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Package Summary

The nj_laser package

Overview

The nj_laser package implements a navigation jockey for the Large Maps Framework (LaMa) based on a <<MsgSrv(sensor_msgs/LaserScan)>>.

The role of this jockey is to travel to the next crossing. The action is done when the robot reaches the crossing center. It is a reactive memory-less because it does not interact with the large map.

Implemented actions:

Usage

ROS API

Subscribed Topics

~<name>/local_costmap (sensor_msg/LaserScan)

Published Topics

~<name>/cmd_vel (geometry_msgs/Twist) ~<name>/crossing_marker (visualization_msgs/Marker) ~<name>/exits_marker (visualization_msgs/Marker) ~<name>place_profile (sensor_msgs/PointCloud) ~<name>/crossing (lama_msgs/Crossing)

Parameters

~<name>/frontier_width (Float) ~<name>/robot_radius (Float, default: frontier_width/2) ~<name>/max_frontier_distance (Float) ~<name>/navigating_jockey_server_name (String, default: node_name + "_server")


2019-10-12 12:52