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navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, David V. Lu!! <davidvlu AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)

nav_comic.png

概述

硬件需求

  1. 它是为差分驱动的完全约束的轮式机器人设计的。它假设移动基站受到理想的运动命令的控制并可实现预期的结果,命令的格式为:x速度分量,y速度分量,角速度(theta)分量。
  2. 它需要在移动基站上安装一个平面二维激光。这个激光用于构建地图和定位。
  3. 导航功能包集是为正方形的机器人开发的,所以方形或圆形的机器人将是性能最好的。 它也可以工作在任意形状和大小的机器人上,但是较大的矩形机器人将很难通过狭窄的空间,例如门道。

文档

报告一个Bug

实例

使用导航功能包集的机器人列表

教程

基本 ROS 导航教程

  1. 为你的机器人配置 tf

    This tutorial provides a guide to set up your robot to start using tf.

  2. 在ROS上发布传感器数据流

    这个教程提供发布两种类型的传感器数据的例子,即 sensor_msgs/LaserScan 消息和sensor_msgs/PointCloud 消息。

  3. 通过ROS发布里程计信息

    这个教程提供为导航包发布里程计信息的例子。它覆盖了通过ROS发布nav_msgs/Odometry消息和通过TF发布"odom"坐标系到"base_link" 坐标系的变换。

  4. 在机器人上配置并使用导航功能包集

    本教程一步步介绍如何在机器人上运行导航功能包集。包括:使用tf发送变换,发布里程计信息,发布来自激光的传感器信息,基本的导航功能包集的配置。

  5. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

  6. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

Care-O-bot 导航教程

  1. Using local navigation (navigation in the odometry frame)

    This tutorial shows you how to move the mobile base avoiding collisions and specifying navigation goals in the odometry frame.

  2. Using slam navigation (navigation with a online generated map)

    This tutorial shows you how to move the mobile base avoiding collisions and building up a map while moving the robot.

  3. Using global navigation (navigation with a predefined map)

    This tutorial shows you how to create a map and use it for moving the mobile base avoiding collisions and specifying navigation goals in the map frame.

TurtleBot 导航教程

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  3. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

Husky 导航教程

  1. Husky Move Base Demo

    Running Husky with a basic move_base setup, with no mapping or localization.

  2. Husky AMCL Demo

    Running Husky with a move_base setup, using amcl for localization.

  3. Husky Gmapping Demo

    Running Husky with a move_base setup, using gmapping for mapping and localization (SLAM).

  4. Husky Frontier Exploration Demo

    Running Husky with a move_base setup, using frontier_exploration for exploration planning, and gmapping for mapping and localization (SLAM).

  5. No Title

    No Description

MRP2 导航教程

  1. Navigate in Simulation

    This pagge describes awesome simulation

  2. Navigate with real robot

    This page describes navigation with real robot

  3. Explore surrounding areas and make a map

    Explore the real environment from robot's vision and save a map.

  4. Navigate with a known map

    Ramble in the known area with a previously saved a map

  5. Explore surrounding areas and make a map

    Explore the environment from robot's vision and save a map.

  6. Navigate with a known map

    Ramble in the known area with a previously saved a map.

Evarobot 导航教程

  1. Evarobot Exploration

    How to generate a SLAM map autonomously with Evarobot using frontier_exploration

  2. Autonomous Navigation of a Known Map with Evarobot

    How to navigate autonomously the Evarobot with known map.

  3. Navigation of the Evarobot in Gazebo

    How to navigate evarobot in Gazebo with a previously known map.

MRPT 导航教程

  1. Installing

    Instructions to install and compile this package

相关应用

相关出版物



2019-09-14 12:35