navground_ros

Contents

navground_ros#

package navground_ros#

This ROS2 provides a ROS2 compliant interface to navground_core.

Summary

Executables

Launch files

navigation.launch

Executables#

executable controller#: Executes a ROSControllerNode using a single threaded executor.

Launch files#

launch file navigation.launch#

Arguments:

kinematics_type – [Default: 2WDiff]
kinematics_max_speed – [Default: 0.3]
kinematics_max_angular_speed – [Default: 0.2]
kinematics_wheel_axis – [Default: 1.0]
radius – [Default: 0.3]
heading – [Default: idle]
behavior – [Default: HL]
optimal_speed – [Default: 0.3]
optimal_angular_speed – [Default: 0.3]
rotation_tau – [Default: 0.5]
horizon – [Default: 1.0]
safety_margin – [Default: 0.1]
speed_tolerance – [Default: 0.05]
hl_tau – [Default: 0.5]
hl_eta – [Default: 0.5]
hl_aperture – [Default: 3.14]
hl_resolution – [Default: 30]
orca_time_horizon – [Default: 1.0]
altitude_optimal_speed – [Default: 0.1]
altitude_tau – [Default: 1.0]
drawing – [Default: false]
publish_cmd_stamped – [Default: false]
rate – [Default: 10.0]
odom_topic – [Default: odom]
frame_id – [Default: world]

Nodes#

ROSControllerNode#

node RoboMasterROS#

This ROS2 node exposes a ROS2-compliant interface to a navigation controller navground::core::Controller3.

Summary

Parameters

Subscriptions

Publishers

cmd_vel_stamped

Action servers

Parameters#

parameter rate float [Default: 10.0]#: Control update rate in Hz. Should be positive.

parameter frame_id str [Default: world]#: Name of the TF frame where to perform navigation computations.

parameter publish_cmd_stamped bool [Default: false]#: Whether to publish a TwistStamped in frame_id instead of a Twist in body frame.

parameter drawing bool [Default: false] #: Whether to publish visual markers to display debug information to RViz.

Kinematics#

parameter kinematics.type str [Default: "HL"]#: Name of the kinematics, see navground::core::Kinematics. Should be one of the registered names.

parameter kinematics.max_speed float [Default: 1.0]#: Maximal speed, see navground::core::Kinematics::get_max_speed(). Should be positive.

parameter kinematics.max_angular_speed float [Default: 1.0]#: Maximal angular speed, see navground::core::Kinematics::get_max_angular_speed(). Should be positive.

parameter kinematics.wheel_axis float [Default: 1.0]#: Wheel axis, see navground::core::TwoWheelsDifferentialDriveKinematics::get_wheel_axis(). Should be positive. Only relevant for some kinematics.

Behavior#

parameter radius float [Default: 0.0]#: The radius of the agent, see navground::core::Behavior::get_radius(). Should be positive.

parameter behavior str [Default: "HL"] #: Name of the navigation behavior, see navground::core::Behavior. Should be one of the registered names.

parameter heading str [Default: idle] #: Heading behavior, see navground::core::Behavior::get_heading_behavior(). One of “idle”, “target_point”, “target_angular_speed”, or “velocity”.

parameter horizon float [Default: 1.0] #: Horizon, see navground::core::Behavior::get_horizon(). Should be positive.

parameter optimal_angular_speed float [Default: 0.3] #: Optimal angular speed, see navground::core::Behavior::get_optimal_angular_speed(). Should be positive.

parameter optimal_speed float [Default: 0.3] #: Optimal speed, see navground::core::Behavior::get_optimal_speed(). Should be positive.

parameter rotation_tau float [Default: 0.5] #: Rotation relaxation time, see navground::core::Behavior::get_rotation_tau(). Should be positive.

parameter safety_margin float [Default: 0.1] #: Safety margin, see navground::core::Behavior::get_safety_margin(). Should be positive.

HL behavior#

parameter hl.aperture float [Default: 3.141592741012] #: Aperture, see navground::core::HLBehavior::get_aperture(). Should be positive.

parameter hl.eta float [Default: 0.5] #: Eta, see navground::core::HLBehavior::get_eta(). Should be positive.

parameter hl.resolution int [Default: 101] #: Resolution, see navground::core::HLBehavior::get_resolution(). Should be positive.

parameter hl.tau float [Default: 0.125] #: Tau, see navground::core::HLBehavior::get_tau(). Should be positive.

ORCA behavior#

parameter orca.effective_center bool [Default: false] #: Whether to use an effective center, see navground::core::ORCABehavior::is_using_effective_center().

parameter orca.time_horizon float [Default: 10.0] #: Time horizon, see navground::core::ORCABehavior::get_time_horizon(). Should be positive.

Other behaviors#

All properties of registered behavior are exposed as parameters

parameter <behavior_name>.<property_name> <property_type> [Default: <default value of the property>] #

Controller#

parameter speed_tolerance float [Default: 0.05] #: Speed below of which the agent is considered as stopped, see navground::core::Controller::get_speed_tolerance(). Should be positive.

Vertical motion#

parameter altitude.enabled bool [Default: false]#: Whether to consider vertical information for state and control, see navground::core::Controller3::is_limited_to_2d().

parameter altitude.optimal_speed float [Default: 0.1]#: Optimal speed of the vertical motion, see navground::core::Controller3::get_altitude_optimal_speed(). Should be positive.

parameter altitude.tau float [Default: 1.0] #: Relaxation time of the vertical motion, see navground::core::Controller3::get_altitude_tau(). Should be positive.

Subscriptions#

State#

subscription odom nav_msgs/msg/Odometry#: Own odometry is used to set the behavior state, see navground::core::Behavior::set_pose() and navground::core::Behavior::set_twist().

subscription neighbors navground_msgs/msg/Neighbors#: Dynamic Neighbors. Used by behaviors that have a geometric environment state, see navground::core::GeometricState::set_neighbors().

subscription obstacles navground_msgs/msg/Obstacles#: Static obstacles. Used by behaviors that have a geometric environment state, see navground::core::GeometricState::set_static_obstacles().

Target#

subscription target_point geometry_msgs/msg/PointStamped#: Set a target point. If an action is being executed, aborts it if is not following a point/pose, else updates the target.

subscription target_pose geometry_msgs/msg/PoseStamped#: Set a target pose. If an action is being executed, aborts it if is not following a point/pose, else updates the target.

subscription target_twist geometry_msgs/msg/TwistStamped#: Set a target twist. If an action is being executed, aborts it if is not following a twist, else updates the target.

subscription stop std_msgs/msg/Empty#: Makes the agent stop. Aborts any action that is being executed.

Action Servers#

action server go_to navground_msgs/action/GoToTarget#: Initiate an action towards a target pose or position, see navground::core::Controller::go_to_position() and navground::core::Controller::go_to_pose(). Ignores new requests if an action is already being executed.

Publishers#

publisher cmd_vel geometry_msgs/msg/Twist#: Publishes the command returned by navground::core::Controller3::update_3d(). Only published if publish_cmd_stamped is not set.

publisher cmd_vel_stamped geometry_msgs/msg/TwistStamped#: Publishes the command returned by navground::core::Controller3::update_3d(). Only published if publish_cmd_stamped is set.