Only released in EOL distros:  

Package Summary

It is a function table that receives multipoint information, then controls the time of sending the target point and serves the Move_base


The multipoint_navigation_receiver realizes the simultaneous delivery of multiple target points of the mobile robot. It maintains two arrays with one-to-one correspondence between positions and attitudes, and obtains feedback of the navigation results through SimpleActionClient, and arrives in the order of the requested target points. Achieve a state similar to patrol.

The working principle of obstacle_server node is as follows:

  1. Start a separate thread to subscribe to news on the topic "/move_base/global_costmap/costmap
  2. Obtain global_costmap data from the subscribed data
  3. Start a service "obstacle_information" for feedback of obstacle information
  4. The possibility of obtaining obstacles from data according to the coordinates of the map passed in when requesting the service (that is, the cost of a point in the global_costmap)

The working principle of the multipoint_navigation_receiver node is as follows:

  1. Confirm that the obstacle_information service has been turned on
  2. Start a service "goals_server" to receive data from multiple targets
  3. Store the received array and get feedback from SimpleActionClient, If you reach the current target point or if you haven't reached the target point after a period of time and have the possibility to meet obstacles on target point, then navigate to the next target point until you reach the final target point

Node API


Provides possibility to meet obstacles on target point at map.

Subscribed Topics

move_base/global_costmap/costmap (nav_msgs/OccupancyGrid)
  • Provides obstacle information for the entire map.


/obstacle_information (multipoint_navigation_receiver/obstacle_srv)
  • Allows an extemal user to ask for the possibility to meet obstacles on target point.


Receive multiple target points.


/goals_server (multipoint_navigation_receiver/set_goal_srv)
  • Allows an extemal user to send multiple target points.

Wiki: multipoint_navigation_receiver (last edited 2020-08-16 04:57:05 by SuperAruba)