ROS navi_goals package

Abstract

ROS node that reads in a series of navigation waypoints from a YAML file and publishes them to move_base to drive a robot through them one by one.

Repository architecture

Source code files :

• waypoints.cpp : load waypoints from YAML file and publish them one at a time

Directories :

• src/ : (required) contains source code, waypoints.cpp
• config/ : (required) contains YAML file that stores the position and orientation of waypoints
• launch/ : (optional) contains launch file for the executable file of this package
• rviz/ : (optional) contains Rviz configuration file to display navigation information

YAML file structure

'The package requires a waypoints.yaml file that should look like this:

task:
  name: classroom_c018
  type: waypoint_following
  waypoints:
  - [44.43, 27.78, 0]
  - [51.28, 25.02, 0]
  - [43.18, 13.45, 0]
  - [37.28, 17.58, 0]

As showed above the file waypoints.yaml has the following structure:

• task (required): root object that identifies the YAML file as containing waypoints data
• waypoints (required): block key that groups the definition of each waypoint position and orientation in the map
• the [x, y, z] is interpreted as x, y and z (required): key-value pairs that contain the coordinates (x,y) and orientation (th), in degrees, of each waypoint

Direct usage:

• Clone this repository into a ROS catkin workspace
• Build and source the workspace
• To execute this package:

$ roslaunch navi_goals navi_goals.launch task_name:=classroom_c018_task

here task name is the yaml file in floor plan code.

Inorder to use local file change the launch file.

Acknowledgement

The package was modified from https://github.com/rfzeg/navi_goals

The development of this package started based on the ROS Tutorial Sendig Goals to the Navigation Stack and its sample code. Since then it has been modified and extended significantly.