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Only released in EOL distros:  

Cart local planner provides a single ros plugin, cart_local_planner, that implements the base_local_planner interface expected by move_base. It simply tries to follow the given base path exactly. It also provides an additional interface for controlling the cart.

Advertised topics

articulate_cart_server/command_twist (geometry_msgs/TwistStamped)

Subscribed topics

/move_base_node/SBPLCartPlanner/sbcl_robot_cart_plan (cart_pushing_msgs/RobotCartPath)

TF frames needed

base_footprint

cart

Main ROS parameters

cart_pushing/max_vel_{base,cart}_{x,y,theta}

HolonomicCartPlanner/k_{trans,rot}_{base_cart}

cart_pushing/{length,width}

cart_pushing/footprint_{x,y}_offset


2019-08-17 12:34