mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

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Package Summary

Tags	No category tags.
Version	2.2.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-11-20
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Website

Maintainers

Jose-Luis Blanco-Claraco
Shravan S Rai

Authors

Jose-Luis Blanco-Claraco

mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers

IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```

Other related papers

[IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

Robot shape: The “2D foot-print” of the robot.
PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

mrpt_reactivenav2d for the autonomous reactive navigation (this package),
mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

xxx

Published topics

xxx
reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:
- START: Start of navigation
- END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
- WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
- WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
- ERROR: Error asking sensory data from robot or sending motor commands.
- WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
- APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
- CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

NavigateGoal

Can be used to navigate to a single target SE(2) pose.

Example output

Example CLI call: ```bash ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal --feedback \ "target: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} " ``` Example output: ``` Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93 Feedback: state: total_waypoints: 1 reached_waypoints: 0 Feedback: state: total_waypoints: 1 reached_waypoints: 0 [...] Feedback: state: total_waypoints: 1 reached_waypoints: 0 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

NavigateWaypoints

Can be used to navigate to a sequence of waypoints.

Example output

Example CLI call: ```bash ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints --feedback \ "waypoints: header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'} waypoints: - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}} ignore_heading: true allow_skip: false allowed_distance: 0.30 " ``` Example output: ``` Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333 Feedback: state: total_waypoints: 2 reached_waypoints: -1 Feedback: state: total_waypoints: 2 reached_waypoints: 0 Feedback: state: total_waypoints: 2 reached_waypoints: 1 [...] Feedback: state: total_waypoints: 2 reached_waypoints: 1 Result: state: navigation_status: 0 Goal finished with status: SUCCEEDED ```

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

XXX_config_file: Path to an INI file with…

CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.1 (2024-10-12)

Update for MRPT 2.14.3 (new RNAV weight for target heading)
Support speed_ratio property for Waypoints
Improve astar navigation demo
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

Update URL entries in package.xml to each package proper documentation
ament linters: manually enable just cmake and xml linters
reformat clang-format with 100 column width
Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
Fix duplicated deps
update dependencies
Depend on new mrpt_lib packages (deprecate mrpt2)
Contributors: Jose Luis Blanco-Claraco
Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
Fix duplicated deps
update dependencies
Depend on new mrpt_lib packages (deprecate mrpt2)
Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

Hide example output into <details>
Merge branch 'ros2' into wip/port-tps-astar
rnav node now detects live changes in the parameter 'pure_pursuit_mode'
Merge branch 'ros2' into wip/port-tps-astar
Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

rnav: add new pure_pursuit mode
Implement two action servers: NavigateGoal and NavigateWaypoints
Comply with ROS2 REP 2003
expose waypoint sequence launch argument
use namespaces for launch files
rnav node: publish selected PTG as marker
FIX: waypoints should also observe frame_id
Fix obsolete tf2_geometry_msgs.h header
Unify and clarify license headers in all files
Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
Port to ROS 2
Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

Correct demos
Fix all build errors
Removed now obsolete tf_prefix
Ported to tf2 and mrpt::ros1bridge
Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

Update URLs to https
Update build dep to mrpt2
Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

fix nav to target clicking in RVIZ
Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

Fix build against MRPT 1.9.9
Contributors: Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

fix build against mrpt 2.0
partial fix build w mrpt 2.0
optimized build (-O3)
fix build errors against mrpt 1.5.5
Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
Merge branch 'master' into master
CMake finds MRPT >=1.5 in ROS master branch
Merge branch 'master' into compat-mrpt-1.5
CMake finds MRPT >=1.9
avoid Eigen warnings with GCC-7
Removed unnecessry MRPT_VERSION checks
Fixes for clang format
Removed c++11 declarations in cmake
Fixed error in demo launch file
Adapted CMakeLists to new mrpt
Ported to a new version of MRPT
Issue #75: fix mrpt_reactivenav2d compilation errors
Issue #75: fix mrpt_reactivenav2d compilation errors
deprecated mrpt 2.0 module names
Update launch file to work with MRPT 1.5.0
fix build with MRPT 1.5.0
Contributors: Borys Tymchenko, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.22 (2018-05-22)

fix all catkin_lint errors
Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

Upgrade version 0.1.20 (#99)
fix build against mrpt 2.0
partial fix build w mrpt 2.0
optimized build (-O3)
fix build errors against mrpt 1.5.5
Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
Merge branch 'master' into master
CMake finds MRPT >=1.5 in ROS master branch
Merge branch 'master' into compat-mrpt-1.5
CMake finds MRPT >=1.9
avoid Eigen warnings with GCC-7
Removed unnecessry MRPT_VERSION checks
Fixes for clang format
Removed c++11 declarations in cmake
Fixed error in demo launch file
Adapted CMakeLists to new mrpt
Ported to a new version of MRPT
Issue #75: fix mrpt_reactivenav2d compilation errors
Issue #75: fix mrpt_reactivenav2d compilation errors
deprecated mrpt 2.0 module names
Update launch file to work with MRPT 1.5.0
fix build with MRPT 1.5.0
Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

fix build against latest mrpt 1.5.0
make catkin_lint clean
Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
Update to MRPT 1.5.0
Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

Fix #52
Contributors: Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

Fix mrpt-reactivenav2d compilation errors
Fix compilation for MRPT < 1.5.0
Add include guard for MRPT >= 1.5.0, fill timestamp entries
Add include guard for CVehicleVelCmd_DiffDriven in mrpt >= 1.5.0
Fix mrpt-reactivenav2d compilation errors
Contributors: Nikos Koukis, bergercookie

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

fix build error against mrpt < 1.5.0
Contributors: Jose-Luis Blanco-Claraco

0.1.9 (2016-08-05)

fix build against mrpt 1.5.0
Contributors: Jose-Luis Blanco-Claraco

0.1.8 (2016-06-29)

Reactive nav default config file: coarser collision grid for faster initialization
fix build and sample config file for reactivenav with mrpt>=1.5.0
Contributors: Jose-Luis Blanco-Claraco

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

more build fixes
reactivenav: more complete template config file
Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

0.1.4 (2014-12-27)

First working version of the reactive navigator
Contributors: Jose Luis Blanco

0.1.3 (2014-12-18 23:21)

0.1.2 (2014-12-18 11:49)

0.1.1 (2014-12-17)

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
	geometry_msgs
	mrpt_libnav
	mrpt_libros_bridge
	mrpt_nav_interfaces
	nav_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	stereo_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs
	ament_cmake_lint_cmake
	ament_cmake_xmllint
	ament_lint_auto

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mrpt_navigation

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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