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Only released in EOL distros:   indigo

Overview

The nj_laser package implements a navigation jockey for the Large Maps Framework (LaMa) based on a <<MsgSrv(sensor_msgs/LaserScan)>>.

The role of this jockey is to travel to the next crossing. The action is done when the robot reaches the crossing center. It is a reactive memory-less because it does not interact with the large map.

Implemented actions:

• TRAVERSE: will start navigating to the next crossing (place with at least three frontiers) and will succeed when the crossing center is reached.
• STOP: will stop
• INTERRUPT: same as CONTINUE
• CONTINUE: same as TRAVERSE

Usage

ROS API

Subscribed Topics

~<name>/local_costmap (sensor_msg/LaserScan)

• 360-degree laser scan

Published Topics

~<name>/cmd_vel (geometry_msgs/Twist)

• robot set velocity

~<name>/crossing_marker (visualization_msgs/Marker)

• a sphere at the crossing center.

~<name>/exits_marker (visualization_msgs/Marker)

• lines from crossing center towards exits.

~<name>place_profile (sensor_msgs/PointCloud)

• profile of the surroundings

~<name>/crossing (lama_msgs/Crossing)

• computed crossing

Parameters

~<name>/frontier_width (Float)

• free space through which the robot can go

~<name>/robot_radius (Float, default: frontier_width/2)

• robot radius

~<name>/max_frontier_distance (Float)

• points farther than this are cut and frontier may exist

~<name>/navigating_jockey_server_name (String, default: node_name + "_server")

• Jockey name