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ike_nav_server package from ike_nav repo

ike_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

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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_nav_server package

Additional Links

No additional links.

Maintainers

  • Tatsuhiro Ikebe

Authors

No additional authors.
ike_nav_server/README.md

ike_nav_server

Package overview

navigation server（ロボットの目標位置到達までの管理）のROS 2 C++実装です。

目標位置geometry_msgs/PoseStampedが与えられると、経路計画と経路追従を開始し、速度geometry_msgs/Twistを出力します。

Input / Output

Input

Name（Topic） Type Description
/goal_pose geometry_msgs::msg::PoseStamped 目標位置
Name（Service） Type Description
/get_path ike_nav_msgs::srv::GetPath 経路
/get_twist ike_nav_msgs::srv::GetTwist 速度
Name（Action） Type Description
/navigate_to_goal ike_nav_msgs::action::NavigateToGoal 目標位置

Output

Name（Topic） Type Description
/cmd_vel geometry_msgs::msg::Twist 速度
Name（Action） Type Description
/navigate_to_goal ike_nav_msgs::action::NavigateToGoal ロボットの姿勢、目標経路から速度およびフィードバックを出力

Parameters

Name（Parameter） Type Description
ike_nav_server_loop_hz double 経路計画と経路追従の実行周期
goal_tolerance_xy double ゴール判定の許容値
publish_stop_velocity_hz double 停止をするための速度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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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