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Fake Planner

ROS package for basic navigation to a goal without obstacle avoidance.

Usage

Set the following parameters in fake_planner.launch:

  • goal_topic (default: "move_base_simple/goal"): Topic where goals are published (type: geometry_msgs/PoseStamped)
  • cmd_vel_topic (default: "/cmd_vel"): Topic where velocity commands should be published (type: geometry_msgs/Twist)
  • goal_reached_topic (default: "/goal_reached"): Topic where status messages are published to inform that current goal was reached (type: std_msgs/Bool)
  • max_velocity_service (default: "set_max_velocity"): Name where service should be advertised to set maximum travel velocity
  • linear_tolerance (default: 0.1): Tolerance for linear displacement between the bot and the goal (m)
  • angular_tolerance (default: 0.35): Tolerance for angular displacement between the bot and the goal (rad)
  • time_to_x (default: 0.5): Time it would take to reach the goal if the max velocity permits. Used for scaling linear velocity.
  • time_to_angle (default: 1.0): Time it would take to reach the goal if the max velocity permits. Used for scaling angular velocity.
  • max_linear_speed (default: 1.0): Maximum linear speed (m/s)
  • max_angular_speed (default: 0.5): Maximum angular speed (rad/s)

To launch the fake planner node:

roslaunch fake_planner fake_planner.launch