Only released in EOL distros:
Package Summary
navigation config files for Social Robot Maggie.
- Maintainer: Raul Perula-Martinez <raul.perula AT uc3m DOT es>
- Author: Raul Perula-Martinez <raul.perula AT uc3m DOT es>, Jose Carlos Castillo Montoya <jocastil AT ing.uc3m DOT es>
- License: LEUC3M v1.0
- Bug / feature tracker: https://github.com/UC3MSocialRobots/maggie_navigation/issues
- Source: git https://github.com/UC3MSocialRobots/maggie_navigation.git (branch: hydro-devel)
Overview
This package holds a number of common configuration files for the move_base and amcl nodes meant to be run in an application that requires global navigation with a pre-specified static map. It also contains navigation specific sensor configurations. In particular, it holds parameter settings for the base_local_planner, costmap_2d, and move_base components of the move_base node that are shared between many different configurations of the navigation stack run on the Social Robot Maggie.
Building Blocks
launch/real/navigation_real.launch:
launch/simulation/navigation_simulation.launch:
launch/amcl.launch: holds a Maggie robot specific configuration of the amcl node. Designed to be included by applications that wish to run amcl on the Maggie robot. Assumes a map is available from an instance of the map_server node.
launch/move_base.launch: holds a Maggie robot specific configuration of the move_base node designed for navigation with a pre-specified static map. Should be run in conjunction with the amcl and map_server nodes.
launch/laser/hokuyo.launch: ensures that the hokuyo laser is in the proper configuration for autonomous navigation.
launch/laser/sick.launch: ensures that the sick laser is in the proper configuration for autonomous navigation, also brings up a number of filters that are applied to laser scans used while navigating.
Configuration Files
config/base_local_planner_params.yaml: holds parameters for the base_local_planner specific to global navigation on the Social Robot Maggie.
config/costmap_common_params.yaml:
config/global_costmap_params.yaml: holds parameters for the global costmap used in the move_base.launch configuration file. This is the costmap used by the navfn planner, and in this case, is initialized by a static map offered by an instance of the map_server node.
config/initial_pose.yaml:
config/local_costmap_params.yaml: holds parameters for the local costmap used in the move_base.launch configuration file. This is the costmap used by the base_local_planner planner, which operates in an odometric frame.
