https://github.com/icetd/simulation_ws
ros gmapping simulation
https://github.com/icetd/simulation_ws
navigation ros simulation
Last synced: about 1 month ago
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ros gmapping simulation
- Host: GitHub
- URL: https://github.com/icetd/simulation_ws
- Owner: icetd
- Created: 2024-07-03T08:22:52.000Z (almost 2 years ago)
- Default Branch: master
- Last Pushed: 2024-07-03T08:40:13.000Z (almost 2 years ago)
- Last Synced: 2025-01-12T15:15:21.050Z (over 1 year ago)
- Language: C++
- Size: 9.99 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
## simulation_ws
simple ros nav simulation
## Use
```
git clone https://github.com/icetd/simulation_ws.git
cd simualtion_ws
catkin_make_isolateda
source devel_isolated/setup.bash
roslaunch simulation nav_map.launch
```
## update
- add [segment_global_planner](https://github.com/WLwind/segment_global_planner)
- /move_base/SegmentGlobalPlanner/base_global_planner
The real global planner implementation to ganerate path segments.You can feel free to set any general global planner plugins like global_planner/GlobalPlanner. If you don't set this parameter then line segement generator will be implemented and the performance is just like the previous version of segment_global_planner.
- /move_base/SegmentGlobalPlanner/threshold_point_on_line
Threshold that robot is considered on the tracking line within.(dynamic_reconfigure) If this value is too low, the robot may often derail and make a plan directly to your final goal.
/move_base/LineSegment/point_interval
The max interval of 2 points on a segment.(only for LineSegment)
- /move_base/SegmentGlobalPlanner/child_goal_threshold
Threshold that robot is considered reaching the goal within.(dynamic_reconfigure) You should make this larger than the tolerance of local planner and set a not too low frequency for global planner (5.0Hz is adequate for a small robot like Turtlebot3). If this value or the frequency of global planner is too low, the robot may accidentally finish the navigation action at a child goal.