neonavigation meta-package

ROS meta-package for autonomous vehicle navigation.

Demo

A quick demonstration with a simple simulated robot is available.

roslaunch neonavigation_launch demo.launch

Packages

costmap_cspace

3-DOF configuration space costmap handler.

planner_cspace

2-D/3-DOF seamless global-local path and motion planner and serial joint collision avoidance.

safety_limiter

Collision prevention control.

trajectory_tracker

Path following control and path handling.

map_organizer

Layered map handler.

track_odometry

Slip compensation for vehicle odometry.

obj_to_pointcloud

Obj surface data to pointcloud converter.

neonavigation_launch

Sample launch files.

References

A. Watanabe, D. Endo, G. Yamauchi and K. Nagatani, "Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS — Development and field test on the representative offshore oil plant," 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, Switzerland, 2016, pp. 86-91. (doi: 10.1109/SSRR.2016.7784282)

License

neonavigation meta-package is available under BSD license.