Show EOL distros: 

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

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • 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

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • 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

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • 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

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • 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

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
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 | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, David V. Lu!! <davidvlu AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)

nav_comic.png

概要

Navigation Stack(ナビゲーションスタック)は、概念のレベルでとてもシンプルなものとなっています。オドメトリや、センサーストリームから情報を読み込み、台車に速度指令を出力します。しかし、任意のロボットでのナビゲーションスタックの使用は、少し複雑なものになってきます。ナビゲーションスタックを使う際は、そもそもロボットがROSが動いている必要があり、tfのトランスフォームツリーを持っており、ROSの正しいメッセージのタイプ(Message types)でセンサーのデータを送っていることが求められています。また、ナビゲーションスタックは、最大限活用するには、ロボットの動態と形状を設定する必要があります。これらをする際に、以下の典型的なナビゲーションスタックのセットアップと設定についてのマニュアルを参考にするとよいと思います。

ハードウェア要求

できるだけナビゲーションスタックが一般的なものになるように設計されているものの、これを使うには以下の3点のハードウェア要求を満たさなくてはなりません。

  1. ディフェレンシャル・ドライブかつホロノミックな(つまりオムニホイールを有する)ロボットのみを対象としています。対象となる車輪部が、理想的な速度指令をx方向速度、y方向速度、回転速度の形式で送ることによって制御されることを前提としています。
  2. ロボット本体に平面レーザセンサが取り付けられている必要があります。このレーザは、マップの生成と自己位置推定をすることに使用されます。
  3. ナビゲーションスタックは、方形のロボットで開発されているため、使用されるロボットが方形か円形のロボットで最大のパフォーマンスが発揮できると思います。任意の形と大きさのロボットを動かすことができますが、大きな方形のロボットが狭いドアなどを通過するのは難しいと思われます。

ドキュメント

以下のドキュメントは、ROSについてある程度わかっていることが前提となっています。ROSについてのドキュメントは、ROS Documentationでご覧になれます。

バグを報告

チュートリアル

  1. Explore surrounding areas and make a map

    Explore the real environment from robot's vision and save a map.

  2. Navigate with a known map

    Ramble in the known area with a previously saved a map

  3. Navigate in Simulation

    This pagge describes awesome simulation

  4. Navigate with real robot

    This page describes navigation with real robot

  5. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  6. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  7. 为Turtlebot配置导航包

    为您的机器人提供导航配置的第一个示例,随后可参考其他更全面的教程。

  8. Husky Move Base Demo

    Running Husky with a basic move_base setup, with no mapping or localization.

  9. tf を用いたロボットのセットアップ

    このチュートリアルでは tf を使ってロボットをセットアップする方法を学びます.

  10. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  11. Husky AMCL Demo

    Running Husky with a move_base setup, using amcl for localization.

  12. Husky Gmapping Demo

    Running Husky with a move_base setup, using gmapping for mapping and localization (SLAM).

  13. Husky Frontier Exploration Demo

    Running Husky with a move_base setup, using frontier_exploration for exploration planning, and gmapping for mapping and localization (SLAM).

  14. Explore surrounding areas and make a map

    Explore the environment from robot's vision and save a map.

  15. Navigate with a known map

    Ramble in the known area with a previously saved a map.

  16. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  17. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  18. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  19. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  20. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  21. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  22. Setting up your robot using tf

    This tutorial provides a guide to set up your robot to start using tf.

  23. turtlebotのナビゲーションスタックの設定

    ロボットのナビゲーション構成についてのはじめの一歩, および, その他のもっと包括的なチュートリアルへのリファレンス

  24. turtlebotによるSLAMを用いた地図作成

    gmappingを利用して地図を作成する方法

  25. 既知の地図を用いたTurtleBotの自律ナビゲーション

    このチュートリアルでは既知の地図を用いてTurtleBotでナビゲーションを行う方法について述べます.

  26. 为你的机器人配置 tf

    This tutorial provides a guide to set up your robot to start using tf.

  27. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  28. Navigation of the Evarobot in Gazebo

    How to navigate evarobot in Gazebo with a previously known map.

  29. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

  30. 通过ROS发布里程计信息

    这个教程提供为导航包发布里程计信息的例子。它覆盖了通过ROS发布nav_msgs/Odometry消息和通过TF发布"odom"坐标系到"base_link" 坐标系的变换。

  31. 在机器人上配置并使用导航功能包集

    本教程一步步介绍如何在机器人上运行导航功能包集。包括:使用tf发送变换,发布里程计信息,发布来自激光的传感器信息,基本的导航功能包集的配置。

  32. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

  33. Publishing Odometry Information over ROS

    This tutorial provides an example of publishing odometry information for the navigation stack. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf.

