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Overview

NOTE: This package is currently unreleased and contains experimental code.

pose_follower_3d is based on the pose_follower local planner and adheres to the nav_core::BaseLocalPlanner interface found in the nav_core package. It is supposed to work as a local planner in accordance with the sbpl_lattice_planner_3d in move_base.

pose_follower_3d will try to follow the originally planned poses of the path as close as possible, while performing 3D collision checks of the robot's full kinematic configuration against a 3D map. This map should be built and provided by octomap_server. A downprojected 2D map for costmap_2d should be also provided by octomap_server to perform fast checks agains the robot's footprint.

Documentation

ROS API

Subscribed Topics

odom (nav_msgs/Odometry)

• The robot's odometry

octomap_collision_object (mapping_msgs/CollisionObject)

• Occupied cells for collision check from octomap_server

Published Topics

cmd_vel (geometry_msgs/Twist)

• Holonomic velocity command for the base controller

Services Called

/environment_server/get_robot_state (planning_environment_msgs/GetRobotState)

• Requests the robot's current kinematic state at the beginning of each plan

Parameters

~k_trans (float, default: 1.5)

• Gain for translational velocity

~k_rot (float, default: 1.25)

• Gain for rotational velocity

~max_vel_lin (float, default: 0.5)

• Maximum linear velocity

~min_vel_lin (float, default: 0.1)

• Minimum linear velocity

~max_vel_th (float, default: 0.7)

• Maximum rotational velocity

~min_vel_th (float, default: 0.0)

• Minimum rotational velocity

~in_place_trans_vel (float, default: 0.0)

• Minimum threshold for linear velocity. If it is smaller, the robot rotates only on the spot.

~{trans,rot}_stopped_velocity (float, default: 1e-4)

• If odom reading is slower than this, then robot is stopped

~sim_time (float, default: 1.0)

• How many seconds to forward simulate the current trajectory rollout for collision checking

~sim_granularity (float, default: 0.1)

• How fine to test the forward simulation for collision checks (sim_time/sim_granularity checks will be made)

~tolerance_trans (float, default: 0.05)

• How close to follow the originally planned trajectory (translations)

~tolerance_rot (float, default: 0.1)

• How close to follow the originally planned trajectory (rotations)

~tolerance_timeout (float, default: 0.5)

• Timeout tolerance for reaching the goal