/teb_local_planner_tutorials

This package contains supplementary material and examples for teb_local_planner tutorials.

Primary LanguageJupyter Notebook

teb_local_planner_tutorials

This package contains supplementary material and examples for teb_local_planner tutorials.

The tutorials package mainly contains fully working robot navigation examples in combination with the teb_local_planner. Currently it provides a differential drive and a carlike robot simulation setup. In order to depend on as few dependencies as possible, the simulations are performed with stage_ros and without any URDF models. However, they are easily extendable and integrable (e.g. Gazebo, URDF models, voxel costmaps, robot hardware nodes, ...).

Refer to the teb_local_planner ROS wiki page for more information.

Dependencies:

  • navigation stack and teb_local_planner package
  • stage: sudo apt-get install ros-kinetic-stage-ros

How to run chy simulation code:

  1. roslaunch teb_local_planner_tutorials robot_omnidir_empty_box_in_stage.launch

  2. rosrun teb_local_planner_tutorials send_goal.py

  3. rosrun teb_local_planner_tutorials traj_pred.py

  4. rosrun teb_local_planner_tutorials MPDM.py

  5. rosrun teb_local_planner_tutorials sim_summarize.py

  6. rosrun teb_local_planner_tutorials publish_human_obstacle.py

How to config chy simulation environment:

  • change parameters in teb_local_planner_tutorials/cfg/trial_cfg.yaml
  • In teb_local_planner_tutorials/launch/robot_omnidir_empty_box_in_stage.launch change line 40 for localization map and change line 46-48 for localization initialization
    • Note: robot heading in rad
  • In teb_local_planner_tutorials/stage/empty_omnidir.world change line 34,35 for environment map, change line 42,43 for robot initial location
    • Note: robot heading in degree