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ike_costmap_2d package from ike_nav repoike_controller ike_costmap_2d ike_launch ike_localization ike_map_server ike_nav ike_nav_msgs ike_nav_parameters ike_nav_rviz_plugins ike_nav_server ike_planner ike_waypoint_follower |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simple ROS 2 Navigation Stack with C++ Implementation |
| Checkout URI | https://github.com/uhobeike/ike_nav.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-12-19 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | tracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ike_costmap_2d package
Additional Links
No additional links.
Maintainers
- Tatsuhiro Ikebe
Authors
No additional authors.
ike_costmap_2d
Package overview
2次元コストマップ（障害物情報の管理）のROS 2 C++実装です。
2次元地図nav_msgs/OccupancyGrid、2次元センサ情報sensor_msgs/LaserScanから静的レイヤーnav_msgs/OccupancyGrid、障害物の範囲を広げたレイヤーnav_msgs/OccupancyGrid、動的障害物の情報を含んだレイヤーnav_msgs/OccupancyGridを各レイヤーを統合した2次元コストマップnav_msgs/OccupancyGridを出力します。
Input / Output
Input
| Name（Topic） | Type | Description |
|---|---|---|
/scan |
sensor_msgs::msg::LaserScan |
2次元センサ情報 |
| Name（Service） | Type | Description |
|---|---|---|
/get_map |
ike_nav_msgs::srv::GetMap |
2次元地図 |
Output
| Name（Topic） | Type | Description |
|---|---|---|
/static_layer |
nav_msgs::msg::OccupancyGrid |
静的レイヤー |
/inflation_layer |
nav_msgs::msg::OccupancyGrid |
障害物の範囲を広げたレイヤー |
/obstacle_layer |
nav_msgs::msg::OccupancyGrid |
動的障害物の情報を含んだレイヤー |
/costmap_2d |
nav_msgs::msg::OccupancyGrid |
各レイヤーを統合した2次元コストマップ |
| Name（Service） | Type | Description |
|---|---|---|
/get_costmap_2d |
nav_msgs::msg::OccupancyGrid |
2次元コストマップ |
Parameters
| Name（Parameter） | Type | Description |
|---|---|---|
inflation_layer/inflation_radius |
double |
どのくらい障害物の範囲を広げるか |
obstacle_layer/inflation_radius |
double |
どのくらい障害物の範囲を広げるか |
obstacle_layer/obstacle_range |
double |
どのくらいの距離の障害物を観測した時に動的障害物であると判断するか |
publish_costmap_2d_hz |
double |
2次元コストマップのパブリッシュ周期 |
LICENSE
Apache License, Version 2.0に基づいています。
CHANGELOG
No CHANGELOG found.
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.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclcpp_components | |
| geometry_msgs | |
| ike_map_server | |
| ike_nav_msgs | |
| sensor_msgs | |
| std_srvs | |
| tf2_ros | |
| nav_msgs | |
| nav2_util | |
| ike_nav_parameters |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ike_nav |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ike_costmap_2d at Robotics Stack Exchange
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