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cob_navigation: cob_linear_nav | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam | cob_vel_integrator

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-Bot. The move_base node is configured to run over a pre-specified static map.

cob_navigation: cob_linear_nav | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam | cob_vel_integrator

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-Bot. The move_base node is configured to run over a pre-specified static map.

cob_navigation: cob_linear_nav | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam | cob_unified_scan_publisher

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-bot. The move_base node is configured to run over a pre-specified static map.

cob_navigation: cob_linear_nav | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam | cob_scan_unifier

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-bot. The move_base node is configured to run over a pre-specified static map.

  • Maintainer status: developed
  • Maintainer: Matthias Gruhler <mig AT ipa.fraunhofer DOT de>
  • Author: Matthias Gruhler <mig AT ipa.fraunhofer DOT de>
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_navigation.git (branch: hydro_release_candidate)
cob_navigation: cob_linear_nav | cob_map_accessibility_analysis | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-bot. The move_base node is configured to run over a pre-specified static map.

  • Maintainer status: maintained
  • Maintainer: Felix Zeltner <fez AT ipa.fraunhofer DOT de>
  • Author: Matthias Gruhler <mig AT ipa.fraunhofer DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_navigation.git (branch: indigo_release_candidate)
cob_navigation: cob_linear_nav | cob_map_accessibility_analysis | cob_mapping_slam | cob_navigation_config | cob_navigation_global | cob_navigation_local | cob_navigation_slam

Package Summary

This package holds config and launch files for running the move_base node on the Care-O-bot. The move_base node is configured to run over a pre-specified static map.

  • Maintainer status: developed
  • Maintainer: Felix Zeltner <fez AT ipa.fraunhofer DOT de>
  • Author: Matthias Gruhler <mig AT ipa.fraunhofer DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_navigation.git (branch: indigo_release_candidate)

Overview

This package contains launch and configuration files for the move_base and amcl nodes meant to be run in an application that requires global navigation with a pre-specified static map.

Applications

Furthermore it holds two launch files for internal navigation packages of Fraunhofer IPA.

  • launch/2dnav_ipa.launch: Starts global navigation using the IPA Navigation.

  • launch/2dnav_ipa_extloc.launch: Starts global navigation using the IPA Navigation with external localization.

Building Blocks

  • launch/2dnav_linear.xml: Holds a Care-O-bot specific configuration of the cob_linear_nav node. Designed to be included by applications that wish to run linear navigation on the Care-O-bot.

  • launch/2dnav_ros_dwa.xml: Holds a Care-O-bot specific configuration of the move_base node with the dynamic window approach. Designed to be included by applications that wish to run global navigation with DWA on the Care-O-bot.

  • launch/2dnav_ros_tr.xml: Holds a Care-O-bot specific configuration of the move_base node with the trajectory rollout approach. Designed to be included by applications that wish to run global navigation with TR on the Care-O-bot.

  • launch/amcl_node.xml: Holds a Care-O-bot specific configuration of the amcl node. Designed to be included by applications that wish to run amcl on the Care-O-bot. Assumes a map is available from an instance of the map_server node.

Configuration Files

  • config/global_costmap_params.yaml: Holds parameters for the global costmap used in the 2dnav_ros_dwa.xml and 2dnav_ros_tr.xml building blocks. This is the costmap used by the navfn planner, and in this case, is initialized by a static map offered by an instance of the map_server node.

  • config/local_costmap_params.yaml: Holds parameters for the local costmap used in the 2dnav_ros_dwa.xml and 2dnav_ros_tr.xml building blocks. This is the costmap used by the specific local planner, which operates in an odometric frame.

Wiki: cob_navigation_global (last edited 2012-05-21 12:20:16 by MatthiasGruhler)