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Nodes

safe_trajectory_node

This node takes as input commands for a robot base and outputs the nearest safe commands. The core functionality has some similarities to base_local_planner.

Published Topics

~<name>/safe_vel (geometry_msgs/Twist)

• Safe base commands

~<name>/user_plan (nav_msgs/Path)

• The trajectory corresponding to the incoming base commands

~<name>/local_plan (nav_msgs/Path)

• The trajectory corresponding to the outgoing (safe) base commands

Subscribed Topics

/base_velocity (geometry_msgs/Twist)

• Desired base commands

/odom (nav_msgs/Odometry)

• Base odometry

Services

~<name>/clear_costmaps (std_srvs/Empty)

• Clear marked cells in the current costmap layers. (available on 0.0.3 and later)

Parameters

Many of the parameters are identical to those of the base_local_planner package.

~<name>/acc_lim_x (double, default: 2.5)

• Maximum forward acceleration (in m/s/s)

~<name>/acc_lim_y (double, default: 2.5)

• Maximum lateral acceleration (in m/s/s)

~<name>/acc_lim_th (double, default: 3.2)

• Maximum rotational acceleration (in radians/s/s)

~<name>/sim_time (double, default: 1.0)

• Length, in seconds, of trajectories to simulate forward

~<name>/sim_granularity (double, default: 0.025)

• Resolution at which to sample trajectories

~<name>/vx_samples (integer, default: 3)

• Number of x velocities to consider

~<name>/vy_samples (integer, default: 5)

• Number of y velocities to consider

~<name>/vtheta_samples (integer, default: 10)

• Number of rotational velocities to consider

~<name>/user_bias (double, default: 0.6)

• Weight given to incoming base commands, used in trajectory scoring

~<name>/occdist_scale (double, default: 0.01)

• Weight given to distance to nearest occupied grid cell, used in trajectory scoring

~<name>/max_vel_x (double, default: 0.5)

• Maximum forward velocity in m/s

~<name>/min_vel_x (double, default: 0.1)

• Minimum forward velocity in m/s

~<name>/max_vel_y (double, default: 0.2)

• Maximum lateral velocity in m/s

~<name>/min_vel_y (double, default: -0.2)

• Minimum lateral velocity in m/s

~<name>/min_vel_y (double, default: -0.2)

• Minimum lateral velocity in m/s7.name= ~<name>/max_rotational_vel

~<name>/max_rotational_velocity (double, default: 1.0)

• Maximum rotational velocity rad/s

~<name>/world_model (string, default: costmap)

• World model type

~<name>/holonomic_robot (bool, default: true)

• True to indicate robot can move laterally

~<name>/dwa (bool, default: true)

• True to indicate dynamic window

~<name>/safe_backwards (bool, default: false)

• True to use safe trajectory for moving backward (available on 0.0.3 and later)