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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

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.

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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