Contents

  1. Tools
    1. multiple goal navigation
      1. Subscribed Topics
      2. Published Topics
      3. Required tf Transforms

Tools

this package contains the following tools:

multiple goal navigation

A tool for setting multiple waypoints which the robot should visit (in an infinite loop).

Subscribed Topics

/clear_way_points (std_msgs/Empty)
  • clears the path
/multi_goal_path (nav_msgs/Path)
  • sets a path consisting of waypoints
/add_way_point (geometry_msgs/PoseStamped)
  • adds a way point at the end of the path
/odom (nav_msgs/Odometry)
  • needed to get twist
/goal_sleep_time (std_msgs/Float32)
  • how long should the robot stay at each waypoint?

Published Topics

/move_base_simple/goal (geometry_msgs/PoseStamped)
  • publishes the current goal
/get_multi_path (nav_msgs/Path)
  • publishes the current path
/cmd_vel (geometry_msgs/Twist)
  • sets the robots twist to 0 if the robot plans a new path
deltaWay (std_msgs/Float32)
  • publishes total travelled distance

Required tf Transforms

/map → /base_link

Wiki: neo_2dnav_tools (last edited 2012-02-15 08:39:08 by TimoHackel)

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