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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A navigation system for outdoor robotics in rough uneven terrains. |
| Checkout URI | https://github.com/nmburobotics/vox_nav.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-06-23 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | navigation ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO
Additional Links
No additional links.
Maintainers
- Fetullah Atas
Authors
No additional authors.
Control server
This server brings up a plugin of your choice live. The controller server is implemnted with ROS2 actions. Following parameters are configurable;
vox_nav_controller_server_rclcpp_node:
ros__parameters:
controller_plugin: "MPCControllerAcadoROS" # other options: MPCControllerCasadiROS, MPCControllerAcadoROS, LyapunocController
controller_frequency: 200.0 # acado is really fast(+1000.0Hz) casadi can deal up to just 20.0Hz maybe
goal_tolerance_distance: 0.2 # in meters, once smaller than this one controller tries to minimize orientation error
goal_tolerance_orientation: 0.1 # in radians, once smaller than this value,controller exits with success
transform_timeout: 0.01 # seconds, this is used to regulate lookUpTransfrom calls from tf2
global_plan_look_ahead_distance: 3.5 # look this amount of meters from current robot pose to remaining global path
Available controller plugins;
MPCControllerCasadiROSMPCControllerAcadoROSLyapunocController
MPCControllerCasadiROS
Implemented with casadi non-linear optimization framework.
YAML parameters for this plugin;
MPCControllerCasadiROS:
plugin: "mpc_controller_casadi::MPCControllerCasadiROS"
N: 8 # timesteps in MPC Horizon
DT: 0.1 # discretization time between timesteps(s)
L_F: 0.66 # distance from CoG to front axle(m)
L_R: 0.66 # distance from CoG to rear axle(m)
V_MIN: -1.5 # min / max velocity constraint(m / s)
V_MAX: 1.5
A_MIN: -1.5 # min / max acceleration constraint(m / s ^ 2)
A_MAX: 1.5
DF_MIN: -0.4 # min / max front steer angle constraint(rad)
DF_MAX: 0.4
A_DOT_MIN: -1.0 # min / max jerk constraint(m / s ^ 3)
A_DOT_MAX: 1.0
DF_DOT_MIN: -0.8 # min / max front steer angle rate constraint(rad / s)
DF_DOT_MAX: 0.8
Q: [10.0, 10.0, 0.1, 0.1] # weights on x, y, psi, and v.
R: [10.0, 100.0] # weights on jerk and slew rate(steering angle derivative)
debug_mode: False # enable/disable debug messages
MPCControllerAcadoROS
If there has not been already, you need to generate the Acado code with;
ros2 launch vox_nav_control acado_code_generation.launch.py
Pleaase NOTE that the generated code for Acado must be under vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen
Before executing above command, make sure to configure the parameters of MPCControllerAcadoROS, the code will be generated according to selected parameters.
If you delete vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen for some reason,
First, only build acado_code_generation with;
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=OFF
This will only build code generation node, then execute acado_code_generation.launch.py to generate the code.
ros2 launch vox_nav_control acado_code_generation.launch.py
Then place the generated codes under vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen.
Finally build the MPCControllerAcadoROS with -DACADO_CODE_IS_READY=ON;
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON
YAML parameters for this plugin;
MPCControllerAcadoROS:
plugin: "mpc_controller_acado::MPCControllerAcadoROS"
N: 20 # timesteps in MPC Horizon
Ni: 1
DT: 0.1 # discretization time between timesteps(s)
L_F: 0.67 # distance from CoG to front axle(m)
L_R: 0.67 # distance from CoG to rear axle(m)
V_MIN: -1.0 # min / max velocity constraint(m / s)
V_MAX: 1.0
A_MIN: -1.0 # min / max acceleration constraint(m / s ^ 2)
A_MAX: 1.0
DF_MIN: -0.6 # min / max front steer angle constraint(rad)
DF_MAX: 0.6
Q: [10.0, 10.0, 0.0, 0.0] # weights on x, y, v, and psi.
R: [10.0, 100.0] # weights on input acc and df, acceleration and steering angle
debug_mode: False # enable/disable debug messages
LyapunocController
A controller based on Control Lyapunov Function. Details on this controller are linked in the related publication.
YAML parameters for this plugin;
LyapunovControllerROS:
plugin: "lyapunov_controller::LyapunovControllerROS"
V_MIN: -0.5 # min / max velocity constraint(m / s)
V_MAX: 0.5
DF_MIN: -0.125 # min / max front steer angle constraint(rad)
DF_MAX: 0.125
k1: -1.0 # Control coefficents, see the related paper.
k2: 5.0
lookahead_n_waypoints: 4 # Number of waypoints on the path to follow
Test
Test the controller server by sending an all zeros path with ;
ros2 action send_goal /follow_path vox_nav_msgs/action/FollowPath "{}"
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
| Name |
|---|
| libfcl-dev |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged vox_nav_control at Robotics Stack Exchange
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