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shared_autonomy: augmented_object_selection | bosch_object_segmentation_gui | grabcut_3d | image_segmentation_demo | safe_teleop_base | safe_teleop_pr2 | safe_teleop_stage

Package Summary

This package provides automatic collision avoidance and is intended to be used for safer teleoperation of a robot base.

Package Summary

This package provides automatic collision avoidance and is intended to be used for safer teleoperation of a robot base.

Package Summary

This package provides automatic collision avoidance and is intended to be used for safer teleoperation of a robot base.

Nodes

safe_trajectory_node

This node takes as input commands for a robot base and outputs the nearest safe commands. The core functionality has some similarities to base_local_planner.

Published Topics

~<name>/safe_vel (geometry_msgs/Twist) ~<name>/user_plan (nav_msgs/Path) ~<name>/local_plan (nav_msgs/Path)

Subscribed Topics

/base_velocity (geometry_msgs/Twist) /odom (nav_msgs/Odometry)

Parameters

Many of the parameters are identical to those of the base_local_planner package.

~<name>/acc_lim_x (double, default: 2.5)

~<name>/acc_lim_y (double, default: 2.5) ~<name>/acc_lim_th (double, default: 3.2) ~<name>/sim_time (double, default: 1.0) ~<name>/sim_granularity (double, default: 0.025) ~<name>/vx_samples (integer, default: 3) ~<name>/vy_samples (integer, default: 5) ~<name>/vtheta_samples (integer, default: 10) ~<name>/user_bias (double, default: 0.6) ~<name>/occdist_scale (double, default: 0.01) ~<name>/max_vel_x (double, default: 0.5) ~<name>/min_vel_x (double, default: 0.1) ~<name>/max_vel_y (double, default: 0.2) ~<name>/min_vel_y (double, default: -0.2) ~<name>/min_vel_y (double, default: -0.2) ~<name>/max_rotational_velocity (double, default: 1.0) ~<name>/world_model (string, default: costmap) ~<name>/holonomic_robot (bool, default: true) ~<name>/dwa (bool, default: true)

2019-12-14 13:07