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
Released UNRELEASED

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

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

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.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

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
Released UNRELEASED

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

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

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.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

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
Released UNRELEASED

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

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

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.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org

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
Released UNRELEASED

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

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

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.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged stepback_and_steerturn_recovery at answers.ros.org