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navigation_experimental: assisted_teleop | eband_local_planner | goal_passer | pose_base_controller | pose_follower | sbpl_lattice_planner | sbpl_recovery | twist_recovery
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Package Summary

Documented

The eband_local_planner package implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

navigation_experimental: assisted_teleop | eband_local_planner | goal_passer | pose_base_controller | pose_follower | sbpl_lattice_planner | sbpl_recovery | twist_recovery
Package LinksDependencies (15)
Used by (1)

Package Summary

Documented

The eband_local_planner package implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package LinksDependencies (12)
Used by (1)

Package Summary

Released Continuous integration Documented

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package LinksDependencies (12)
Used by (2)
Jenkins jobs (6)

Package Summary

Released Continuous integration Documented

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Cannot load information on name: eband_local_planner, distro: jade, 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.
Package LinksDependencies (12)
Jenkins jobs (10)

Package Summary

Released Continuous integration Documented

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Cannot load information on name: eband_local_planner, distro: lunar, 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.

Contents

  1. Road Map
  2. Video
  3. Credits
  4. ROS Interface

Road Map

The original implementation for this ROS move_base local planner only supported omni-directional (holonomic) robots.

The current version was modified to work with differential drive machines. Set differential_drive to false to enable sideways motion.

Video

Credits

Quinlan, S. and Khatib, O. "Elastic Bands: Connecting Path Planning and Robot Control." Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia 1993, vol 2. pp. 802-807

ROS Interface

This plugin runs inside the move_base process. Its parameter namespace is prefixed by that of move_base and the base_local_planner name under which it was launched, typically EBandPlannerROS, e.g.: 

  <node pkg="move_base" type="move_base" name="move_base">
    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS"/>
    ...
  </node>

~/EBandPlannerROS/Ctrl_Rate (double, default: 20.0)

  • The rate in Hz at which to run the control loop and send velocity commands to the base.
~/EBandPlannerROS/differential_drive (bool, default: True)
  • Set false if the robot is omni-directional (holonomic).
~/EBandPlannerROS/max_acceleration (double, default: 0.5)
  • Maximum linear acceleration (meters/sec/sec).
~/EBandPlannerROS/max_vel_lin (double, default: 0.75)
  • Maximum linear velocity allowed (meters/sec).
~/EBandPlannerROS/max_vel_th (double, default: 1.0)
  • Maximum rotational velocity allowed (radians/sec).
~/EBandPlannerROS/min_vel_lin (double, default: 0.01)
  • Minimum linear velocity allowed (meters/sec).
~/EBandPlannerROS/min_vel_th (double, default: 0.0)
  • Minimum rotational velocity allowed (radians/sec).
~/EBandPlannerROS/xy_goal_tolerance (double, default: 0.02)
  • Tolerate missing the goal by this linear distance (meters).
~/EBandPlannerROS/yaw_goal_tolerance (double, default: 1.5)
  • Tolerate missing the goal by this angular distance (radians).

There are other still-undocumented parameters. One must look at the code to discover their names and guess at their meanings: https://github.com/utexas-bwi/eband_local_planner/blob/master/src/eband_trajectory_controller.cpp#L74

Wiki: eband_local_planner (last edited 2016-06-28 16:30:38 by JackOQuin)

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