Daniel Perea Strom
riverstrom@gmail.com
Copyright (C) 2013, Universidad de La Laguna
Grupo de Robótica de la Universidad de La Laguna
http://grull.isaatc.ull.es/
The stack contains a 3D path (3D translations + yaw) planner based on motion primitives.
This code is at an experimental stage, and licensed under the GPLv3 license.
Create a directory where you want the package downloaded (ex. ~/ros),
and make sure it's added to your$ROS_PACKAGE_PATH.
Cd to the newly created directory (ex. cd ~/ros),
If you don't have git installed, do so:
sudo apt-get install git-core
Download the stack from the repository:
git clone https://github.com/riverstrom/move_base_3D.git
You will also need the interactive marker package:
git clone https://github.com/riverstrom/goal_interactive_marker.git
Install the dependencies manually by:
sudo apt-get install ros-fuerte-sbpl
sudo apt-get install ros-fuerte-arm-navigation-experimental
Compile the stack:
rosmake move_base_3D
And compile the interactive marker package:
rosmake goal_interactive_marker
The move_base_3D.launch file will start all needed nodes:
roslaunch move_base_3D move_base_3D.launch
Launch RViz. For convenience, there is a launch file with a nice configuration:
roslaunch move_base_3D rviz_interaction.launch
In RViz, press the "Interact" button (or I in the keyboard) to highlight the Start and Goal interactive markers. Click or move the goal marker to compute a new plan.
You can move the Start and Goal markers to wherever you want, but a new plan is computed only when the Goal marker is changed. Check the output messages for problems with either Start or Goal poses. If a WARN "Solution not found" appears it could be that you chose a pose too close to the obstacles (or actually there is no solution to the problem).
There is a visualization bug (maybe in RViz) where trailing arrows markers are left behind. Just uncheck and check again the "Plan markers" display in RViz. The last plan will show up cleanly.