: complete step back
[ INFO] [1476868387.007138030, 2491.760000000]: min_l = 12.22 [m], min_r = 5.98 [m]
[ INFO] [1476868387.007252925, 2491.760000000]: attempting to turn left at the 1st turn
[ INFO] [1476868387.610307113, 2492.360000000]: min dist to obstacle = 11.09 [m] in FORWARD_LEFT
[ INFO] [1476868388.005182918, 2492.760000000]: complete the 1st turn
[ INFO] [1476868388.005297723, 2492.760000000]: attemping step forward
[ INFO] [1476868388.611079357, 2493.360000000]: min dist to obstacle = 8.73 [m] in FORWARD
[ INFO] [1476868389.212381216, 2493.960000000]: min dist to obstacle = 7.70 [m] in FORWARD
[ INFO] [1476868390.413571989, 2495.160000000]: min dist to obstacle = 5.98 [m] in FORWARD
[ INFO] [1476868391.010836290, 2495.760000000]: complete step forward
[ INFO] [1476868391.010889155, 2495.760000000]: attempting second turn
[ INFO] [1476868391.013244061, 2495.760000000]: min dist to obstacle = 25.86 [m] in FORWARD_RIGHT
[ INFO] [1476868392.008923908, 2496.760000000]: complete second turn
[ INFO] [1476868392.993798006, 2497.740000000]: break recovery because the robot got clearance
[ INFO] [1476868392.993863847, 2497.740000000]: *****************************************************
[ INFO] [1476868392.993893442, 2497.740000000]: **********Finish StepBackAndSteerRecovery!!**********
[ INFO] [1476868392.993917387, 2497.740000000]: *****************************************************

WARNINGの種類

移動前に障害物検知

 [ WARN] [1476906022.832819115, 7020.720000000]: obstacle detected before moving FORWARD
 [ WARN] [1476906022.832909665, 7020.720000000]: min dist to obstacle = 2.97 [m] in FORWARD
 [ WARN] [1476906022.832949896, 7020.720000000]: moving length is switched from 8.00 [m] to 1.97 in FORWARD

移動中に障害物検知

[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD

タイムアウト

[ WARN] [1476906019.469352572, 7017.360000000]: time out at BACKWARD
[ WARN] [1476906019.469436583, 7017.360000000]: 3.00 [sec] elapsed.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cmake_modules
	2	base_local_planner
	1	catkin
	2	roscpp
	1	tf
	2	costmap_2d
	2	nav_core
	1	pluginlib

System Dependencies

Name
eigen

Dependant Packages

Name	Repo	Deps
steer_drive_ros	github-CIR-KIT-steer_drive_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav_core

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

API Docs Browse Code Wiki RosEco

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

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

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

stepback_and_steerturn_recovery package from steer_drive_ros repo

steer_bot_hardware_gazebo steer_drive_controller steer_drive_ros stepback_and_steerturn_recovery

API Docs
Browse Code
Wiki
RosEco

Package Summary

Tags	No category tags.
Version	1.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/CIR-KIT/steer_drive_ros.git
VCS Type	git
VCS Version	lunar-devel
Last Updated	2018-08-16
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

This package provides a recovery behavior for the navigation stack which steps back and proceed with a specified steer angle

Additional Links

Maintainers

Masaru Morita

Authors

CIR-KIT
Masaru Morita

stepback_and_steerturn_recovery/README.md

stepback_and_steerturn_recovery

仕様

ざっくりしたものはissue参照→Recovery の挙動について #10
実際には，これよりもうちょっと色々やっている．
- 左に障害物があったら，「右旋回」→「直進」→「左旋回」を行うことで進路クリアを図っている
移動量、回転量で制御．制御量はパラメータで設定可能．
移動中リアルタイムにcostmapを参照し，衝突前に停止する．許容距離はパラメータで設定可能．
「後退→旋回→直進→反対旋回」or「後退→旋回」をパラメータで選択可能.
行動前に障害物をチェック．障害物が存在したら下記に従って目標移動距離を修正．
- 修正前: hogehoge_length (パラメータ)
- 修正後: 障害物までの距離 - obstacle_patience (パラメータ)
各動作毎にタイムアウトを設定可能．

