ToshikiNakamura0412/amr_navigation_utils_ros

Provide utilities for AMR navigation in ROS

amr_navigation_utils_ros

Provide a library amr_navigation_utils_ros and utility nodes for AMR navigation in ROS

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic          # Install dependencies
catkin build amr_navigation_utils_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

# footprint_publisher
rosrun amr_navigation_utils_ros footprint_publisher_node

# pointcloud_angle_filter
roslaunch amr_navigation_utils_ros pointcloud_angle_filter.launch

Running the demo

# pointcloud_angle_filter
roslaunch amr_navigation_utils_ros test_pointcloud_angle_filter.launch

Nodes

footprint_publisher

Published Topics

• ~<name>/footprint (geometry_msgs::PolygonStamped)
  • Footprint

Parameters

• ~<name>/frame_id (string, default: base_footprint):
  The frame id of the footprint
• ~<name>/front_side_length (float, default: 0.5 [m]):
  The length of the front side of the footprint
• ~<name>/rear_side_length (float, default: 0.5 [m]):
  The length of the rear side of the footprint
• ~<name>/left_side_length (float, default: 0.5 [m]):
  The length of the left side of the footprint
• ~<name>/right_side_length (float, default: 0.5 [m]):
  The length of the right side of the footprint

pointcloud_angle_filter

Published Topics

• ~<name>/cloud_filtered (sensor_msgs/PointCloud2)
  • Filtered pointcloud

Subscribed Topics

• /cloud (sensor_msgs/PointCloud2)
  • Input pointcloud

Parameters

• ~<name>/valid_angle_range_list (std::vector<float>, default: pi/2, pi/2):
  The list of valid angle range in radian. Refer to launch/pointcloud_angle_filter.yaml for example.