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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, 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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, 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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, 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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, 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 package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)

Overview

The clear_costmap_recovery::ClearCostmapRecovery is a simple recovery behavior that clears out space in the navigation stack's costmaps by reverting to the static map outside of a given radius away from the robot. It adheres to the nav_core::RecoveryBehavior interface found in the nav_core package and can be used as a recovery behavior plugin for the move_base node.

ClearCostmapRecovery

The clear_costmap_recovery::ClearCostmapRecovery 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::RecoveryBehavior interface found in the nav_core package.

Example creation of a clear_costmap_recovery::ClearCostmapRecovery object:

   1 #include <tf/transform_listener.h>
   2 #include <costmap_2d/costmap_2d_ros.h>
   3 #include <clear_costmap_recovery/clear_costmap_recovery.h>
   4 
   5 ...
   6 tf::TransformListener tf(ros::Duration(10));
   7 costmap_2d::Costmap2DROS global_costmap("global_costmap", tf);
   8 costmap_2d::Costmap2DROS local_costmap("local_costmap", tf);
   9 
  10 clear_costmap_recovery::ClearCostmapRecovery ccr;
  11 ccr.initialize("my_clear_costmap_recovery", &tf, &global_costmap, &local_costmap);
  12 
  13 ccr.runBehavior();

API Stability

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

ROS Parameters

~<name>/reset_distance (double, default: 3.0)

  • The radius away from the robot in meters outside which obstacles will be removed from the costmaps when they are reverted to the static map.

C++ API

The C++ clear_costmap_recovery::ClearCostmapRecovery class adheres to the nav_core::RecoveryBehavior interface found in the nav_core package. For detailed documentation, please see ClearCostmapRecovery Documentation.

Wiki: clear_costmap_recovery (last edited 2015-12-08 13:19:00 by OrhanGaziHafif)