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Package Summary

Tags No category tags.
Version 0.0.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tud-amr/mpc_planner.git
VCS Type git
VCS Version main
Last Updated 2025-03-30
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

Package for real-world control of the Clearpath Jackal

Additional Links

No additional links.

Maintainers

  • Oscar de Groot

Authors

No additional authors.

Jackal

This package implements planning with collision avoidance for the Clearpath Jackal ground robot.

Several additional packages are required to run the planner in the lab. These are available under https://github.com/tud-amr/mpc_planner_ws in lab.repos.


Demo Instructions

  1. Connect to mrl-wifi-5g.
  2. ip a, set ROS_IP in connect_to_jackal.sh.
  3. Ctrl + Shift + B -> Jackal: Run Real-World Jackal

Notes

  • The launch file configures the number of pedestrians, which needs to be correct for any pedestrian to be detected.
  • The launch file also allows static obstacles with markers to be added (as dynamic obstacle with zero velocity).
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.

Dependant Packages

No known dependants.

Launch files

  • launch/ros1_jackal.launch
      • gui [default: false]
      • project_name [default: ]
      • roadmap [default: maps/mobile_robotics_lab/diagonal.xml]
      • jackal_name [default: jackal3]
      • object_msg_types [default: [geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped]]
      • object_frame_ids [default: [map, map, map, map, map, map, map]]
      • object_publish_topics [default: [/vicon/$(arg jackal_name), /vicon/dynamic_object1, /vicon/dynamic_object2, /vicon/dynamic_object3, /vicon/dynamic_object4, /vicon/dynamic_object5, /vicon/dingo1]]
      • object_frequency_divider [default: [2, 2, 2, 2, 2, 2, 2]]
      • dynamic_object_topics [default: [$(arg jackal_name), dynamic_object1, dynamic_object2, dynamic_object3, dynamic_object4, dynamic_object5]]
      • dynamic_object_radius [default: 0.4]
      • static_object_topics [default: []]
      • static_object_radius [default: 0.3]
      • static_object_sizes [default: []]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mpc_planner_jackal at Robotics Stack Exchange

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