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Package Summary
Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David V. Lu!! <davidvlu AT gmail DOT com>
- License: BSD
- Source: git https://github.com/wg-perception/people.git (branch: hydro-devel)
Package Summary
Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David V. Lu!! <davidvlu AT gmail DOT com>
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Package Summary
Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David V. Lu!! <davidvlu AT gmail DOT com>
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Package Summary
Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David V. Lu!! <davidvlu AT gmail DOT com>
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: indigo)
Package Summary
Plugin-based layers for the navigation stack that implement various social navigation contraints, like proxemic distance.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>
- Author: David V. Lu!! <davidvlu AT gmail DOT com>
- License: BSD
- Source: git https://github.com/DLu/navigation_layers.git (branch: melodic)
Contents
Social Navigation Layers
There are currently two social navigation layers. However, they both share functionality in that they both subscribe to where people are and alter the costmaps with a Gaussian distribution around those people. Both classes derive from the general SocialLayer class.
They can be used in costmap configurations with the following types:
social_navigation_layers::ProxemicLayer
social_navigation_layers::PassingLayer
ProxemicLayer/PassingLayer
The interface for both layers is the same.Subscribed Topics
/people (people_msgs/People)- People to navigate around
Parameters
enabled (bool, default: True)- Whether to apply this plugin or not
- Smallest value to publish on costmap adjustments
- Amplitude of adjustments at peak
- Covariance of adjustments
- Factor with which to scale the velocity
- Pause before clearing leg list
How the Costmap Changes
Proxemic Layer
The proxemic layer adds gaussian costs all around the detected person, with the parameters specified above. If the person is stationary, the gaussian is perfectly round. However, if the person is moving, then the costs will be increased in the direction of their motion. How far in front of the person the costs are increased is proportional to the factor parameter.
Stationary Person
Moving Person
Passing Layer
This layer is intended to cause the robot to always pass on the left side of a person and will hence only increase the cost on one side of the person.
