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Package Summary

Tags No category tags.
Version 1.3.0
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cpswarm/swarm_behaviors.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-03-04
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package that provides position related functionalities.

Additional Links

Maintainers

  • Micha Sende
  • Micha Sende

Authors

No additional authors.

swarm_behaviors_position

Build Status

This package provides position related functionalities. It is a library package of the swarm behaviors library.

Dependencies

This package depends on the following message definitions: * geometry_msgs * cpswarm_msgs

The following packages of the sensing and actuation library are required: * area_provider * *_pos_provider * *_pos_controller

Further required packages are: * roscpp * tf2

Libraries

position

The position library provides position related functionalities. These functionalities can be grouped into three categories: calculations, retrieval of sensor data, and setting of actuators. The calculations include distance measurements, checking whether a position is in the defined environment, and calculation of goal positions. The sensor data includes absolute and relative bearing as well as local position. The actuators to be controlled is locomotion by providing a goal position waypoint.

Subscribed Topics

Published Topics

Services Called

Parameters

  • ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
  • ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.
  • ~goal_tolerance (real, default: 0.1) The distance in meter that the CPS can be away from a goal while still being considered to have reached that goal.
  • ~visualize (boolean, default: false) Whether to publish the goal waypoint on a topic for visualization.

Code API

swarm_behaviors_position package code API documentation

CHANGELOG

Changelog for package position

1.3.0 (2020-01-03)

  • Changed: Rename position library to swarm_behaviors_position

1.2.0 (2019-12-29)

  • Added: Obstacle detection
  • Changed: Refactor library structure
  • Changed: Split up navigation library, create position library and move parts to abstraction library
  • Changed: Move obstacle avoidance to abstraction library
  • Changed: Always use local coordinates
  • Fixed: Force C++11
  • Fixed: Goal computation
  • Contributors: Micha Sende, Omar Morando

1.1.0 (2018-11-12)

  • Changed: Store yaw in pose
  • Changed: Keep UAVs at same altitude
  • Changed: Restructure navigation library
  • Contributors: Micha Sende

1.0.0 (2018-10-30)

  • Initial release of navigation
  • Contributors: Micha Sende

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged swarm_behaviors_position at answers.ros.org

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