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kobuki: kobuki_arm | kobuki_auto_docking | kobuki_bumper2pc | kobuki_controller_tutorial | kobuki_driver | kobuki_ftdi | kobuki_keyop | kobuki_node | kobuki_safety_controller | kobuki_testsuite

Package Summary

Bumper/cliff to pointcloud nodelet: Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node.

  • Maintainer status: developed
  • Maintainer: Jorge Santos Simon <jorge AT yujinrobot DOT com>
  • Author: Jorge Santos Simon <jorge AT yujinrobot DOT com>
  • License: BSD
  • Source: git https://github.com/yujinrobot/kobuki.git (branch: groovy-devel)
kobuki: kobuki_auto_docking | kobuki_bumper2pc | kobuki_controller_tutorial | kobuki_description | kobuki_keyop | kobuki_node | kobuki_random_walker | kobuki_safety_controller | kobuki_testsuite

Package Summary

Bumper/cliff to pointcloud nodelet: Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node.

kobuki: kobuki_auto_docking | kobuki_bumper2pc | kobuki_capabilities | kobuki_controller_tutorial | kobuki_description | kobuki_keyop | kobuki_node | kobuki_random_walker | kobuki_rapps | kobuki_safety_controller | kobuki_testsuite

Package Summary

Bumper/cliff to pointcloud nodelet: Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node.

kobuki: kobuki_auto_docking | kobuki_bumper2pc | kobuki_capabilities | kobuki_controller_tutorial | kobuki_description | kobuki_keyop | kobuki_node | kobuki_random_walker | kobuki_rapps | kobuki_safety_controller | kobuki_testsuite

Package Summary

Bumper/cliff to pointcloud nodelet: Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node.

New in groovy

Ros API

Kobuki Bumper2Pc Nodelet

Publish kobuki_node's bumper/cliff events as a Pointcloud.

Subscribed Topics

~bumper_events (kobuki_msgs/BumperEvent)
  • Bumper events, generated whenever a bumper is pressed or released.
~cliff_events (kobuki_msgs/CliffEvent)
  • Cliff sensor event, generated whenever the robot approaches or moves away from a cliff.

Published Topics

~pointcloud (sensor_msgs/PointCloud2)
  • Signals hitting bumpers and detected cliffs as a point cloud, so we can use navigation stack without additional sensors.

Parameters

~pointcloud_radius (double, default: 0.25)
  • Bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.

Report a Bug

Use github to report bugs or request features.

New in hydro

Ros API

Kobuki Bumper2Pc Nodelet

Publish kobuki_node's bumper/cliff events as a Pointcloud.

Subscribed Topics

~bumper_events (kobuki_msgs/BumperEvent)
  • Bumper events, generated whenever a bumper is pressed or released.
~cliff_events (kobuki_msgs/CliffEvent)
  • Cliff sensor event, generated whenever the robot approaches or moves away from a cliff.

Published Topics

~pointcloud (sensor_msgs/PointCloud2)
  • Signals hitting bumpers and detected cliffs as a point cloud, so we can use navigation stack without additional sensors.

Parameters

~pointcloud_radius (double, default: 0.25)
  • Bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.

Report a Bug

Use github to report bugs or request features.


2019-08-10 12:47