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planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

  • ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
  • ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
  • ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/debug [sensor_msgs::PointCloud]

    debug output of planner internal costmap

  • ~/remembered [sensor_msgs::PointCloud]

    debug output of obstacles probability estimated by BBF

  • ~/path_start [geometry_msgs::PoseStamped]
  • ~/path_end [geometry_msgs::PoseStamped]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

  • ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

  • "goal_tolerance_lin" (double, default: 0.05)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "goal_tolerance_ang_finish" (double, default: 0.05)
  • "unknown_cost" (int, default: 100)
  • "hist_cnt_max" (int, default: 20)
  • "hist_cnt_thres" (int, default: 19)
  • "hist_cost" (int, default: 90)
  • "hist_ignore_range" (double, default: 1.0)
  • "remember_updates" (bool, default: false)
  • "local_range" (double, default: 2.5)
  • "longcut_range" (double, default: 0.0)
  • "esc_range" (double, default: 0.25)
  • "find_best" (bool, default: true)
  • "pos_jump" (double, default: 1.0)
  • "yaw_jump" (double, default: 1.5)
  • "jump_detect_frame" (string, default: base_link)
  • "force_goal_orientation" (bool, default: true)
  • "temporary_escape" (bool, default: true)
  • "fast_map_update" (bool, default: false)
  • "debug_mode" (string, default: std::string("cost_estim"))

    debug output data type

    • "hyst": path hysteresis cost
    • "cost_estim": estimated cost to the goal used as A* heuristic function
  • "queue_size_limit" (int, default: 0)
  • "antialias_start" (bool, default: false)

    If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

  • ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
  • ~/joint (new: joint_states) [sensor_msgs::JointState]
  • /tf

Published topics

  • ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
  • ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

  • "resolution" (int, default: 128)
  • "debug_aa" (bool, default: false)
  • "replan_interval" (double, default: 0.2)
  • "queue_size_limit" (int, default: 0)
  • "link0_name" (string, default: std::string("link0"))
  • "link1_name" (string, default: std::string("link1"))
  • "point_vel_mode" (string, default: std::string("prev"))
  • "range" (int, default: 8)
  • "num_groups" (int, default: 1)

dummy_robot

stub

patrol

stub