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Only released in EOL distros:   indigo

Example scenarios

Some example scenarios can be run using:

roslaunch riskrrt scenario_name.launch

Available scenarios:

• corridor
• D_corridor
• airport
• empty_airport
• back_forth
• crossing
• frontal
• inria_hall
• test

Nodes

controller

a path following node for differential drive robots

Subscribed Topics

traj (riskrrt/Trajectory)

• robot trajectory

amcl_pose (geometry_msgs/PoseWithCovarianceStamped)

• robot pose

Published Topics

controller_feedback (std_msgs/Bool)

• controller feedback, true as long as robot is on trajectory

cmd_vel (geometry_msgs/Twist)

• velocity commands

goal_pub

an automatic goal publisher

Published Topics

goal (geometry_msgs/PoseStamped)

• robot final goal

og_builder*

some occupancy grid array publishers examples

Subscribed Topics

map (nav_msgs/OccupancyGrid)

• static map

robot_*/base_pose_ground_truth (nav_msgs/Odometry)

• mobile obstacles poses

Published Topics

robot_*/cmd_vel (geometry_msgs/Twist)

• mobile obstacles velocities

ogarray (riskrrt/OccupancyGridArray)

• occupancy grid array

planner

the riskrrt planner

Subscribed Topics

ogarray (riskrrt/OccupancyGridArray)

• occupancy grid array

goal (geometry_msgs/PoseStamped)

• robot final goal

controller_feedback (std_msgs/Bool)

• controller feedback

amcl_pose (geometry_msgs/PoseWithCovarianceStamped)

• robot pose

odom (nav_msgs/Odometry)

• robot odometry

Published Topics

traj (riskrrt/Trajectory)

• robot trajectory

Parameters

~timeStep (double)

• time step between each node (s), should be used as the time gap between each grid if using a custom OccupancyGridArray publisher

~maxDepth (int)

• maximum depth a node can have, should be used to set the occupancy grid array size if using a custom OccupancyGridArray publisher

~nv (int)

• discretization of the robot's linear speed, used to create the set of possible controls from a node

~nphi (int)

• discretization of the robot's angular speed, used to create the set of possible controls from a node

~threshold (double)

• maximum risk value a node can have to be considered free

~socialWeight (double)

• weight of the risk component in the computation of the node's score

~rotationWeight (double)

• weight of the node's orientation toward the goal (compared to the distance)

~growTime (double)

• time allocated to the tree growth between map updates (s)

~bias (double)

• percentage of the time the final goal is chosen as random goal

~windowSize (double)

• size of the window from which to pick a random goal (m)

~goalTh (double)

• maximum distance the robot can be from the final goal to consider the goal reached (m)

~robotLength (double)

• robot lenght (m)

~robotWidth (double)

• robot width (m)

~vMin (double)

• minimum robot linear speed (m/s), set it to 0 or a negative value to allow reverse

~vMax (double)

• maximum robot linear speed (m/s)

~accMax (double)

• maximum linear acceleration (m/s²)

~omegaMax (double)

• maximum angular speed (rad/s)

~accOmegaMax (double)

• maximum angular acceleration (rad/s²)