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6.name= ~/eband_local_planner/max_acceleration 6.default=0.5 6.type=double 6.desc= Maximum linear acceleration (meters/sec/sec). |
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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). |
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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.
- Author: Christian Connette, Bhaskara Marthi
- License: BSD
- Source: git https://github.com/ros-planning/navigation_experimental (branch: groovy-devel)
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.
- Author: Christian Connette, Bhaskara Marthi
- License: BSD
- Source: git https://github.com/ros-planning/navigation_experimental.git (branch: groovy-devel)
Package Summary
eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.
- Maintainer status: developed
- Maintainer: Piyush Khandelwal <piyushk AT gmail DOT com>, Jack O'Quin <jack.oquin AT gmail DOT com>
- Author: Christian Connette, Bhaskara Marthi, Piyush Khandelwal
- License: BSD
- Bug / feature tracker: https://github.com/utexas-bwi/eband_local_planner/issues
- Source: git https://github.com/utexas-bwi/eband_local_planner.git (branch: master)
Package Summary
eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.
- Maintainer status: maintained
- Maintainer: Piyush Khandelwal <piyushk AT gmail DOT com>, Jack O'Quin <jack.oquin AT gmail DOT com>
- Author: Christian Connette, Bhaskara Marthi, Piyush Khandelwal
- License: BSD
- Bug / feature tracker: https://github.com/utexas-bwi/eband_local_planner/issues
- Source: git https://github.com/utexas-bwi/eband_local_planner.git (branch: master)
Package Summary
eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.
- Maintainer status: maintained
- Maintainer: Piyush Khandelwal <piyushk AT gmail DOT com>, Jack O'Quin <jack.oquin AT gmail DOT com>
- Author: Christian Connette, Bhaskara Marthi, Piyush Khandelwal
- License: BSD
- Bug / feature tracker: https://github.com/utexas-bwi/eband_local_planner/issues
- Source: git https://github.com/utexas-bwi/eband_local_planner.git (branch: kinetic-devel)
Package Summary
eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.
- Maintainer status: maintained
- Maintainer: Piyush Khandelwal <piyushk AT gmail DOT com>, Jack O'Quin <jack.oquin AT gmail DOT com>
- Author: Christian Connette, Bhaskara Marthi, Piyush Khandelwal
- License: BSD
- Bug / feature tracker: https://github.com/utexas-bwi/eband_local_planner/issues
- Source: git https://github.com/utexas-bwi/eband_local_planner.git (branch: master)
Contents
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.
- Set false if the robot is omni-directional (holonomic).
- Maximum linear acceleration (meters/sec/sec).
- Maximum linear velocity allowed (meters/sec).
- Maximum rotational velocity allowed (radians/sec).
- Minimum linear velocity allowed (meters/sec).
- Minimum rotational velocity allowed (radians/sec).
- Tolerate missing the goal by this linear distance (meters).
- 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