sbpl_dynamic_env: demo_sbpl_dynamic_env | dynamic_obs_msgs | fake_tracking | lidar_tracking | parallel_move_base | sbpl_dynamic_env_global_planner | sbpl_dynamic_planner
Package Summary
No API documentation
A fake tracker which polls the simulator for the locations of other robots (dynamic obstacles)
- Author: Michael Phillips
- License: BSD
- Repository: penn-ros-pkg
- Source: svn https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_dynamic_env/tags/sbpl_dynamic_env-0.1.1
Contents
Overview
A node that tracks dynamic obstacles by polling the simulator (like stage) for their locations. It uses a simple linear extrapolation to predict where they will be over the next few seconds. It can track up to four robots (in the future this will be able to track an arbitrary number).
ROS API
Subscribed Topics
robot_1/base_pose_ground_truth (nav_msgs/Odometry)- The location of this robot in the simulator.
- The location of this robot in the simulator.
- The location of this robot in the simulator.
- The location of this robot in the simulator.
Published Topics
robot_0/dynamic_obstacles (dynamic_obs_msgs/DynamicObstacles)- The dynamic obstacles' predicted future trajectories.
