Only released in EOL distros:
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner
Package Summary
No API documentation
cart_local_planner
- Author: Jonathan Scholz
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/tags/cart_pushing-0.2.0
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_state_estimator | costmap_trajectory_checker | global_planner_switcher | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner
Package Summary
Documented
cart_local_planner
- Author: Jonathan Scholz
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/branches/kt
cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner | twist_recovery
Package Summary
Documented
cart_local_planner
- Author: Jonathan Scholz
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/cart_pushing/trunk
Cart local planner provides a single ros plugin, cart_local_planner, that implements the base_local_planner interface expected by move_base. It simply tries to follow the given base path exactly. It also provides an additional interface for controlling the cart.
Advertised topics
articulate_cart_server/command_twist (geometry_msgs/TwistStamped)
- Commanded twist for the cart reference point
Subscribed topics
/move_base_node/SBPLCartPlanner/sbcl_robot_cart_plan (cart_pushing_msgs/RobotCartPath)
- The planner is expected to publish the full plan (with both base and cart poses) on this topic. When the plugin receives a global plan from move_base, it is compared with the recent plans on this topic to find the corresponding one, and the arm positions are looked up from there.
TF frames needed
base_footprint
- The base pose
cart
- The pose of the cart reference point
Main ROS parameters
cart_pushing/max_vel_{base,cart}_{x,y,theta}
- Max velocities for the base and cart
HolonomicCartPlanner/k_{trans,rot}_{base_cart}
- Gains for the cart and base velocities
cart_pushing/{length,width}
- Cart dimensions
cart_pushing/footprint_{x,y}_offset
- The offset of the reference point of the cart from the corner
