mavsrospalnner
This is a setup for Navigation Stack for the HMMWV model. This uses move_base ROS package and given a Goal pose, it publishes a trajectory into /cmd_vel.
The setup uses navfn/NavfnROS as base_global_planner and base_local_planner/TrajectoryPlannerROS as base_local_planner. Namespace for this planner is ros_base_planner
Inputs
Following are the argument required by package's main.launch file of mavs_ros_palnner package
| Name | Description |
|---|---|
system_params_path | path to cofiguration file that defines system fields. Example file: demoC.yaml |
case_params_path | path to cofiguration file that defines the case. Example file: case1.yaml |
laser_scan_topic | topic publishing the lase scan data |
rviz_config_file | path to a Rviz configuration file |
mavs_ros_planner heavily relies on the move_base framework from ROS. User can also tune parameters related to cost maps, global/local planners, etc.through configuration files present inMAVs/ros/src/system/config/planner/rosbaseplanner`
Output
Output topics are the same as mentioned in tutorial of move_base. Few application specific ros parameters which are publsihed are metnioned below:
| Name | Description |
|---|---|
vehicle/chrono/ros_base_planner/traj/x | list of 'x' part of global coordinates for the created plan |
vehicle/chrono/ros_base_planner/traj/y | list of 'y' part of global coordinates for the created plan |
Flags and Settings
| Name | Description |
|---|---|
/system/ros_base_planner/initialized | indicates if the planner has successfully published a global plan |
/system/ros_base_planner/goal_known | indicates wether to use the goal provided in case file or from Rviz |