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se2_planning_ros

Integration of se2_plnning with ros. Ros planner advertises a planning_service_name service which is defined in se2_navigation_msgs; name of the service itself is a parameter specified in the .yaml file. In case of sucessfull planning, the path will be published on the path_msgs_topic. In addition the planner will publish plan on another topic nav_msgs_path_topic which is used for visualization.

Dependencies

  • eigen
  • nav_msgs
  • roscpp
  • se2_navigation_msgs (in this repo)
  • se2_planning (in this repo)
  • se2_planning_rviz (in this repo)
  • tf2
  • yaml-cpp

Installation

First install and build se2_planning package, see the instructions here.

Build with:

catkin build se2_planning_ros

Usage

Run with: roslaunch se2_planning_ros se2_planner.launch

The easiset way to use the planner is to use the planning interface for rviz shown below:

You can drag the interactive markers to change the start and goal position. The marker is enabled when you click on the Edit button. Click Finish button to finish editing and save current pose. Leave the Start==current position box unchecked. To use the rviz interface you will have to build the se2_planning_rviz package.

Should you not want to use rviz interface, you can also call the planning service directly from the terminal. An example call that will compute a plan moving the robot 2 meters forward is given with:
rosservice call /se2_planner_node/ompl_rs_planner_ros/planning_service "pathRequest: startingPose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 goalPose: position: x: 2.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0"

Parameters

Planner ros

This planner extendes the one inside the se2_planning package. The parametes are topics to be advertised by the planner.

  • nav_msgs_path_topic - topic where nav_msgs::Path message is published. Used merely for visualization with Rviz.
  • planning_service_name - name of the planning service
  • path_msg_topic - topic where the path will be published (used by the controllers)
  • path_frame - frame id of the path
  • nav_msg_path_spatial_resolution - spatial resolution of nav_msgs::Path in meters (euclidean distance between two points in the path)