Topic

Publish

/recover_run
- Type: std_msgs::Bool
- リカバリ開始時にtrue, リカバリ終了時にfalseをpublish．

挙動

動画サンプル→https://www.youtube.com/watch?v=j6GID9XuiiU

使い方

事前設定

まずはcatkin_makeする．
navigation の planner.yaml(NavfanROSやTrajectoryPlannerROSの設定が入っているファイル)に，以下のパラメータを追加する．

recovery_behaviour_enabled: true

recovery_behaviors:
  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
  - {name: stepback_and_steerturn_recovery, type: stepback_and_steerturn_recovery/StepBackAndSteerTurnRecovery}
  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}

stepback_and_steerturn_recovery:
    # 最初の一回だけ旋回したい場合にtrue
    only_single_steering: true
    # リカバリ行動の試行回数[回]
    trial_times         : 3
    # 障害物までの許容距離[m]．
    #-- 移動中に，移動方向に対して最も近い障害物がこの距離以内に出現したら停止する．
    obstacle_patience   : 0.3
    #-- 移動中に，障害物を確認する頻度[回/sec]
    obstacle_check_frequency: 5.0
    # 障害物探索時の角度の分解能[rad] costmapアクセス数を低減したいときに調整する．
    sim_angle_resolution: 0.1
    # 障害物探索時のsim更新周期[回/sec] costmapアクセス回数を低減したいときに調整する．
    simulation_frequency    : 5
    # back(初回後退時の速度[m/s], 移動距離[m], タイムアウト[sec])
    linear_vel_back     : -0.3
    step_back_length    : 1.0
    step_back_timeout   : 15.0
    # steer(旋回時の速度[rad/s]と目標回転角度[rad], タイムアウト[sec])
    linear_vel_steer    : 0.3
    angular_speed_steer : 0.5
    turn_angle          : 1.5
    steering_timeout    : 15.0
    # forward(旋回→直進→旋回の直進時の速度[m/s]と目標移動距離[m], タイムアウト[sec])
    linear_vel_forward  : 0.3
    step_forward_length : 1.0
    step_forward_timeout: 15.0

使用時挙動

move_base立ち上げ時に以下のメッセージが出ていれば初期化成功

[ INFO] [1476905975.890241798, 6973.810000000]: Initialized with only_single_steering = false
[ INFO] [1476905975.890302193, 6973.810000000]: Initialized with recovery_trial_times = 3
[ INFO] [1476905975.890322274, 6973.810000000]: Initialized with obstacle_patience = 0.50
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with obstacle_check_frequency = 6.00
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with simulation_frequency = 5.10
[ INFO] [1476905975.890357877, 6973.810000000]: Initialized with sim_angle_resolution = 0.15
[ INFO] [1476905975.890378780, 6973.810000000]: Initialized with linear_vel_back = -0.30, step_back_length = 8.00, step_back_steering = 3.00
[ INFO] [1476905975.890576838, 6973.810000000]: Initialized with linear_vel_steer = 0.50, angular_speed_steer = 0.50, turn_angle = 2.00, steering_timeout = 3.10
[ INFO] [1476905975.890605697, 6973.810000000]: Initialized with linear_vel_forward = 0.30, step_forward_length = 8.00, step_forward_timeout = 3.20

