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)

Wiki: safe_teleop_base (last edited 2019-12-17 09:20:24 by YukiFuruta)