https://github.com/Hongtai-Yuan/Voronoi_Planner_ROS2
该仓库基于ros2 humble和navigation2，在nav2中实现了基于Voronoi的全局路径规划器，以避开障碍物，使机器人在更安全的路径上行走。
https://github.com/Hongtai-Yuan/Voronoi_Planner_ROS2
costmap-2d-layer planning-algorithms ros2-humble voronoi-diagram
Last synced: about 1 month ago
JSON representation
该仓库基于ros2 humble和navigation2，在nav2中实现了基于Voronoi的全局路径规划器，以避开障碍物，使机器人在更安全的路径上行走。
- Host: GitHub
- URL: https://github.com/Hongtai-Yuan/Voronoi_Planner_ROS2
- Owner: Hongtai-Yuan
- Created: 2024-11-18T03:36:35.000Z (12 months ago)
- Default Branch: main
- Last Pushed: 2025-01-25T13:53:42.000Z (9 months ago)
- Last Synced: 2025-04-11T12:25:46.486Z (7 months ago)
- Topics: costmap-2d-layer, planning-algorithms, ros2-humble, voronoi-diagram
- Language: C++
- Homepage:
- Size: 81.1 KB
- Stars: 6
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Voronoi_Planner_ROS2
Based on ros2 humble and navigation2, this warehouse implements a global path planner based on Voronoi in nav2 to avoid obstacles, so that the robot can walk in a safer path.
## CHANGE YOUR YAML
### CHANGE GLOBAL_COSTMAP
```bash
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 0.5
global_frame: map
width: 6
height: 6
robot_base_frame: base_footprint # base_link
use_sim_time: True
footprint: "[[0.310, -0.313], [-0.337, -0.313], [-0.337, 0.313], [0.310, 0.313]]"
#robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
rolling_window: false
plugins: ["static_layer", "obstacle_layer", "inflation_layer" , "voronoi_layer"]
#plugins: ["static_layer" , "voronoi_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0 # 3.0
inflation_radius: 0.1 # 0.01
use_distance_cost: false
voronoi_layer:
plugin: "nav2_costmap_2d::VoronoiLayer"
always_send_full_costmap: True
```
### CHANGE PLANNER_SERVER
```bash
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_voronoi_planner/VoronoiPlanner"
```
## HOW TO USE
Using the changed yaml file, just start as usual.