パラメータサーバに次のように登録されていればOK

rosparam list | grep stepback_and_steerturn_recovery
/move_base/stepback_and_steerturn_recovery/angular_speed_steer
/move_base/stepback_and_steerturn_recovery/linear_vel_back
/move_base/stepback_and_steerturn_recovery/linear_vel_forward
/move_base/stepback_and_steerturn_recovery/linear_vel_steer
/move_base/stepback_and_steerturn_recovery/obstacle_check_frequency
/move_base/stepback_and_steerturn_recovery/obstacle_patience
/move_base/stepback_and_steerturn_recovery/only_single_steering
/move_base/stepback_and_steerturn_recovery/sim_angle_resolution
/move_base/stepback_and_steerturn_recovery/simulation_frequency
/move_base/stepback_and_steerturn_recovery/steering_timeout
/move_base/stepback_and_steerturn_recovery/step_back_length
/move_base/stepback_and_steerturn_recovery/step_back_timeout
/move_base/stepback_and_steerturn_recovery/step_forward_length
/move_base/stepback_and_steerturn_recovery/step_forward_timeout
/move_base/stepback_and_steerturn_recovery/trial_times
/move_base/stepback_and_steerturn_recovery/turn_angle

リカバリ行動に入ったら以下のようなメッセージが出る．
- 1秒に1回，移動横行と障害物までの最短距離を出力する．
- 障害物発見時はWARNINGで表示．

[ INFO] [1476868375.829523527, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829690887, 2480.590000000]: **********Start StepBackAndSteerRecovery!!!**********
[ INFO] [1476868375.829753797, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829794323, 2480.590000000]: ==== 1 th recovery trial ====
[ INFO] [1476868383.643012049, 2488.400000000]: min dist to obstacle = 1.59 [m] in BACKWARD
[ INFO] [1476868384.840226745, 2489.590000000]: min dist to obstacle = 0.92 [m] in BACKWARD
[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD
[ INFO] [1476868386.036321913, 2490.790000000]: complete step back
[ INFO] [1476868387.007138030, 2491.760000000]: min_l = 12.22 [m], min_r = 5.98 [m]
[ INFO] [1476868387.007252925, 2491.760000000]: attempting to turn left at the 1st turn
[ INFO] [1476868387.610307113, 2492.360000000]: min dist to obstacle = 11.09 [m] in FORWARD_LEFT
[ INFO] [1476868388.005182918, 2492.760000000]: complete the 1st turn
[ INFO] [1476868388.005297723, 2492.760000000]: attemping step forward
[ INFO] [1476868388.611079357, 2493.360000000]: min dist to obstacle = 8.73 [m] in FORWARD
[ INFO] [1476868389.212381216, 2493.960000000]: min dist to obstacle = 7.70 [m] in FORWARD
[ INFO] [1476868390.413571989, 2495.160000000]: min dist to obstacle = 5.98 [m] in FORWARD
[ INFO] [1476868391.010836290, 2495.760000000]: complete step forward
[ INFO] [1476868391.010889155, 2495.760000000]: attempting second turn
[ INFO] [1476868391.013244061, 2495.760000000]: min dist to obstacle = 25.86 [m] in FORWARD_RIGHT
[ INFO] [1476868392.008923908, 2496.760000000]: complete second turn
[ INFO] [1476868392.993798006, 2497.740000000]: break recovery because the robot got clearance
[ INFO] [1476868392.993863847, 2497.740000000]: *****************************************************
[ INFO] [1476868392.993893442, 2497.740000000]: **********Finish StepBackAndSteerRecovery!!**********
[ INFO] [1476868392.993917387, 2497.740000000]: *****************************************************

WARNINGの種類

移動前に障害物検知

 [ WARN] [1476906022.832819115, 7020.720000000]: obstacle detected before moving FORWARD
 [ WARN] [1476906022.832909665, 7020.720000000]: min dist to obstacle = 2.97 [m] in FORWARD
 [ WARN] [1476906022.832949896, 7020.720000000]: moving length is switched from 8.00 [m] to 1.97 in FORWARD

移動中に障害物検知

[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD

タイムアウト

[ WARN] [1476906019.469352572, 7017.360000000]: time out at BACKWARD
[ WARN] [1476906019.469436583, 7017.360000000]: 3.00 [sec] elapsed.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cmake_modules
	2	base_local_planner
	1	catkin
	2	roscpp
	1	tf
	2	costmap_2d
	2	nav_core
	1	pluginlib

System Dependencies

Name
eigen

Dependant Packages

Name	Repo	Deps
steer_drive_ros	github-CIR-KIT-steer_drive_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav_core

