trajectory_tracker package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

trajectory_tracker

trajectory_tracker node controls vehicle velocity to follow given path.

Subscribed topics

• ~/path (new: path) [nav_msgs::Path]
• ~/speed (new: speed) [std_msgs::Float32]
• /tf
• /odom nav_msgs::Odometry

Published topics

• ~/cmd_vel (new: cmd_vel) [geometry_msgs::Twist]
• ~/status [trajectory_tracker_msgs::TrajectoryTrackerStatus]
• ~/tracking [geometry_msgs::PoseStamped]

Services

Called services

Parameters

• "frame_robot" (string, default: std::string("base_link"))
• "path" deprecated (string, default: std::string("path"))
• "cmd_vel" deprecated (string, default: std::string("cmd_vel"))
• "hz" (double, default: 50.0)
• "look_forward" (double, default: 0.5)
• "curv_forward" (double, default: 0.5)
• "k_dist" (double, default: 1.0)
• "k_ang" (double, default: 1.0)
• "k_avel" (double, default: 1.0)
• "gain_at_vel" (double, default: 0.0) > compensate k_ang according to the current linear velocity to keep convergence characteristic at the linear velocity, specified by this parameter, if gain_at_vel != 0
• "dist_lim" (double, default: 0.5)
• "dist_stop" (double, default: 2.0)
• "rotate_ang" (?, default: M_PI / 4)
• "max_vel" (double, default: 0.5)
• "max_angvel" (double, default: 1.0)
• "max_acc" (double, default: 1.0)
• "max_angacc" (double, default: 2.0)
• "acc_toc_factor" (double, default: 0.9) > decrease max_acc by this factor in time optimal control to reduce vibration due to control delay.
• "angacc_toc_factor" (double, default: 0.9) > decrease max_angacc by this factor in time optimal control to reduce vibration due to control delay. This parameter is valid when "use_time_optimal_control" is true.
• "path_step" (int, default: 1)
• "goal_tolerance_dist" (double, default: 0.2)
• "goal_tolerance_ang" (double, default: 0.1)
• "stop_tolerance_dist" (double, default: 0.1)
• "stop_tolerance_ang" (double, default: 0.05)
• "no_position_control_dist" (double, default: 0.0)
• "min_tracking_path" (?, default: noPosCntlDist)
• "allow_backward" (bool, default: true)
• "limit_vel_by_avel" (bool, default: false)
• "check_old_path" (bool, default: false)
• "use_odom" (bool, default: false) > When use_odom is false, trajectory_tracker publishes command velocities at a constant rate specified in "hz" option. When use_odom is true, it publishes command velocities just after odometry is updated. "hz" option is ignored in this mode.
• "predict_odom" (bool, default: true) > If true, predicted coordinates of the robot at the present timestamp are used. This parameter is valid when "use_odom" is true.
• "odom_timeout_sec" (double, default: 0.1) > Robot will be stopped after the duration specified in this parameter has passed since the last odometry was received. This parameter is valid when "use_odom" is true.
• "use_time_optimal_control" (bool, default: True) > If true, time optimal control mode is used during turning in place. Otherwise, the same algorithm used for path tracking is used.
• "time_optimal_control_future_gain" (double, default: 1.5) > A gain to look ahead to robot's angle used in time optimal control. This parameter is valid when "use_time_optimal_control" is true.
• "k_ang_rotation" (double, default: 1.0) > "k_ang" value used during turning in place. This parameter is valid when "use_time_optimal_control" is false.
• "k_avel_rotation" (double, default: 1.0) > "k_avvel" value used during turning in place. This parameter is valid when "use_time_optimal_control" is false.

---

trajectory_recorder

trajectory_recorder node generates Path message from TF.

Subscribed topics

• /tf

Published topics

• ~/recpath (new: path) [nav_msgs::Path]

Services

Called services

Parameters

• "frame_robot" (string, default: std::string("base_link"))
• "frame_global" (string, default: std::string("map"))
• "path" (string, default: std::string("recpath"))
• "dist_interval" (double, default: 0.3)
• "ang_interval" (double, default: 1.0)

---

trajectory_saver

trajectory_saver node saves Path message to file.

Subscribed topics

• ~/recpath (new: path) [nav_msgs::Path]
• /tf

Published topics

Services

Called services

Parameters

• "path" deprecated (string, default: std::string("recpath"))
• "file" (string, default: std::string("a.path"))

---

trajectory_server

trajectory_server node loads Path from file and publishes it.

Subscribed topics

• /tf

Published topics

• ~/path (new: path) [nav_msgs::Path]
• ~/status [trajectory_tracker_msgs::TrajectoryServerStatus]

Services

• ~/ChangePath (new: change_path) [trajectory_tracker_msgs::ChangePath]

Called services

Parameters

• "path" deprecated (string, default: std::string("path"))
• "file" (string, default: std::string("a.path"))
• "hz" (?, default: double(5))
• "filter_step" (double, default: 0.0)

---

Acknowledgement

This research was supported by a contract with the Ministry of Internal Affairs and Communications entitled, 'Novel and innovative R&D making use of brain structures'

This software was implemented to accomplish the above research. Original idea of the implemented control scheme was published on:
S. Iida, S. Yuta, "Vehicle command system and trajectory control for autonomous mobile robots," in Proceedings of the 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS), 1991, pp. 212-217.

