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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
| Checkout URI | https://github.com/uhobeike/ike_nav.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-12-19 |
| 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
The ikebe_planner package
Additional Links
No additional links.
Maintainers
- Tatsuhiro Ikebe
Authors
No additional authors.
ike_planner
Package overview
A*1およびDijkstra2探索のROS 2 C++実装です。
地図上nav_msgs/OccupancyGridでの自己位置geometry_msgs/PoseStampedから、与えられた目標位置geometry_msgs/PoseStampedまでの最短経路nav_msgs/Pathを求めます。
Input / Output
Input
| Name（Topic） | Type | Description |
|---|---|---|
/costmap_2d |
nav_msgs::msg::OccupancyGrid |
すべてのレイヤーを統合したコストマップ |
| Name（Service） | Type | Description |
|---|---|---|
/get_path |
ike_nav_msgs::srv::GetPath |
ロボットの姿勢と目標位置を入力 |
Output
| Name（Topic） | Type | Description |
|---|---|---|
/plan_path |
nav_msgs::msg::Path |
求めた最短経路 |
/planner_searched_map |
nav_msgs::msg::OccupancyGrid |
最短経路を求めるのに探索したエリア |
| Name（Service） | Type | Description |
|---|---|---|
/get_path |
ike_nav_msgs::srv::GetPath |
ロボットの姿勢と目標位置間の最短経路を出力 |
Parameters
| Name（Parameter） | Type | Description |
|---|---|---|
use_dijkstra |
bool |
Dijkstra法で最短経路を求めるか |
publish_searched_map |
int |
探索エリアをパブリッシュするか |
update_path_weight |
double |
経路のスムージングのために、データをどれだけ元からずらすかの重み |
smooth_path_weight |
double |
経路をどれだけ、スムージングするかの重み |
iteration_delta_threshold |
double |
反復の閾値 |
Reference
LICENSE
Apache License, Version 2.0に基づいています。
Citation
-
P. E. Hart, N. J. Nilsson and B. Raphael: ‘‘A Formal Basis for the Heuristic Determination of Minimum Cost Paths,’’ in IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp. 100-107, July 1968. ↩
-
E. W. Dijkstra: ‘‘A note on two problems in connexion with graphs,’’ Numer. Math., vol. 1, no. 1, pp. 269–271, Dec 1959. ↩
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 | |
| nav_msgs | |
| ike_nav_parameters |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ike_controller | |
| ike_launch | |
| ike_nav | |
| ike_nav_server |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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