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

API Docs Browse Code Wiki RosEco

stepback_and_steerturn_recovery package from steer_drive_ros repo

steer_bot_hardware_gazebo steer_drive_controller steer_drive_ros stepback_and_steerturn_recovery

API Docs
Browse Code
Wiki
RosEco

Package Summary

Tags	No category tags.
Version	1.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/CIR-KIT/steer_drive_ros.git
VCS Type	git
VCS Version	jade-devel
Last Updated	2018-08-16
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

This package provides a recovery behavior for the navigation stack which steps back and proceed with a specified steer angle

Additional Links

Maintainers

Masaru Morita

Authors

CIR-KIT
Masaru Morita

stepback_and_steerturn_recovery/README.md

stepback_and_steerturn_recovery

仕様

ざっくりしたものはissue参照→Recovery の挙動について #10
実際には，これよりもうちょっと色々やっている．
- 左に障害物があったら，「右旋回」→「直進」→「左旋回」を行うことで進路クリアを図っている
移動量、回転量で制御．制御量はパラメータで設定可能．
移動中リアルタイムにcostmapを参照し，衝突前に停止する．許容距離はパラメータで設定可能．
「後退→旋回→直進→反対旋回」or「後退→旋回」をパラメータで選択可能.
行動前に障害物をチェック．障害物が存在したら下記に従って目標移動距離を修正．
- 修正前: hogehoge_length (パラメータ)
- 修正後: 障害物までの距離 - obstacle_patience (パラメータ)
各動作毎にタイムアウトを設定可能．

Topic

Publish

/recover_run
- Type: std_msgs::Bool
- リカバリ開始時にtrue, リカバリ終了時にfalseをpublish．

挙動

動画サンプル→https://www.youtube.com/watch?v=j6GID9XuiiU

使い方

事前設定

まずはcatkin_makeする．
navigation の planner.yaml(NavfanROSやTrajectoryPlannerROSの設定が入っているファイル)に，以下のパラメータを追加する．

recovery_behaviour_enabled: true

recovery_behaviors:
  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
  - {name: stepback_and_steerturn_recovery, type: stepback_and_steerturn_recovery/StepBackAndSteerTurnRecovery}
  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}

stepback_and_steerturn_recovery:
    # 最初の一回だけ旋回したい場合にtrue
    only_single_steering: true
    # リカバリ行動の試行回数[回]
    trial_times         : 3
    # 障害物までの許容距離[m]．
    #-- 移動中に，移動方向に対して最も近い障害物がこの距離以内に出現したら停止する．
    obstacle_patience   : 0.3
    #-- 移動中に，障害物を確認する頻度[回/sec]
    obstacle_check_frequency: 5.0
    # 障害物探索時の角度の分解能[rad] costmapアクセス数を低減したいときに調整する．
    sim_angle_resolution: 0.1
    # 障害物探索時のsim更新周期[回/sec] costmapアクセス回数を低減したいときに調整する．
    simulation_frequency    : 5
    # back(初回後退時の速度[m/s], 移動距離[m], タイムアウト[sec])
    linear_vel_back     : -0.3
    step_back_length    : 1.0
    step_back_timeout   : 15.0
    # steer(旋回時の速度[rad/s]と目標回転角度[rad], タイムアウト[sec])
    linear_vel_steer    : 0.3
    angular_speed_steer : 0.5
    turn_angle          : 1.5
    steering_timeout    : 15.0
    # forward(旋回→直進→旋回の直進時の速度[m/s]と目標移動距離[m], タイムアウト[sec])
    linear_vel_forward  : 0.3
    step_forward_length : 1.0
    step_forward_timeout: 15.0