Changelog for package trajectory_tracker

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

• planner_cspace: start planning from expected robot pose (#717)
• Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

• trajectory_tracker: make trajectory_tracker library (#713)
• Contributors: Naotaka Hatao

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

• trajectory_tracker: relax test conditions (#674)
• Improve test logs on timeout (#673)
• trajectory_tracker: throttle tf exception logs (#670)
• trajectory_tracker: improve test stability (#667)
• Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

0.11.7 (2022-08-05)

• trajectory_tracker: fix prediction_offset of trajectory_tracker (#644)
• Contributors: Naotaka Hatao

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

• trajectory_tracker: increase SwitchBackWithPathUpdate test timeout (#611)
• Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

• trajectory_tracker: add velocity tolerance parameters (#607)
• Apply clang-format-11 with new setting (#605)
• Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

0.10.6 (2021-01-28)

0.10.5 (2020-12-24)

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

0.10.0 (2020-08-06)

• trajectory_tracker: add a mode to apply the same control method during turning in place (#513)
• trajectory_tracker: relax test tolerance on tf mode (#545)
• trajectory_tracker: goal if both raw and predicted pose is in tolerance (#540)
• trajectory_tracker: fix wrong tracking target just after new path is received (#537)
• Increase initialization timeout in the tests (#536)
• trajectory_tracker: add odometry timeout checking (#534)
• trajectory_tracker: predict odometry by extrapolation (#529)
• trajectory_tracker: add use_odom option (#523)
• trajectory_tracker: make trajectory_tracker dynamic-reconfigurable (#521)
• Contributors: Atsushi Watanabe, Naotaka Hatao

0.9.1 (2020-07-16)

• trajectory_tracker: fix remained distance calculation on overshoot (#514)
• Contributors: Atsushi Watanabe

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

• Fix duplicated tf timestamp (#494)
• Contributors: Atsushi Watanabe

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

• Clean unused dependencies (#472)
• trajectory_tracker: add missing dep to std_srvs (#470)
• Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

• Support Noetic (#461)
• Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

0.8.0 (2020-03-04)

• Add message package version constraints (#443)
• trajectory_tracker: check path timestamps in tests (#441)
• trajectory_tracker: add path header to TrajectoryTrackerStatus (#439)
• Contributors: Atsushi Watanabe, Naotaka Hatao

0.7.0 (2020-02-04)

• trajectory_tracker: calculate correct curvature at the end of path (#435)
• trajectory_tracker: fix test initialization timeout (#432)
• Contributors: Atsushi Watanabe, Naotaka Hatao

0.6.0 (2020-01-18)

• trajectory_tracker: add a service to clear recorded path (#422)
• Contributors: Naotaka Hatao

0.5.1 (2020-01-06)

• Migrate from C math functions to C++ (#407)
• trajectory_tracker: fix test stability (#405)
• Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

• trajectory_tracker: track interpolated rotation (#394)
• Contributors: Atsushi Watanabe

0.4.3 (2019-09-10)

0.4.2 (2019-08-19)

0.4.1 (2019-08-15)

• trajectory_tracker: update demo params (#352)
• Drop ROS Indigo and Ubuntu Trusty support (#310)
• planner_cspace: calculate path hysteresis in 3-DOF space (#304)
• Fix include directory priority (#308)
• Contributors: Atsushi Watanabe

0.4.0 (2019-05-09)

• trajectory_tracker: speed up simulation on rostest (#280)
• trajectory_tracker: linear velocity adaptive gain control (#276)
• trajectory_tracker: remove unused parameters (#274)
• trajectory_tracker: fix remained distance for path with two poses (#272)
• Add LICENSE file (#270)
• Support melodic (#266)
• Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

• trajectory_tracker: fix test timeout for path with velocity (#263)
• trajectory_tracker: add timeout to the test (#261)
• trajectory_tracker: support PathWithVelocity (#244)
• trajectory_tracker: fix robot pose prediction (#250)
• trajectory_tracker: fix angular velocity limit (#252)
• trajectory_tracker: add acceleration factor parameter of time optimal control (#249)
• trajectory_tracker: fix local goal handling (#251)
• trajectory_tracker: add tolerance to InPlaceTurn (#248)
• trajectory_tracker: fix angle normalization in in-place turn mode (#247)
• trajectory_tracker: refactoring (#239)
• Fix pointer alignment style (#233)
• Migrate tf to tf2 (#230)
• trajectory_tracker: fix status output topic path (#225)
• trajectory_tracker: add tests (#207)
• Fix catkin package definitions (#206)
• Contributors: Atsushi Watanabe, So Jomura

0.2.3 (2018-07-19)

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

0.2.0 (2018-07-12)

• Fix namespace migration messages (#174)
• Fix topic/service namespace model (#168)
• Fix package dependencies (#167)
• Update package descriptions and unify license and version (#165)
• Use neonavigation_msgs package (#164)
• trajectory_tracker: reduce angular oscillation (#120)
• trajectory_tracker: use timer instead of spinOnce polling (#119)
• trajectory_tracker: fix naming style. (#92)
• Support package install. (#45)
• Fix coding styles. (#39)
• trajectory_tracker: removes unnecessary launch files (#18)
• trajectory_tracker: adds option to store timestamp in recorded path (#13)
• adds READMEs (#11)
• trajectory_tracker: subtree merge changes on trajectory_tracker repository
• Subtree-merge \'trajectory_tracker\' package
• Contributors: Atsushi Watanabe