ipa320 / cob_navigation Goto Github PK

Care-O-bot navigation packages

License: Apache License 2.0

CMake 8.10% C++ 83.94% Python 7.95%

cob_navigation's Introduction

cob_navigation

ROS Distro Support

	Indigo	Jade	Kinetic
Branch	`indigo_dev`	`indigo_dev`	`indigo_dev`
Status	supported	not supported	supported
Version	version	version	version

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ROS Buildfarm

	Indigo Source	Indigo Debian	Jade Source	Jade Debian	Kinetic Source	Kinetic Debian
cob_navigation

The cob_navigation repository provides configuration and launch files for running the navigation stack on the Fraunhofer IPA robots Care-O-bot and rob@work in a number of common configurations. For example, the cob_navigation_local package holds files that configure the move_base node to operate in an odometric frame, and the ’cob_mapping_slam’ package holds files that configure the robot for SLAM. These configuration files are intended for use as building blocks for applications that wish to use autonomous navigation as a component.

The naming of the packages as well as the documentation is kept close to the one of pr2_navigation for ease of use for experienced ROS users. However, changes are made to suit our needs.

For more information, check out the ROS Wiki page

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floweisshardt ipa-nhg abubeck renxi-cu ipa-goa-jh cpc-pk beds-beisheng beds-tao ipa-goa-wt ipa-goa-hh ipa-jsf ima-srs ipa-jsf-mf ipa-fxm-lc ipa-tys mrodriguez-robotnik mn033 thiagodefreitas uh-klk bas-gca jizecn ipa-mig-hm xbence01 leis ipa-goa ipa-nkb ndeshp2s ipa-raw3-1 ipa-cob3-6 ipa-cob3-5 ipa-desire ipa-cob3-7 ipa-raw3-3 ipa-cob3-4 ipa-cob3-3 fmirus ipa-raw3-4 stefandoerr ipa-rmb flg-jm alexey-ozhigov ipa-flg ct2034 ipa-josh iirob jobstvogt nonoid hamzadjilali ipa-aub-aa ipa-fmw-ms ipa-cob3-9 ipa-cob4-2 ipa-cob4-4 aloharobotics dabarsch tobyxie0212 ipa-srd-rd ipa-frm-sd ipa-cpc-jp ipa-srd-fg benmaidel ipa-alek fmessmer yvaine moriarty ipa-cob4-5 flg-mg souravran ipa-bfb-sc jackros1022 baer-cme ipa-fez shenlirobot aand1 ipa-rmb-pz christofschroeter kfr2tom sweetquiet sunarditay zhang-xiang hannesbachter roscn mfinean aravindadp dfl-rlab kkkma mgou123 pgehring tangyuanjie qiangsun89

cob_navigation's Issues

Fixed velocity thresholds in cob_linear_nav NodeClass::notMovingDueToObstacle()

cob_linear_nav uses hardcoded and tight velocity tolerances in detecting not moving due to obstacle.

https://github.com/ipa320/cob_navigation/blob/indigo_dev/cob_linear_nav/src/cob_linear_nav.cpp#L475

While it may not be intended for using outside cob family of robots, I have been successfully using this package as a generic package on different other robots. However above fixed and tight velocity tolerances causes problems where robot's odometer have inherent noise (e.g. Visual/Inertial only odometer)

I suggest setting above tolerance based on a ros param value (or two in case linear and angular thresholds need to be different) I'm glad to provide a PR if it is a welcome enhancement.

add new standalone package for cob_unified_scan_publisher in cob_navigation

pull request #17 (#17) broke the tests on jenkins, see http://cob-jenkins-server:8080/view/u_320/job/ipa320__prio_nongraphics_test/137/ due to the fact that it introduces a dependency to cob_driver/cob_sick_s300 which wasn't there before.

Adding this dependency doesn't make sense, so I'd like to move the code for the unified scan publisher to a new standalone package in cob_navigation.

do groovy release

prerelease fails due to #18

Hardcoded frame name base_footprint in odometryCB function

cob_linear_nav uses hardcoded robot specific tf frame in following locations.

https://github.com/ipa320/cob_navigation/blob/indigo_dev/cob_linear_nav/src/cob_linear_nav.cpp#L284

https://github.com/ipa320/cob_navigation/blob/indigo_dev/cob_linear_nav/src/cob_linear_nav.cpp#L293

This prevents from using this package in a multi robot environment. Following is my current tf tree. There could be multiples of such tree with different tf prefix (scout_1_tf, scout_2_tf etc) All ultimately connected by either static transform between /odom frames or through a parent map frame (world fixed). (On other hand why we need transforming odom vector to robot relative tf frame? Can't we just use raw value of odom without transforming?)

frames.pdf

Probably I might have setup all these in incorrect way or misunderstanding on how to use this package. But I believe if above two lines used a configurable value through rosparams I could get it to work. (Or robot_twist_linear_robot_ and robot_twist_angular_robot_ were simply assigned from odometry->twist.twist without any transform)

Thanks for your time

Obstacle layer and Inflated obstacle layer

Do we publish the obstacle information to the obstacle layer and the inflated obstacle layer during cob_navigation_slam? I saw the blue and red obstacles at http://wiki.ros.org/cob_tutorials/Tutorials/Navigation%20%28slam%29.

But I cannot see any of them with my robot - raw3-6. I tried to check rostopic info /move_base/local_costmap/obstacles and rostopic info /move_base/local_costmap/inflated_obstacles while I am doing https://github.com/ipa320/cob_navigation/blob/indigo_dev/cob_navigation_slam/launch/2dnav_ros_dwa.launch. But the publishers are None.

Does this have anything to do with

cob_navigation/cob_navigation_local/config/global_costmap_params.yaml

Line 30 in 00be288

- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}

? I am using raw3-6 which doesn't have voxel layer.

Thank you!

cob_scan_unifier: intensity vector of unified scan is empty

handle canTransform in cob_linear_nav properly

throws a lot of exceptions and warnings on the terminal

[cob_map_accessibility_analysis] format improvements

fix/unify indentation in files
replace std::cout with respective ROS_DEBUG/INFO/WARN/ERROR
replace file headers with new ones, see https://github.com/ipa320/setup/tree/master/templates

No cob_unified_scan_publisher in hydro-dev branch

I just want to check again for an old problem which I have with tf2_ros::TransformListener but than couldn't find cob_unified_scan_publisher any more in cob_driver/cob_sick_s300 package. So i got confused when wasn't here also, but that's because it only added to groovy-dev, but not hydro-dev branch.

Can you please add it also into hydro-dev branch. Thanks!

Parameter map_type is outdated, needs to be removed. Is now configured in the plugins parameter via the ObstacleLayer or VoxelLayer. Maybe we need to change how/where this is configured...
Adapt parameter for costmap scaling: inscribed_radius <= circumscribed_radius <= inflation_radius && cost_scaling_factor
Check publish_voxel_map: this should only be true if we use a VoxelLayer
Should we comment out the Voxel parameters if we don't use a VoxelLayer or configure them correctly for each robot?

@fmessmer FYI

Dependency cleanup and package format migration

@ipa-mig
As already done for all cob_bringup packages