mbf_recovery_behaviors repository

Repository Summary

Checkout URI https://github.com/uos/mbf_recovery_behaviors.git
VCS Type git
VCS Version master
Last Updated 2020-05-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
mbf_recovery_behaviors 0.1.0
moveback_recovery 0.1.0

README

Move Base Flex Recovery Behaviors

This repository contains recovery behaviors for Move Base Flex (MBF).

MoveBack Recovery Behavior

The moveback_recovery behavior moves the robot backwards until: - the configured distance is reached - the timeout duration is elapsed - an obstacle in the costmap is blocking the robot - it is canceled by the executive node by canceling the MBF recovery action

Installation

sudo apt install ros-melodic-moveback-recovery

Parameters

  • control_frequency The cycle frequency executing the break checks, (default: 20 Hz)
  • linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec)
  • step_back_length The distance to move the robot backwards, (default: 1 m)
  • step_back_timeout The timeout before stopping the robot, (default: 15 sec)
  • footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m)
  • look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m)
  • publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false)

Plugin Loading

In the following we show a configuration example:

In an arbitrary file my_pkg/config/recovery_behaviors.yaml we configure a couple of recovery behaviors and give them an arbitrary name. The type must be set to moveback_recovery/MoveBackRecovery.

recovery_behaviors:
  - name: 'moveback_recovery'
    type: 'moveback_recovery/MoveBackRecovery'

In the corresponding launch file, e.g., my_pkg/launch/move_base_flex.launch you now can load the parameter file into the namespace of the MBF node.

<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" name="move_base_flex" output="screen">
  ...
  <rosparam file="$(find my_pkg)/config/recovery_behaviors.yaml" command="load" />
  ...
</node>

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/uos/mbf_recovery_behaviors.git
VCS Type git
VCS Version kinetic
Last Updated 2020-05-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
mbf_recovery_behaviors 0.1.0
moveback_recovery 0.1.0

README

Move Base Flex Recovery Behaviors

This repository contains recovery behaviors for Move Base Flex (MBF).

MoveBack Recovery Behavior

The moveback_recovery behavior moves the robot backwards until: - the configured distance is reached - the timeout duration is elapsed - an obstacle in the costmap is blocking the robot - it is canceled by the executive node by canceling the MBF recovery action

Installation

sudo apt install ros-melodic-moveback-recovery

Parameters

  • control_frequency The cycle frequency executing the break checks, (default: 20 Hz)
  • linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec)
  • step_back_length The distance to move the robot backwards, (default: 1 m)
  • step_back_timeout The timeout before stopping the robot, (default: 15 sec)
  • footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m)
  • look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m)
  • publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false)

Plugin Loading

In the following we show a configuration example:

In an arbitrary file my_pkg/config/recovery_behaviors.yaml we configure a couple of recovery behaviors and give them an arbitrary name. The type must be set to moveback_recovery/MoveBackRecovery.

recovery_behaviors:
  - name: 'moveback_recovery'
    type: 'moveback_recovery/MoveBackRecovery'

In the corresponding launch file, e.g., my_pkg/launch/move_base_flex.launch you now can load the parameter file into the namespace of the MBF node.

<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" name="move_base_flex" output="screen">
  ...
  <rosparam file="$(find my_pkg)/config/recovery_behaviors.yaml" command="load" />
  ...
</node>

CONTRIBUTING

No CONTRIBUTING.md found.