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Package Summary

The nj_costmap package implements a navigation jockey for the Large Maps framework (LaMa) based on a local costmap (costmap position is relative to the sensor but orientation is absolute).

Overview

The nj_costmap package implements a navigation jockey for the Large Maps Framework (LaMa) based on a local costmap such as those provided by the local_map package (costmap position is relative to the sensor but orientation is absolute).

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 considered to be memory-less because it uses only an internal memory (in form of a local map) and do not interact with the large map.

Implemented actions:

Usage

ROS API

Subscribed Topics

~<name>/local_costmap (nav_msgs/OccupancyGrid)

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>/abs_crossing (lama_msgs/Crossing)

Parameters

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


2019-12-07 12:52