riskrrt repository

Repository Summary

Checkout URI https://github.com/spalanza/riskrrt_ros.git
VCS Type git
VCS Version master
Last Updated 2015-11-04
Dev Status MAINTAINED
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
dynamic_map 0.0.0
new_riskrrt 0.0.1
riskrrt 0.0.1

README

**installing riskrrt**

$ sudo apt-get install ros-indigo-navigation
$ cd ~/catkin_ws/src
$ git clone https://github.com/Spalanza/riskrrt_ros.git
$ catkin_make



**running the examples scenarios**

some examples scenarios (using stage) are provided in worlds/
run the scenario with
$ roslaunch riskrrt scenario_name.launch
change the planner behavior by modifying the parameters in params/riskrrt_params.yaml



**provided nodes**

controller: a path following node for differential drive robots
            subscribed topics: trajectory (riskrrt/Trajectory) 
                               robot pose (geometry_msgs/PoseWithCovarianceStamped)
            published topics: controller feedback, true if robot is on trajectory (std_msgs/Bool)
                              velocity commands (geometry_msgs/Twist)
goal_pub: automatic goal publisher
          args: pose x (m), pose y (m) with respect to map
          published topics: goal (geometry_msgs/PoseStamped)
og_builder*: some occupany grid array publishers
             args: number of humans, human speed (m/s)
             subscribed topics: map (nav_msgs/OccupancyGrid)
                                human odometry (nav_msgs/Odometry)
             published topics: human velocity (geometry_msgs/Twist)
                               occupancy grid array (riskrrt/OccupancyGridArray)
riskrrt_planner: the riskrrt planner
         subscribed topics: occupancy grid array (riskrrt/OccupancyGridArray)
                            goal (geometry_msgs/PoseStamped)
                            controller feedback (std_msgs/Bool)
                            robot pose (geometry_msgs/PoseWithCovarianceStamped)
                            robot odometry (nav_msgs/Odometry)
         published topics: trajectory (riskrrt/Trajectory)



**publishing your own map**

use the maxDepth and timeStep parameters from params/riskrrt_params.yaml
-maxDepth should be the occupancy grid array size
-timeStep should be the time gap between each grid


CONTRIBUTING

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