Bookbot Navigation

This collection of ROS packages represents a simple motion planning stack for a library book delivery robot. This planning stack consists of three primary planning nodes:

1. primitive_planner is a path planner that performs an A* search through a tree of motion primitives.
2. primitive_velocity_planner is a velocity profile planner that plans an optimal velocity profile for a specified path. This node also performs an A* search through a tree of velocity profile primitives.
3. trajectory_following_controller is a simple trajectory following controller that uses pure pursuit to compute control commands that keep the robot following its planned trajectory.

In addition an rviz-based waypoint UI and a simple simulation node are also provided to allow for out-of-the-box simulation.

Basic Usage

To try out the bookbot navigation planner:

1. Compile the packages in a ROS workspace (and resource the setup.bash for the workspace to ensure rviz can find the waypoint tool)
2. Load the primitive_velocity_planner/rviz/planner.rviz config in rviz
3. Run the planning stack in simulation with a static example obstacle grid: roslaunch primitive_velocity_planner test_primitive_velocity_planner.launch
4. Set new waypoints by clicking on the waypoint tool (or using w as a hotkey) and then shift-click to append a new waypoint or ctrl-click to replace the existing set of waypoints.

Disclaimer

This is not an officially supported Google product.