  34. ロボットに固有なNavigationスタックのセットアップと環境設定

    このチュートリアルはロボットをNavigationスタックで動作させるためのステップ・バイ・ステップなインストラクションです。このチュートリアルは以下の内容を含みます。: tfを使ったtransform送信, オドメトリ情報のパブリッシュ, ROSを介してレーザから取得したセンサデータのパブリッシュ, Navigationスタックの基本的な環境設定

  35. Writing A Global Path Planner As Plugin in ROS

    In this tutorial, I will present the steps for writing and using a global path planner in ROS. The first thing to know is that to add a new global path planner to ROS, the new path planner must adhere to the nav_core::BaseGlobalPlanner C++ interface defined in nav_core package. Once the global path planner is written, it must be added as a plugin to ROS so that it can be used by the move_base package. In this tutorial, I will provide all the steps starting from writing the path planner class until deploying it as a plugin. I will use Turtlebot as an example of robot to deploy the new path planner. For a tutorial that shows how to integrate a real GA planner as ROS plugin, refer to Adding Genetic Algorithm Global Path Planner As Plugin in ROS. A video tutorial is also available in this link

  36. No Title

    No Description

  37. Publishing Odometry Information over ROS

    This tutorial provides an example of publishing odometry information for the navigation stack. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf.

  38. No Title

    No Description

  39. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  40. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

  41. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

  42. Gazebo'da Evarobot Navigasyonu

    Çıkartılmış harita üzerinden Gazebo'da otonom Evarobot navigasyonu.

  43. Bilinen Bir Haritada Otonom Evarobot Navigasyonu

    Daha önceden çıkartılmış haritada otonom robot navigasyonu.

  44. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

  45. Autonomous Navigation of a Known Map with Evarobot

    How to navigate autonomously the Evarobot with known map.

  46. Setup and Configuration of the Navigation Stack on a Robot

    This tutorial provides step-by-step instructions for how to get the navigation stack running on a robot. Topics covered include: sending transforms using tf, publishing odometry information, publishing sensor data from a laser over ROS, and basic navigation stack configuration.

  47. Publishing Sensor Streams Over ROS

    This tutorial provides examples of sending two types of sensor streams, sensor_msgs/LaserScan messages and sensor_msgs/PointCloud messages over ROS.

  48. Sending Goals to the Navigation Stack

    The Navigation Stack serves to drive a mobile base from one location to another while safely avoiding obstacles. Often, the robot is tasked to move to a goal location using a pre-existing tool such as rviz in conjunction with a map. For example, to tell the robot to go to a particular office, a user could click on the location of the office in a map and the robot would attempt to go there. However, it is also important to be able to send the robot goals to move to a particular location using code, much like rviz does under the hood. For example, code to plug the robot in might first detect the outlet, then tell the robot to drive to a location a foot away from the wall, and then attempt to insert the plug into the outlet using the arm. The goal of this tutorial is to provide an example of sending the navigation stack a simple goal from user code.

  49. 在ROS上发布传感器数据流

    这个教程提供发布两种类型的传感器数据的例子,即 sensor_msgs/LaserScan 消息和sensor_msgs/PointCloud 消息。

  50. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

  51. Navigation with Robotino

    Autonomous navigation of a known map with Robotino

  52. Publishing Sensor Streams Over ROS

    This tutorial provides examples of sending two types of sensor streams, sensor_msgs/LaserScan messages and sensor_msgs/PointCloud messages over ROS.

  53. Sending Goals to the Navigation Stack

    The Navigation Stack serves to drive a mobile base from one location to another while safely avoiding obstacles. Often, the robot is tasked to move to a goal location using a pre-existing tool such as rviz in conjunction with a map. For example, to tell the robot to go to a particular office, a user could click on the location of the office in a map and the robot would attempt to go there. However, it is also important to be able to send the robot goals to move to a particular location using code, much like rviz does under the hood. For example, code to plug the robot in might first detect the outlet, then tell the robot to drive to a location a foot away from the wall, and then attempt to insert the plug into the outlet using the arm. The goal of this tutorial is to provide an example of sending the navigation stack a simple goal from user code.

  54. Installing

    Instructions to install and compile this package

  55. Evarobot Exploration

    How to generate a SLAM map autonomously with Evarobot using frontier_exploration

  56. Mapping with Robotino

    Explains how to build a map with Robotino using gmapping

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Wiki: ja/navigation (last edited 2016-11-20 16:13:01 by ronekko)