amsl_navigation_utils

Environment

• Ubuntu 20.04
• ROS Noetic

Requirements

• PCL 1.8
  • Confirmed this package works with PCL 1.10 (libpcl-dev)
• ndt_omp
• amsl_navigation_msgs
  • contained in amsl_navigation_manager package

Nodes

footprint_publisher

This node publishes robot footprint.

Published Topics

• /footprint (geometry_msgs/PolygonStamped)
  • rectangular robot footprint

initialpose_adjuster

Published Topics

• ~<name>/initialpose/adjusted (geometry_msgs/PoseWithCovarianceStamped)
  • adjusted initial pose

Subscribed Topics

• ~<name>/initialpose (geometry_msgs/PoseWithCovarianceStamped)
  • initial pose from rviz
• ~<name>/map_cloud (sensor_msgs/PointCloud2)
  • map cloud

initialpose_publisher

Published Topics

• ~<name>/initialpose (geometry_msgs/PoseWithCovarianceStamped)

Subscribed Topics

• ~<name>/checkpoint (std_msgs/Int32MultiArray)
• ~<name>/map_cloud (sensor_msgs/PointCloud2)
• ~<name>/node_edge_map (amsl_navigation_msgs::NodeEdgeMap)

map_cloud_downsampler

Published Topics

• ~<name>/map_cloud/downsampled (sensor_msgs/PointCloud2)

Subscribed Topics

• ~<name>/map_cloud (sensor_msgs/PointCloud2)

odom_broadcaster

This node broadcasts odom transform for playing bag.

Published Topics

• /tf (tf2_msgs/TFMessage)

Subscribed Topics

• ~<name>/odom (nav_msgs/Odometry)

odom_to_pose

This node converts odom into pose.

Published Topics

• ~<name>/pose (geometry_msgs/PoseWithCovarianceStamped)

Subscribed Topics

• ~<name>/odom (nav_msgs/Odometry)

scan_invertor

This node inverts the index of scan data.

Published Topics

• /scan/inverse (sensor_msgs/LaserScan)

Subscribed Topics

• /scan (sensor_msgs/LaserScan)