https://github.com/at-wat/neonavigation

A 2-D/3-DOF seamless global/local mobile robot motion planner package for ROS
https://github.com/at-wat/neonavigation

motion-planner navigation robotics

Last synced: 3 days ago
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A 2-D/3-DOF seamless global/local mobile robot motion planner package for ROS

• Host: GitHub
• URL: https://github.com/at-wat/neonavigation
• Owner: at-wat
• License: other
• Created: 2016-08-31T08:23:10.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2024-12-26T02:21:48.000Z (13 days ago)
• Last Synced: 2024-12-29T03:03:26.775Z (10 days ago)
• Topics: motion-planner, navigation, robotics
• Language: C++
• Homepage:
• Size: 2.16 MB
• Stars: 308
• Watchers: 16
• Forks: 91
• Open Issues: 32
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# neonavigation meta-package

![Build Status](https://github.com/at-wat/neonavigation/workflows/build/badge.svg)

[![Codecov](https://codecov.io/gh/at-wat/neonavigation/branch/master/graph/badge.svg)](https://codecov.io/gh/at-wat/neonavigation)

[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)

ROS meta-package for autonomous vehicle navigation.

## Important notices

- Topic/service namespace model is migrated to ROS recommended style.

  See each package's README and runtime migration messages from the nodes.

## Install

- **Note 1: neonavigation_msgs meta-package is required to build neonavigation meta-package.**

- **Note 2: neonavigation_rviz_plugins meta-package is required to visualize PathWithVelocity message used between planner_3d and trajectory_tracker.**

```shell

# clone

cd /path/to/your/catkin_ws/src

git clone https://github.com/at-wat/neonavigation.git

git clone https://github.com/at-wat/neonavigation_msgs.git

git clone https://github.com/at-wat/neonavigation_rviz_plugins.git

# build

cd /path/to/your/catkin_ws

rosdep install --from-paths src --ignore-src -y  # Install dependencies

catkin_make -DCMAKE_BUILD_TYPE=Release  # Release build is recommended

```

## Demo

A quick demonstration with a simple simulated robot is available.

```

roslaunch neonavigation_launch demo.launch

```

![Rviz image of the demo](https://github.com/at-wat/neonavigation/blob/master/neonavigation_launch/doc/images/demo.png?raw=true)

## Packages

### [costmap_cspace](costmap_cspace/README.md)

3-DOF configuration space costmap handler.

### [planner_cspace](planner_cspace/README.md)

2-D/3-DOF seamless global-local path and motion planner and serial joint collision avoidance.

### [safety_limiter](safety_limiter/README.md)

Collision prevention control.

### [trajectory_tracker](trajectory_tracker/README.md)

Path following control and path handling. 

### [map_organizer](map_organizer/README.md)

Layered map handler.

### [track_odometry](track_odometry/README.md)

Slip compensation for vehicle odometry.

### [obj_to_pointcloud](obj_to_pointcloud/README.md)

Obj surface data to pointcloud converter.

### [neonavigation_launch](neonavigation_launch/README.md)

Sample launch files.

## References

A. Watanabe, D. Endo, G. Yamauchi and K. Nagatani, "*Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS — Development and field test on the representative offshore oil plant,*" 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, Switzerland, 2016, pp. 86-91.

(doi: 10.1109/SSRR.2016.7784282)

## Contributing

*neonavigation meta-package* is developed under [GitHub flow](https://guides.github.com/introduction/flow/).

Feel free to open new Issue and/or Pull Request.

The code in this repository is following [ROS C++ Style Guide](https://wiki.ros.org/CppStyleGuide).

A configuration file for clang-format is available at https://github.com/seqsense/ros_style/.

## License

*neonavigation meta-package* is available under BSD license.