使用時挙動

move_base立ち上げ時に以下のメッセージが出ていれば初期化成功

[ INFO] [1476905975.890241798, 6973.810000000]: Initialized with only_single_steering = false
[ INFO] [1476905975.890302193, 6973.810000000]: Initialized with recovery_trial_times = 3
[ INFO] [1476905975.890322274, 6973.810000000]: Initialized with obstacle_patience = 0.50
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with obstacle_check_frequency = 6.00
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with simulation_frequency = 5.10
[ INFO] [1476905975.890357877, 6973.810000000]: Initialized with sim_angle_resolution = 0.15
[ INFO] [1476905975.890378780, 6973.810000000]: Initialized with linear_vel_back = -0.30, step_back_length = 8.00, step_back_steering = 3.00
[ INFO] [1476905975.890576838, 6973.810000000]: Initialized with linear_vel_steer = 0.50, angular_speed_steer = 0.50, turn_angle = 2.00, steering_timeout = 3.10
[ INFO] [1476905975.890605697, 6973.810000000]: Initialized with linear_vel_forward = 0.30, step_forward_length = 8.00, step_forward_timeout = 3.20

パラメータサーバに次のように登録されていればOK

rosparam list | grep stepback_and_steerturn_recovery
/move_base/stepback_and_steerturn_recovery/angular_speed_steer
/move_base/stepback_and_steerturn_recovery/linear_vel_back
/move_base/stepback_and_steerturn_recovery/linear_vel_forward
/move_base/stepback_and_steerturn_recovery/linear_vel_steer
/move_base/stepback_and_steerturn_recovery/obstacle_check_frequency
/move_base/stepback_and_steerturn_recovery/obstacle_patience
/move_base/stepback_and_steerturn_recovery/only_single_steering
/move_base/stepback_and_steerturn_recovery/sim_angle_resolution
/move_base/stepback_and_steerturn_recovery/simulation_frequency
/move_base/stepback_and_steerturn_recovery/steering_timeout
/move_base/stepback_and_steerturn_recovery/step_back_length
/move_base/stepback_and_steerturn_recovery/step_back_timeout
/move_base/stepback_and_steerturn_recovery/step_forward_length
/move_base/stepback_and_steerturn_recovery/step_forward_timeout
/move_base/stepback_and_steerturn_recovery/trial_times
/move_base/stepback_and_steerturn_recovery/turn_angle

リカバリ行動に入ったら以下のようなメッセージが出る．
- 1秒に1回，移動横行と障害物までの最短距離を出力する．
- 障害物発見時はWARNINGで表示．

[ INFO] [1476868375.829523527, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829690887, 2480.590000000]: **********Start StepBackAndSteerRecovery!!!**********
[ INFO] [1476868375.829753797, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829794323, 2480.590000000]: ==== 1 th recovery trial ====
[ INFO] [1476868383.643012049, 2488.400000000]: min dist to obstacle = 1.59 [m] in BACKWARD
[ INFO] [1476868384.840226745, 2489.590000000]: min dist to obstacle = 0.92 [m] in BACKWARD
[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD
[ INFO] [1476868386.036321913, 2490.790000000]: complete step back
[ INFO] [1476868387.007138030, 2491.760000000]: min_l = 12.22 [m], min_r = 5.98 [m]
[ INFO] [1476868387.007252925, 2491.760000000]: attempting to turn left at the 1st turn
[ INFO] [1476868387.610307113, 2492.360000000]: min dist to obstacle = 11.09 [m] in FORWARD_LEFT
[ INFO] [1476868388.005182918, 2492.760000000]: complete the 1st turn
[ INFO] [1476868388.005297723, 2492.760000000]: attemping step forward
[ INFO] [1476868388.611079357, 2493.360000000]: min dist to obstacle = 8.73 [m] in FORWARD
[ INFO] [1476868389.212381216, 2493.960000000]: min dist to obstacle = 7.70 [m] in FORWARD
[ INFO] [1476868390.413571989, 2495.160000000]: min dist to obstacle = 5.98 [m] in FORWARD
[ INFO] [1476868391.010836290, 2495.760000000]: complete step forward
[ INFO] [1476868391.010889155, 2495.760000000]: attempting second turn
[ INFO] [1476868391.013244061, 2495.760000000]: min dist to obstacle = 25.86 [m] in FORWARD_RIGHT
[ INFO] [1476868392.008923908, 2496.760000000]: complete second turn
[ INFO] [1476868392.993798006, 2497.740000000]: break recovery because the robot got clearance
[ INFO] [1476868392.993863847, 2497.740000000]: *****************************************************
[ INFO] [1476868392.993893442, 2497.740000000]: **********Finish StepBackAndSteerRecovery!!**********
[ INFO] [1476868392.993917387, 2497.740000000]: *****************************************************

