Cheatsheet

Brief Description

Here we report all the main commands to run the planner with different configurations. Refer to the "Running in simulation" page for the descriptions of the commands.

Note: These commands can be used both in simulation (with the flag sim:=true) and on the real SMB; combinations of the following commands can also be used.

Note: To use the move_base global planner instead of the OMPL-based planner, use this launch file: navigate_2d.launch.

Main Commands

Run planner in simulation

$ roslaunch smb_navigation navigate2d_ompl.launch sim:=true global_frame:=tracking_camera_odom

Run planner with real SMB

$ roslaunch smb_navigation navigate2d_ompl.launch

Specify odometry topic

$ roslaunch smb_navigation navigate2d_ompl.launch odom_topic:=/odom

Specify reference frames

$ roslaunch smb_navigation navigate2d_ompl.launch global_frame:=odom robot_base_frame:=base

Use existing global map

• Set the path to the map in the launch file (parameter global_map)
• Run: $ roslaunch smb_navigation navigate2d_ompl.launch use_global_map:=true

Follow waypoints

$ roslaunch smb_navigation navigate2d_ompl.launch follow_waypoints:=true

• Using an input file, specify the path to the file in smb_path_planner/smb_navigation_scripts/launch/follow_waypoints.launch (parameters: output_folder, input_filename);
  • To start the mission: $ rostopic pub /start_journey std_msgs/Empty -1
• To specify the waypoints online, use the 2D Pose Estimate button in RViz to specify the target poses as an ordered list;
  • To start the mission, call the topic: $ rostopic pub /path_ready std_msgs/Empty -1
  • In this case, the waypoints will be stored in a file (parameters: output_folder, output_filename in the launch file).