Package Summary

The nj_laser package

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

Wiki: nj_laser (last edited 2015-01-14 15:11:57 by GaelEcorchard)