WARNINGの種類

移動前に障害物検知

 [ WARN] [1476906022.832819115, 7020.720000000]: obstacle detected before moving FORWARD
 [ WARN] [1476906022.832909665, 7020.720000000]: min dist to obstacle = 2.97 [m] in FORWARD
 [ WARN] [1476906022.832949896, 7020.720000000]: moving length is switched from 8.00 [m] to 1.97 in FORWARD

移動中に障害物検知

[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD

タイムアウト

[ WARN] [1476906019.469352572, 7017.360000000]: time out at BACKWARD
[ WARN] [1476906019.469436583, 7017.360000000]: 3.00 [sec] elapsed.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cmake_modules
	2	base_local_planner
	1	catkin
	2	roscpp
	1	tf
	2	costmap_2d
	2	nav_core
	1	pluginlib

System Dependencies

Name
eigen

Dependant Packages

Name	Repo	Deps
steer_drive_ros	github-CIR-KIT-steer_drive_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav_core

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

API Docs Browse Code Wiki RosEco

stepback_and_steerturn_recovery package from steer_drive_ros repo

steer_bot_hardware_gazebo steer_drive_controller steer_drive_ros stepback_and_steerturn_recovery

API Docs
Browse Code
Wiki
RosEco

Package Summary

Tags	No category tags.
Version	1.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/CIR-KIT/steer_drive_ros.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2018-08-16
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

This package provides a recovery behavior for the navigation stack which steps back and proceed with a specified steer angle

Additional Links

Maintainers

Masaru Morita

Authors

CIR-KIT
Masaru Morita

stepback_and_steerturn_recovery/README.md

stepback_and_steerturn_recovery

仕様

ざっくりしたものはissue参照→Recovery の挙動について #10
実際には，これよりもうちょっと色々やっている．
- 左に障害物があったら，「右旋回」→「直進」→「左旋回」を行うことで進路クリアを図っている
移動量、回転量で制御．制御量はパラメータで設定可能．
移動中リアルタイムにcostmapを参照し，衝突前に停止する．許容距離はパラメータで設定可能．
「後退→旋回→直進→反対旋回」or「後退→旋回」をパラメータで選択可能.
行動前に障害物をチェック．障害物が存在したら下記に従って目標移動距離を修正．
- 修正前: hogehoge_length (パラメータ)
- 修正後: 障害物までの距離 - obstacle_patience (パラメータ)
各動作毎にタイムアウトを設定可能．

Topic

Publish

/recover_run
- Type: std_msgs::Bool
- リカバリ開始時にtrue, リカバリ終了時にfalseをpublish．

挙動

動画サンプル→https://www.youtube.com/watch?v=j6GID9XuiiU

使い方

事前設定

まずはcatkin_makeする．
navigation の planner.yaml(NavfanROSやTrajectoryPlannerROSの設定が入っているファイル)に，以下のパラメータを追加する．

recovery_behaviour_enabled: true

recovery_behaviors:
  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
  - {name: stepback_and_steerturn_recovery, type: stepback_and_steerturn_recovery/StepBackAndSteerTurnRecovery}
  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}

