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trajectory_tracker package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

trajectory_tracker

trajectory_tracker node controls vehicle velocity to follow given path.

Subscribed topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/speed (new: speed) [std_msgs::Float32]
  • /tf
  • /odom [nav_msgs::Odometry] (Optional: this topic is subscribed only when "use_odom" option is true)

Published topics

  • ~/cmd_vel (new: cmd_vel) [geometry_msgs::Twist]
  • ~/status [trajectory_tracker_msgs::TrajectoryTrackerStatus]
  • ~/tracking [geometry_msgs::PoseStamped]

Services

Called services

Parameters

  • "frame_robot" (string, default: std::string("base_link"))
  • "path" deprecated (string, default: std::string("path"))
  • "cmd_vel" deprecated (string, default: std::string("cmd_vel"))
  • "hz" (double, default: 50.0)
  • "look_forward" (double, default: 0.5)
  • "curv_forward" (double, default: 0.5)
  • "k_dist" (double, default: 1.0)
  • "k_ang" (double, default: 1.0)
  • "k_avel" (double, default: 1.0)
  • "gain_at_vel" (double, default: 0.0)

    compensate k_ang according to the current linear velocity to keep convergence characteristic at the linear velocity, specified by this parameter, if gain_at_vel != 0

  • "dist_lim" (double, default: 0.5)
  • "dist_stop" (double, default: 2.0)
  • "rotate_ang" (?, default: M_PI / 4)
  • "max_vel" (double, default: 0.5)
  • "max_angvel" (double, default: 1.0)
  • "max_acc" (double, default: 1.0)
  • "max_angacc" (double, default: 2.0)
  • "acc_toc_factor" (double, default: 0.9)

    decrease max_acc by this factor in time optimal control to reduce vibration due to control delay.

  • "angacc_toc_factor" (double, default: 0.9)

    decrease max_angacc by this factor in time optimal control to reduce vibration due to control delay. This parameter is valid when "use_time_optimal_control" is true.

  • "path_step" (int, default: 1)
  • "goal_tolerance_dist" (double, default: 0.2)
  • "goal_tolerance_ang" (double, default: 0.1)
  • "stop_tolerance_dist" (double, default: 0.1)
  • "stop_tolerance_ang" (double, default: 0.05)
  • "no_position_control_dist" (double, default: 0.0)
  • "min_tracking_path" (?, default: noPosCntlDist)
  • "allow_backward" (bool, default: true)
  • "limit_vel_by_avel" (bool, default: false)
  • "check_old_path" (bool, default: false)
  • "use_odom" (bool, default: false)

    When use_odom is false, trajectory_tracker publishes command velocities at a constant rate specified in "hz" option. When use_odom is true, it publishes command velocities just after odometry is updated. "hz" option is ignored in this mode.

  • "predict_odom" (bool, default: true)

    If true, predicted coordinates of the robot at the present timestamp are used. This parameter is valid when "use_odom" is true.

  • "odom_timeout_sec" (double, default: 0.1)

    Robot will be stopped after the duration specified in this parameter has passed since the last odometry was received. This parameter is valid when "use_odom" is true.

  • "use_time_optimal_control" (bool, default: True)

    If true, time optimal control mode is used during turning in place. Otherwise, the same algorithm used for path tracking is used.

  • "time_optimal_control_future_gain" (double, default: 1.5)

    A gain to look ahead to robot's angle used in time optimal control. This parameter is valid when "use_time_optimal_control" is true.

  • "k_ang_rotation" (double, default: 1.0)

    "k_ang" value used during turning in place. This parameter is valid when "use_time_optimal_control" is false.

  • "k_avel_rotation" (double, default: 1.0)

    "k_avvel" value used during turning in place. This parameter is valid when "use_time_optimal_control" is false.

trajectory_recorder

trajectory_recorder node generates Path message from TF.

Subscribed topics

  • /tf

Published topics

  • ~/recpath (new: path) [nav_msgs::Path]

Services

Called services

Parameters

  • "frame_robot" (string, default: std::string("base_link"))
  • "frame_global" (string, default: std::string("map"))
  • "path" (string, default: std::string("recpath"))
  • "dist_interval" (double, default: 0.3)
  • "ang_interval" (double, default: 1.0)

trajectory_saver

trajectory_saver node saves Path message to file.

Subscribed topics

  • ~/recpath (new: path) [nav_msgs::Path]
  • /tf

Published topics

Services

Called services

Parameters

  • "path" deprecated (string, default: std::string("recpath"))
  • "file" (string, default: std::string("a.path"))

trajectory_server

trajectory_server node loads Path from file and publishes it.

Subscribed topics

  • /tf

Published topics

  • ~/path (new: path) [nav_msgs::Path]
  • ~/status [trajectory_tracker_msgs::TrajectoryServerStatus]

Services

  • ~/ChangePath (new: change_path) [trajectory_tracker_msgs::ChangePath]

Called services

Parameters

  • "path" deprecated (string, default: std::string("path"))
  • "file" (string, default: std::string("a.path"))
  • "hz" (?, default: double(5))
  • "filter_step" (double, default: 0.0)

Acknowledgement

This research was supported by a contract with the Ministry of Internal Affairs and Communications entitled, 'Novel and innovative R&D making use of brain structures'

This software was implemented to accomplish the above research. Original idea of the implemented control scheme was published on:
S. Iida, S. Yuta, "Vehicle command system and trajectory control for autonomous mobile robots," in Proceedings of the 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS), 1991, pp. 212-217.