/tx2_action_server

Action server for performing exploration in simulated environments

Primary LanguagePython

tx2_action_server

Action server for performing exploration in simulated environments.

Is used with m-explore exploration node and ThetaStarROS path planning node.

Requirements

  • ROS version at least Kinetic
  • CMake version at least 2.8.3
  • Python 2.7
  • Python packages:
    • Actionlib
    • Transformations

Usage

rosrun tx2_action_server tx2_action_server_external_driver.py

Parameters

  • tolerance (float): distance (in meters) to consider goal as reached. Default value: 1
  • timeout (float): time (in seconds) to wait for reaching the goal. If this time is exceeded, navigation will be aborted. Default value: 30
  • rate (float): frequency (in Hz) of checking robot's pose and path planning. Default value: 10
  • max_path_fails (int): maximum number of path planning fails. If path planning fails more times, navigation will be aborted. Default value: 5

Input and output

Subscribed topics

  • odom (nav_msgs::Odometry) - robot's position
  • path (nav_msgs::Path) - path from robot's position to goal
  • tf - transform from map frame to odom_frame

Used servers

  • move_base (actionlib.SimpleActionServer)

Published topics

  • exploration_goal (geometry_msgs::PoseStamped) - position of goal
  • task (std_msgs::Float32MultiArray) - coordinates for path planner