stepback_and_steerturn_recovery:
    # 最初の一回だけ旋回したい場合にtrue
    only_single_steering: true
    # リカバリ行動の試行回数[回]
    trial_times         : 3
    # 障害物までの許容距離[m]．
    #-- 移動中に，移動方向に対して最も近い障害物がこの距離以内に出現したら停止する．
    obstacle_patience   : 0.3
    #-- 移動中に，障害物を確認する頻度[回/sec]
    obstacle_check_frequency: 5.0
    # 障害物探索時の角度の分解能[rad] costmapアクセス数を低減したいときに調整する．
    sim_angle_resolution: 0.1
    # 障害物探索時のsim更新周期[回/sec] costmapアクセス回数を低減したいときに調整する．
    simulation_frequency    : 5
    # back(初回後退時の速度[m/s], 移動距離[m], タイムアウト[sec])
    linear_vel_back     : -0.3
    step_back_length    : 1.0
    step_back_timeout   : 15.0
    # steer(旋回時の速度[rad/s]と目標回転角度[rad], タイムアウト[sec])
    linear_vel_steer    : 0.3
    angular_speed_steer : 0.5
    turn_angle          : 1.5
    steering_timeout    : 15.0
    # forward(旋回→直進→旋回の直進時の速度[m/s]と目標移動距離[m], タイムアウト[sec])
    linear_vel_forward  : 0.3
    step_forward_length : 1.0
    step_forward_timeout: 15.0

使用時挙動

move_base立ち上げ時に以下のメッセージが出ていれば初期化成功

[ INFO] [1476905975.890241798, 6973.810000000]: Initialized with only_single_steering = false
[ INFO] [1476905975.890302193, 6973.810000000]: Initialized with recovery_trial_times = 3
[ INFO] [1476905975.890322274, 6973.810000000]: Initialized with obstacle_patience = 0.50
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with obstacle_check_frequency = 6.00
[ INFO] [1476905975.890340282, 6973.810000000]: Initialized with simulation_frequency = 5.10
[ INFO] [1476905975.890357877, 6973.810000000]: Initialized with sim_angle_resolution = 0.15
[ INFO] [1476905975.890378780, 6973.810000000]: Initialized with linear_vel_back = -0.30, step_back_length = 8.00, step_back_steering = 3.00
[ INFO] [1476905975.890576838, 6973.810000000]: Initialized with linear_vel_steer = 0.50, angular_speed_steer = 0.50, turn_angle = 2.00, steering_timeout = 3.10
[ INFO] [1476905975.890605697, 6973.810000000]: Initialized with linear_vel_forward = 0.30, step_forward_length = 8.00, step_forward_timeout = 3.20

パラメータサーバに次のように登録されていればOK

rosparam list | grep stepback_and_steerturn_recovery
/move_base/stepback_and_steerturn_recovery/angular_speed_steer
/move_base/stepback_and_steerturn_recovery/linear_vel_back
/move_base/stepback_and_steerturn_recovery/linear_vel_forward
/move_base/stepback_and_steerturn_recovery/linear_vel_steer
/move_base/stepback_and_steerturn_recovery/obstacle_check_frequency
/move_base/stepback_and_steerturn_recovery/obstacle_patience
/move_base/stepback_and_steerturn_recovery/only_single_steering
/move_base/stepback_and_steerturn_recovery/sim_angle_resolution
/move_base/stepback_and_steerturn_recovery/simulation_frequency
/move_base/stepback_and_steerturn_recovery/steering_timeout
/move_base/stepback_and_steerturn_recovery/step_back_length
/move_base/stepback_and_steerturn_recovery/step_back_timeout
/move_base/stepback_and_steerturn_recovery/step_forward_length
/move_base/stepback_and_steerturn_recovery/step_forward_timeout
/move_base/stepback_and_steerturn_recovery/trial_times
/move_base/stepback_and_steerturn_recovery/turn_angle

