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mcr_tracking_components package from cyberdog_tracking_base repobt_navigators mcr_bringup mcr_controller mcr_global_planner mcr_msgs mcr_planner mcr_tracking_components mcr_uwb mcr_voice |
Package Summary
Tags | No category tags. |
Version | 1.0.8 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/miroboticslab/cyberdog_tracking_base.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2023-10-07 |
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
TODO
Additional Links
No additional links.
Maintainers
- Michael Jeronimo
- Carlos Orduno
- Carlos Orduno
Authors
No additional authors.
mcr_tracking_components
主要是基于navigation2中的插件接口进行扩充,主要包括了如下几个种类的插件
行为树节点
change_gait_node
用于调整狗子步态的节点
is_battery_in_charge_condition
检测是否已经开始进行充电的节点
charger_updater_node
获取自主回充时,充电桩的位置信息
orientation_derivers
基于卡尔曼,用于推导目标运行方向的计算
compute_path_spline_poses_action
修改自navigation2, 用于跟随
seat_adjust_client_node
自主回充时,最后趴下之前,调整姿态的接口
compute_path_to_pose_action
修改自navigation2,增加了一些跟随功能专用接口
spin_and_search_action
当目标丢失时,通过自旋转来找回目标
exception_verify_node
异常校验,用于系统发生不同的异常时匹配不同的恢复行为
target_updater_node
目标管理节点,用于目标位置接收和处理
follow_path_action
修改自navigation2的follow path节点,增加了一些跟随功能专用接口
tracking_mode_decider_node
预留,用于自主决策跟随时狗子相对与目标的位置。
控制器插件
fake_progress_checker
不管机器人是否存在运动,都认为狗子运行正常
x_goal_checker
只检测x方向是否抵达
unreachable_goal_checker
不管机器人是否抵达目标,都返回未抵达
xy_goal_checker
只检测直线距离是否满足阈值,不考虑航向角
costmap的layer插件
obstacle_layer
修改自navigation2,订阅目标信息然后在传感器数据中扣除目标。
dwb规划器critic插件
keep_target_insight
为了保持目标能够一直保持在摄像头视野,利用目标数据所增加的dwb评判器
keep_person_insight
为了保持目标能够一直保持在摄像头视野,利用目标上游数据(reid结果)所增加的dwb评判器
恢复行为的插件
spin_and_search
当目标丢失时候,会一边旋转一边找回
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
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mcr_tracking_components at Robotics Stack Exchange
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