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straf_recovery package from straf_recovery repo

straf_recovery

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License WTFPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PeterMitrano/straf_recovery.git
VCS Type git
VCS Version master
Last Updated 2016-07-13
Dev Status UNMAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The straf_recovery package

Additional Links

Maintainers

  • Peter Mitrano

Authors

No additional authors.
README.md

straf_recovery Build Status

A move_base recovery behavior plugin for omni directional robots. It will drive away from the nearest obstacle in the local costmap, constantly checking for new nearest obstacles. This often means lots of silly oscillation. It will also straf directly towards the goal if it is within some threshold.

parameters:

  • go_to_goal_distance_threshold
  • minimum_translate_distance
  • maximum_translate_distance
  • straf_vel
  • timeout
  • frequency
  • xy_goal_tolerance

Timeout rules all. Then comes minimum and maximum distance. Straf velocity is constant.

See the ros wiki for possibly more details: http://wiki.ros.org/straf_recovery

CHANGELOG
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Wiki Tutorials

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Plugins

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