リカバリ行動に入ったら以下のようなメッセージが出る．
- 1秒に1回，移動横行と障害物までの最短距離を出力する．
- 障害物発見時はWARNINGで表示．

[ INFO] [1476868375.829523527, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829690887, 2480.590000000]: **********Start StepBackAndSteerRecovery!!!**********
[ INFO] [1476868375.829753797, 2480.590000000]: *****************************************************
[ INFO] [1476868375.829794323, 2480.590000000]: ==== 1 th recovery trial ====
[ INFO] [1476868383.643012049, 2488.400000000]: min dist to obstacle = 1.59 [m] in BACKWARD
[ INFO] [1476868384.840226745, 2489.590000000]: min dist to obstacle = 0.92 [m] in BACKWARD
[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD
[ INFO] [1476868386.036321913, 2490.790000000]: complete step back
[ INFO] [1476868387.007138030, 2491.760000000]: min_l = 12.22 [m], min_r = 5.98 [m]
[ INFO] [1476868387.007252925, 2491.760000000]: attempting to turn left at the 1st turn
[ INFO] [1476868387.610307113, 2492.360000000]: min dist to obstacle = 11.09 [m] in FORWARD_LEFT
[ INFO] [1476868388.005182918, 2492.760000000]: complete the 1st turn
[ INFO] [1476868388.005297723, 2492.760000000]: attemping step forward
[ INFO] [1476868388.611079357, 2493.360000000]: min dist to obstacle = 8.73 [m] in FORWARD
[ INFO] [1476868389.212381216, 2493.960000000]: min dist to obstacle = 7.70 [m] in FORWARD
[ INFO] [1476868390.413571989, 2495.160000000]: min dist to obstacle = 5.98 [m] in FORWARD
[ INFO] [1476868391.010836290, 2495.760000000]: complete step forward
[ INFO] [1476868391.010889155, 2495.760000000]: attempting second turn
[ INFO] [1476868391.013244061, 2495.760000000]: min dist to obstacle = 25.86 [m] in FORWARD_RIGHT
[ INFO] [1476868392.008923908, 2496.760000000]: complete second turn
[ INFO] [1476868392.993798006, 2497.740000000]: break recovery because the robot got clearance
[ INFO] [1476868392.993863847, 2497.740000000]: *****************************************************
[ INFO] [1476868392.993893442, 2497.740000000]: **********Finish StepBackAndSteerRecovery!!**********
[ INFO] [1476868392.993917387, 2497.740000000]: *****************************************************

WARNINGの種類

移動前に障害物検知

 [ WARN] [1476906022.832819115, 7020.720000000]: obstacle detected before moving FORWARD
 [ WARN] [1476906022.832909665, 7020.720000000]: min dist to obstacle = 2.97 [m] in FORWARD
 [ WARN] [1476906022.832949896, 7020.720000000]: moving length is switched from 8.00 [m] to 1.97 in FORWARD

移動中に障害物検知

[ WARN] [1476868386.036249305, 2490.790000000]: obstacle detected at BACKWARD
[ WARN] [1476868386.036298028, 2490.790000000]: min dist to obstacle = 0.48 [m] in BACKWARD

タイムアウト

[ WARN] [1476906019.469352572, 7017.360000000]: time out at BACKWARD
[ WARN] [1476906019.469436583, 7017.360000000]: 3.00 [sec] elapsed.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cmake_modules
	2	base_local_planner
	1	catkin
	2	roscpp
	1	tf
	2	costmap_2d
	2	nav_core
	1	pluginlib

System Dependencies

Name
eigen

Dependant Packages

Name	Repo	Deps
steer_drive_ros	github-CIR-KIT-steer_drive_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nav_core

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

API Docs Browse Code Wiki RosEco

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

stepback_and_steerturn_recovery package from steer_drive_ros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

stepback_and_steerturn_recovery

仕様

Topic

Publish

挙動

使い方

事前設定

使用時挙動

WARNINGの種類

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

stepback_and_steerturn_recovery package from steer_drive_ros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

stepback_and_steerturn_recovery

仕様

Topic

Publish

挙動

使い方

事前設定

使用時挙動

WARNINGの種類

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

stepback_and_steerturn_recovery package from steer_drive_ros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

stepback_and_steerturn_recovery

仕様

Topic

Publish

挙動

使い方

事前設定

使用時挙動

WARNINGの種類

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

stepback_and_steerturn_recovery package from steer_drive_ros repo

Package Summary

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org

Recent questions tagged `stepback_and_steerturn_recovery` at answers.ros.org