local_goal_creator_ros

ROS implementation of local goal creator

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/local_goal_creator_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic        # Install dependencies
catkin build local_goal_creator_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

roslaunch local_goal_creator_ros local_goal_creator.launch

Running the demo

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/a_star_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
roslaunch local_goal_creator_ros test.launch

Node I/O

Nodes

local_goal_creator

Published Topics

• ~<name>/local_goal (geometry_msgs/PoseStamped)
  • The local goal

Subscribed Topics

• /path (nav_msgs/Path)
  • The path to goal
• /robot_pose (geometry_msgs/PoseWithCovarianceStamped)
  • The robot pose

Parameters

• ~<name>/hz (int, default: 10 [Hz]):
  The rate of main loop
• ~<name>/target_dist_to_goal (double, default: 0.5 [m]):
  The distance from the robot to the goal
• ~<name>/use_direction_in_path (bool, default: False):
  Use the pose orientation included in the path