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Package Summary

Tags No category tags.
Version 1.3.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/smbu-polarbear-robotics-team/pb2025_sentry_nav.git
VCS Type git
VCS Version main
Last Updated 2025-03-30
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Adapts to NAV2 local path planner when `robot_base_frame` changes drastically.

Additional Links

No additional links.

Maintainers

  • Lihan Chen

Authors

  • Lihan Chen

fake_vel_transform

本功能包启动时,Fake Velocity Transform 会创建一个 fake_robot_base_frame 的坐标系,其 x, y, z 与 robot_base_frame 的坐标系一致,但 yaw 固定指向正前方,然后将生成的该坐标系发布到 tf2。同时,Fake Velocity Transform 会订阅 input_cmd_vel_topic 话题,将接收到的速度指令转换到 robot_base_frame 坐标系下,并发布到 output_cmd_vel_topic 话题。

主要目的是用于适配 NAV2 局部路径规划器,当速度参考坐标系 robot_base_frame 变化剧烈时,如云台处于自旋扫描时,NAV2 局部路径规划器会将机器人的方向视为与当前路径规划方向一致,导致机器人无法正常运动。而使用 fake_robot_base_frame 可以规避这个问题,实现较稳定的轨迹跟踪效果。

由于 NAV2 humble 发行版出于避免破坏原有接口的原因,依然使用 Twist 类型(不含时间戳),humble 往后的版本才使用 TwistStamped,导致无法直接实现 cmd_vel 与 odometry 的时间戳对齐。因此,本功能包暂时订阅 local_plan 话题(由局部路径规划器发布),以获取时间戳,将它的时间戳视为 cmd_vel 的时间戳,以间接实现时间戳对齐。 Related issue: Switch from Twist to TwistStamped for cmd_vel #1594

Published Topics

  • tf (tf2_msgs/msg/TFMessage) - 与机器人可移动关节相对应的变换
  • output_cmd_vel_topic (geometry_msgs/msg/Twist) - 转换后的速度指令

Subscribed Topics

  • input_cmd_vel_topic (geometry_msgs/msg/Twist) - 机器人的速度指令
  • local_plan_topic (nav_msgs/msg/Path) - 局部路径规划器的路径
  • odom_topic (nav_msgs/msg/Odometry) - 里程计数据
  • cmd_spin_topic (example_interfaces/msg/Float32) - 控制底盘固定旋转速度,将会叠加到 output_cmd_vel_topic

Parameters

  • odom_topic (string, default: “odom”) - 里程计话题。里程计的 frame_id 与 robot_base_frame 参数保持一致
  • robot_base_frame (string, default: “gimbal_link”) - 速度参考坐标系
  • fake_robot_base_frame (string, default: “gimbal_link_fake”) - 伪速度参考坐标系
  • local_plan_topic (string, default: “local_plan”) - 局部路径规划器的路径话题
  • cmd_spin_topic (string, default: “cmd_spin”) - 控制底盘固定旋转速度的话题
  • input_cmd_vel_topic (string, default: “”) - 输入速度指令的话题
  • output_cmd_vel_topic (string, default: “”) - 输出速度指令的话题。将原本基于 fake_robot_base_frame 的速度变换到 robot_base_frame 后发布
  • init_spin_speed (double, default: 0.0) - 若没有接收 cmd_spin_topic,则使用该值作为固定旋转速度
CHANGELOG
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Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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Recent questions tagged fake_vel_transform at Robotics Stack Exchange

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