cabot_navigation2

cabot_navigation2 package (ROS2)

cabot core navigation logic using Nav2, which works with cabot_ui_manager (ROS1)

navigation flow

1. ROS1 cabot_ui_manager (see cabot_ui) receives a navigation destination event
2. cabot_ui_manager query MapService server a route
3. cabot_ui_manager devide the route into sub routes based on building structure (door, elevator, ...)
4. cabot_ui_manager send a sub goal to ROS2 bt_navigator as well as publish original route to /path topic
5. execute the specified behavior tree in the goal (see cabot_bt)

launch

• bringup_launch.py: navigation2 launcher

params

• nav2_params.yaml : parameter for navigation2
• nav2_params2.yaml : parameter for navigation2 without global map (only local map), used for elevator exit

plugins

• cabot_simple_goal_checker.cpp
  • a GoalChecker plugin
  • check if distance to the goal is under threthold or the goal is behind the robot
• navcog_path_layer.cpp
  • costmap layer to indicate navcog path
• navcog_path_planner.cpp
  • adjust path passed to /path topic
• navcog_path_util.cpp
  • utility for navcog path
• people_obstacle_layer.cpp
  • costmap layer to deal with (include/exclude) /people topic
• pose_align.cpp
  • a dwb TrajectoryCritic plugin
• util.cpp
  • geometry utilities

src

• cabot_scan.cpp - not used