• Diff for "eband_local_planner"
Differences between revisions 6 and 7
Revision 6 as of 2016-06-15 15:55:04
Size: 2125
Editor: JackOQuin
Comment: add some ros parameters
Revision 7 as of 2016-06-15 16:09:38
Size: 2588
Editor: JackOQuin
Comment: more parameters
Deletions are marked like this. Additions are marked like this.
Line 34: Line 34:
  6.name= ~/eband_local_planner/max_acceleration
  6.default=0.5
  6.type=double
  6.desc= Maximum linear acceleration (meters/sec/sec).
Line 50: Line 54:
  50.name=~/eband_local_planner/xy_goal_tolerance
  50.default=0.02
  50.type=double
  50.desc= Tolerate missing the goal by this linear distance (meters).
  55.name=~/eband_local_planner/yaw_goal_tolerance
  55.default=1.5
  55.type=double
  55.desc= Tolerate missing the goal by this angular distance (radians).

  Show EOL distros: 

navigation_experimental: assisted_teleop | eband_local_planner | goal_passer | pose_base_controller | pose_follower | sbpl_lattice_planner | sbpl_recovery | twist_recovery

Package Summary

The eband_local_planner package implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

navigation_experimental: assisted_teleop | eband_local_planner | goal_passer | pose_base_controller | pose_follower | sbpl_lattice_planner | sbpl_recovery | twist_recovery

Package Summary

The eband_local_planner package implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package Summary

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package Summary

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package Summary

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Package Summary

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Road Map

The original implementation for this ROS move_base local planner only supported omni-directional (holonomic) robots.

The current version was modified to work with differential drive machines. But, the differential_drive=false option has not been tested recently. If you try it, please tell the maintainers whether or not it works.

Video

Credits

Quinlan, S. and Khatib, O. "Elastic Bands: Connecting Path Planning and Robot Control." Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia 1993, vol 2. pp. 802-807

ROS Interface

This plugin runs inside the move_base process. Its parameter namespace is prefixed by that of move_base and the name under which it was launched, typically eband_local_planner.

~/eband_local_planner/Ctrl_Rate (double, default: 20.0)

  • The rate in Hz at which to run the control loop and send velocity commands to the base.
~/eband_local_planner/differential_drive (bool, default: True)
  • Set false if the robot is omni-directional (holonomic).
~/eband_local_planner/max_acceleration (double, default: 0.5)
  • Maximum linear acceleration (meters/sec/sec).
~/eband_local_planner/max_vel_lin (double, default: 0.75)
  • Maximum linear velocity allowed (meters/sec).
~/eband_local_planner/max_vel_th (double, default: 1.0)
  • Maximum rotational velocity allowed (radians/sec).
~/eband_local_planner/min_vel_lin (double, default: 0.01)
  • Minimum linear velocity allowed (meters/sec).
~/eband_local_planner/min_vel_th (double, default: 0.0)
  • Minimum rotational velocity allowed (radians/sec).
~/eband_local_planner/xy_goal_tolerance (double, default: 0.02)
  • Tolerate missing the goal by this linear distance (meters).
~/eband_local_planner/yaw_goal_tolerance (double, default: 1.5)
  • Tolerate missing the goal by this angular distance (radians).

There are other still-undocumented parameters. One must look at the code to discover their names and guess at their meanings: https://github.com/utexas-bwi/eband_local_planner/blob/master/src/eband_trajectory_controller.cpp#L74

Wiki: eband_local_planner (last edited 2018-01-16 14:24:09 by FelixWidmaier)