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A 2-D/3-DOF seamless global/local mobile robot motion planner package for ROS
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README.md

neonavigation meta-package

codecov Build Status License

ROS meta-package for autonomous vehicle navigation.

Important notices

  • Topic/service namespace model is migrated to ROS recommended style. See each package's README and runtime migration messages from the nodes.

Install

  • Note 1: neonavigation_msgs meta-package is required to build neonavigation meta-package.
  • Note 2: neonavigation_rviz_plugins meta-package is required to visualize PathWithVelocity message used between planner_3d and trajectory_tracker.
# clone
cd /path/to/your/catkin_ws/src
git clone https://github.com/at-wat/neonavigation.git
git clone https://github.com/at-wat/neonavigation_msgs.git
git clone https://github.com/at-wat/neonavigation_rviz_plugins.git

# build
cd /path/to/your/catkin_ws
rosdep install --from-paths src --ignore-src -y  # Install dependencies
catkin_make -DCMAKE_BUILD_TYPE=Release  # Release build is recommended

Demo

A quick demonstration with a simple simulated robot is available.

roslaunch neonavigation_launch demo.launch

Rviz image of the demo

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)

Contributing

neonavigation meta-package is developed under GitHub flow. Feel free to open new Issue and/or Pull Request.

The code in this repository is following ROS C++ Style Guide. A configuration file for clang-format is available at https://github.com/seqsense/ros_style/.

License

neonavigation meta-package is available under BSD license.

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