rsog_navigation_ros

(Adaptive Range Sensor And Occupancy Grid Map Navigation)

Installation

1. Install ROS noetic, pcl_ros, tf2.

2. Clone rsog_navigation_ros in ROS workspace.

git clone https://github.com/KorawitGems/rsog_navigation_ros.git

apmc_localization

(Adaptive Particle Matching Constraint Localization)

The localization node samples uniform particles around the robot's position to estimate the robot's pose based on matching lidar data with an occupancy grid map. It applies matching constraints to avoid mismatching lidar data with the occupancy grid map. This package publishes the transformation between the map and odometry frames to the /odom_in_map topic and TF tree map->odom.

Input Topic	Message Type	Description
/map	nav_msgs/OccupancyGrid	Occupancy grid map.
/scan	sensor_msgs/LaserScan	Laser scan data.
/odom	nav_msgs/Odometry	Odometry for robot pose estimation.
/initialpose	geometry_msgs/PoseWithCovarianceStamped	Initial pose.

Output Topic	Message Type	Description
/apmc_pose	geometry_msgs/PoseWithCovarianceStamped	Estimated pose.
/odom_in_map	geometry_msgs/TransformStamped	Transformation odometry in map frame.

Example

roslaunch apmc_localization_ros apmc_localization.launch

ocgm_global_planner

(Obstacle Cost And Grid Map Global Planner)

The global planner node utilizes an occupancy grid map to represent obstacle costs map and plans paths from a start point to a goal point while considering the lowest cost node among the obstacle cost, move cost, and goal cost.

Input topic	Message type	Description
/map	nav_msgs/OccupancyGrid	Occupancy grid map.
/goal	geometry_msgs/PoseStamped	Desired goal.

Output topic	Message type	Description
/global_planner/path	nav_msgs/Path	Global path for the robot to follow.

Example

roslaunch ocgm_global_planner_ros ocgm_global_planner.launch

pocv_local_planner

(Path And Obstacle Cost Velocity Local Planner)

The local planner node plans a local path based on the global path and current robot position. Then, it simulates velocity commands for the robot by considering the lowest cost velocity among factors including path cost, obstacle cost, and goal cost. The planner also checks for unknown obstacles from lidar data along the local path and replans the local path if path intersect obstacle map.

Input topic	Message type	Description
/global_planner/path	nav_msgs/Path	Global path that use to plan local path.
/odom	nav_msgs/Odometry	Current pose of the robot.
/scan	sensor_msgs/LaserScan	Laser scan data for obstacle detection.
/map	nav_msgs/OccupancyGrid	Occupancy grid map.
/goal	geometry_msgs/PoseStamped	Goal for navigation.

Output topic	Message type	Description
/local_planner/path	nav_msgs/Path	Local path that avoid obstacle.
/cmd_vel	geometry_msgs/Twist	Velocity command for controlling the robot.

Example

roslaunch pocv_local_planner_ros pocv_local_planner.launch