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Package Summary

riskrrt is a risk-based rapidly exploring random tree algorithm for human aware navigation

  • Maintainer status: maintained
  • Maintainer: Procopio Silveira <procopio.silveira-stein AT inria DOT fr>
  • Author: Gregoire Vignon <gregoire.vignon AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/spalanza/riskrrt_ros.git (branch: master)

Example scenarios

Some example scenarios can be run using:

roslaunch riskrrt scenario_name.launch

Available scenarios:

Nodes

controller

a path following node for differential drive robots

Subscribed Topics

traj (riskrrt/Trajectory) amcl_pose (geometry_msgs/PoseWithCovarianceStamped)

Published Topics

controller_feedback (std_msgs/Bool) cmd_vel (geometry_msgs/Twist)

goal_pub

an automatic goal publisher

Published Topics

goal (geometry_msgs/PoseStamped)

og_builder*

some occupancy grid array publishers examples

Subscribed Topics

map (nav_msgs/OccupancyGrid) robot_*/base_pose_ground_truth (nav_msgs/Odometry)

Published Topics

robot_*/cmd_vel (geometry_msgs/Twist) ogarray (riskrrt/OccupancyGridArray)

planner

the riskrrt planner

Subscribed Topics

ogarray (riskrrt/OccupancyGridArray) goal (geometry_msgs/PoseStamped) controller_feedback (std_msgs/Bool) amcl_pose (geometry_msgs/PoseWithCovarianceStamped) odom (nav_msgs/Odometry)

Published Topics

traj (riskrrt/Trajectory)

Parameters

~timeStep (double)

~maxDepth (int) ~nv (int) ~nphi (int) ~threshold (double) ~socialWeight (double) ~rotationWeight (double) ~growTime (double) ~bias (double) ~windowSize (double) ~goalTh (double) ~robotLength (double) ~robotWidth (double) ~vMin (double) ~vMax (double) ~accMax (double) ~omegaMax (double) ~accOmegaMax (double)


2019-10-12 13:00