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Package Summary
The tuw_multi_robot_goal_generator package
- Maintainer status: maintained
- Maintainer: max <max AT todo DOT todo>
- Author:
- License: BST
- Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: kinetic)
Package Summary
The tuw_multi_robot_goal_generator package was designed to generate, store, and read goal lists for the tuw_multi_robot_router. The goal_saver is able to store publish goal msgs of type tuw_multi_robot_msgs::RobotGoalsArray in a human readable form. The goal_server is able to read and publish this msgs and to read patches of saved goals for testing. The goals_random node subscribes to the occupancy grid and is able to auto generate valid goals for testing.
- Maintainer status: maintained
- Maintainer: Markus Bader <markus.bader AT tuwien.ac DOT at>
- Author: Markus Bader <markus.bader AT tuwien.ac DOT at>
- License: BSD
- Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: melodic)
Package Summary
The tuw_multi_robot_goal_generator package was designed to generate, store, and read goal lists for the tuw_multi_robot_router. The goal_saver is able to store publish goal msgs of type tuw_multi_robot_msgs::RobotGoalsArray in a human readable form. The goal_server is able to read and publish this msgs and to read patches of saved goals for testing. The goals_random node subscribes to the occupancy grid and is able to auto generate valid goals for testing.
- Maintainer status: maintained
- Maintainer: Markus Bader <markus.bader AT tuwien.ac DOT at>
- Author: Markus Bader <markus.bader AT tuwien.ac DOT at>
- License: BSD
- Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: noetic)
Documentation
goal_saver
Subscribed Topics
goals (tuw_multi_robot_msgs/RobotGoalsArray)
- goals to store
Parameters
~run_once (string default: "/tmp/goals.txt")
- Filename used to store messages. if run_once is false a three digit number will be added for each stored message.
~file_name (bool default: "false")
- On true it will exit the program after the first received message. On false it will write a file with 3 digit suffix number for each received messages
goal_server
Published Topics
goals (tuw_multi_robot_msgs/RobotGoalsArray)
- Topic to publish goals
Parameters
~file_name (string default: "/tmp/goals.txt")
- Filename used to read messages. if run_once is false a patch of goals will be published by using the filename as prefix and a three digit increasing number as suffix.
~loop_rate (double default: "1.0")
- Publishing rate if run_once is false
~run_once (bool default: "false")
- On true it will exit the program after publishing one message. On false it will look for files matching the file_name and three digits starting with 000
~time_now (time_now default: "true")
- On true will used ros::now for the header timestamp otherwise the stored timestamp
goal_random
Subscribed Topics
map (nav_msgs/OccupancyGrid)
- map to identify free spots for goals
Published Topics
goals (tuw_multi_robot_msgs/RobotGoalsArray)
- Topic to publish goals
valid_goal_locations (nav_msgs/OccupancyGrid)
- For debugging: a map with the valid/invalid goal locations
Parameters
~nr_of_robots (int default: "-")
- number of robots to generate goals
~nr_of_available_robots (int default: "-1")
- number of available robots e.g. you have available 200 robots but you just want to generate goals for 40 random robots out of does 200. On -1 it will be equal to nr_of_robots.
~frame_id (string default: "map")
- Frame id for the generated goals
~robot_name_prefix (string default: "robot_")
- prefix for the available robots
~distance_boundary (double default: "0.5")
- A goal parameter: minimal allowed to an obstacle
~distance_between_robots (double default: "2.0")
- A goal parameter: minimal allowed distance between goals
~distance_to_map_border (double default: "0.2")
- A goal parameter: minimal allowed distance of a goal to the map border
~max_resample (int default: "1000")
- how often should a goal be re-sampled if it was on an invalid spot until an error occurs (the implementation can be better to avoid this parameter)
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]
