Documentation Status

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Released Continuous integration Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Released Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Released Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Released Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

Released Continuous integration Documented

This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
Cannot load information on name: carrot_planner, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Overview

The carrot_planner::CarrotPlanner is a simple global planner that adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package and can be used as a global planner plugin for the move_base node. The planner takes a goal point from an external user, checks if the user-specified goal is in an obstacle, and if it is, it walks back along the vector between the user-specified goal and the robot until a goal point that is not in an obstacle is found. It then passes this goal point on as a plan to a local planner or controller. In this way, the carrot planner allows the robot to get as close to a user-specified goal point as possible.

planner_overview.png

CarrotPlanner

The carrot_planner::CarrotPlanner object exposes its functionality as a C++ ROS Wrapper. It operates within a ROS namespace (assumed to be name from here on) specified on initialization. It adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package.

Example creation of a carrot_planner::CarrotPlanner object:

   1 #include <tf/transform_listener.h>
   2 #include <costmap_2d/costmap_2d_ros.h>
   3 #include <carrot_planner/carrot_planner.h>
   4 
   5 ...
   6 tf::TransformListener tf(ros::Duration(10));
   7 costmap_2d::Costmap2DROS costmap("my_costmap", tf);
   8 
   9 carrot_planner::CarrotPlanner cp;
  10 cp.initialize("my_carrot_planner", &costmap);

API Stability

  • The ROS API is stable.
  • The C++ API is stable.

ROS Parameters

~<name>/step_size (double, default: Resolution of the associated costmap)

  • The size steps to take backward in meters along the vector between the robot and the user-specified goal point when attempting to find a valid goal for the local planner.
~<name>/min_dist_from_robot (double, default: 0.10)
  • The minimum distance from the robot in meters at which a goal point will be sent to the local planner.

C++ API

The C++ carrot_planner::CarrotPlanner class adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package. For detailed documentation, please see CarrotPlanner Documentation.

Wiki: carrot_planner (last edited 2018-01-10 14:16:44 by NickLamprianidis)