-
 

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

ROS Path Planner with A* in TP-Space Engine

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Shravan_S_Rai
  • Jose-Luis Blanco-Claraco

mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

TBD!

Configuration

Write me!

Demos

Write me!

Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

  • topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

  • topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

  • show_gui: Shows its own MRPT GUI with the planned paths.

  • topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

  • topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

  • xxx

Published topics

  • <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
  • <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

Write me!

Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

  • XXX: XXX
CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

2.2.1 (2024-10-12)

  • Update demo for astar
  • Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
  • Improve astar navigation demo
  • astar planner: add refine() step and parameter to optionally disable it
  • astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
  • astar params: add more comments and tune for speed
  • PTGs .ini: Add docs on how to enable backward motions
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • fix missing linters; tune tutorial params
  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • Add roslog INFO traces to measure time spent initializing PTGs
  • 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)

  • Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
  • added max duration to wait for tf data
  • Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
  • Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
  • Implement two services for making navigation plans; code clean up; delete "replan" topic
  • FIX: transform point cloud observations
  • add frame_id params
  • reset planner obstacles between path plans
  • Add param to create subscribers with map-like QoS
  • Enable multiple obstacle sources (grids and points)
  • delete old ros1 files
  • Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22

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 mrpt_tps_astar_planner at Robotics Stack Exchange

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

ROS Path Planner with A* in TP-Space Engine

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Shravan_S_Rai
  • Jose-Luis Blanco-Claraco

mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

TBD!

Configuration

Write me!

Demos

Write me!

Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

  • topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

  • topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

  • show_gui: Shows its own MRPT GUI with the planned paths.

  • topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

  • topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

  • xxx

Published topics

  • <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
  • <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

Write me!

Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

  • XXX: XXX
CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

2.2.1 (2024-10-12)

  • Update demo for astar
  • Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
  • Improve astar navigation demo
  • astar planner: add refine() step and parameter to optionally disable it
  • astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
  • astar params: add more comments and tune for speed
  • PTGs .ini: Add docs on how to enable backward motions
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • fix missing linters; tune tutorial params
  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • Add roslog INFO traces to measure time spent initializing PTGs
  • 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)

  • Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
  • added max duration to wait for tf data
  • Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
  • Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
  • Implement two services for making navigation plans; code clean up; delete "replan" topic
  • FIX: transform point cloud observations
  • add frame_id params
  • reset planner obstacles between path plans
  • Add param to create subscribers with map-like QoS
  • Enable multiple obstacle sources (grids and points)
  • delete old ros1 files
  • Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22

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 mrpt_tps_astar_planner at Robotics Stack Exchange

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

ROS Path Planner with A* in TP-Space Engine

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Shravan_S_Rai
  • Jose-Luis Blanco-Claraco

mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

TBD!

Configuration

Write me!

Demos

Write me!

Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

  • topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

  • topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

  • show_gui: Shows its own MRPT GUI with the planned paths.

  • topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

  • topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

  • xxx

Published topics

  • <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
  • <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

Write me!

Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

  • XXX: XXX
CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

2.2.1 (2024-10-12)

  • Update demo for astar
  • Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
  • Improve astar navigation demo
  • astar planner: add refine() step and parameter to optionally disable it
  • astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
  • astar params: add more comments and tune for speed
  • PTGs .ini: Add docs on how to enable backward motions
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • fix missing linters; tune tutorial params
  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • Add roslog INFO traces to measure time spent initializing PTGs
  • 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)

  • Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
  • added max duration to wait for tf data
  • Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
  • Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
  • Implement two services for making navigation plans; code clean up; delete "replan" topic
  • FIX: transform point cloud observations
  • add frame_id params
  • reset planner obstacles between path plans
  • Add param to create subscribers with map-like QoS
  • Enable multiple obstacle sources (grids and points)
  • delete old ros1 files
  • Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22

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 mrpt_tps_astar_planner at Robotics Stack Exchange

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

ROS Path Planner with A* in TP-Space Engine

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Shravan_S_Rai
  • Jose-Luis Blanco-Claraco

mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

TBD!

Configuration

Write me!

Demos

Write me!

Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

  • topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

  • topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

  • show_gui: Shows its own MRPT GUI with the planned paths.

  • topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

  • topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

  • xxx

Published topics

  • <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
  • <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

Write me!

Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

  • XXX: XXX
CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

2.2.1 (2024-10-12)

  • Update demo for astar
  • Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
  • Improve astar navigation demo
  • astar planner: add refine() step and parameter to optionally disable it
  • astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
  • astar params: add more comments and tune for speed
  • PTGs .ini: Add docs on how to enable backward motions
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • fix missing linters; tune tutorial params
  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • Add roslog INFO traces to measure time spent initializing PTGs
  • 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)

  • Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
  • added max duration to wait for tf data
  • Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
  • Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
  • Implement two services for making navigation plans; code clean up; delete "replan" topic
  • FIX: transform point cloud observations
  • add frame_id params
  • reset planner obstacles between path plans
  • Add param to create subscribers with map-like QoS
  • Enable multiple obstacle sources (grids and points)
  • delete old ros1 files
  • Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22

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 mrpt_tps_astar_planner at Robotics Stack Exchange