tuw_multi_robot: tuw_multi_robot_ctrl | tuw_multi_robot_demo | tuw_multi_robot_goal_generator | tuw_multi_robot_local_behavior_controller | tuw_multi_robot_msgs | tuw_multi_robot_router | tuw_multi_robot_rviz | tuw_voronoi_graph

Package Summary

The tuw_multi_robot_goal_generator package

tuw_multi_robot: tuw_multi_robot_ctrl | tuw_multi_robot_demo | tuw_multi_robot_goal_generator | tuw_multi_robot_local_behavior_controller | tuw_multi_robot_msgs | tuw_multi_robot_router | tuw_multi_robot_rviz | tuw_voronoi_graph

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.

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]

Wiki: tuw_multi_robot_goal_generator (last edited 2018-09-23 19:38:58 by Markus Bader)