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https://github.com/jkk-research/wayp_plan_tools
🏎 Waypoint and planner tools for ROS 2 with minimal dependencies.
https://github.com/jkk-research/wayp_plan_tools
control pure-pursuit pursuit ros ros2 ros2-humble sze szenergy trajectory waypoint waypoint-following waypoints-creator
Last synced: 25 days ago
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🏎 Waypoint and planner tools for ROS 2 with minimal dependencies.
- Host: GitHub
- URL: https://github.com/jkk-research/wayp_plan_tools
- Owner: jkk-research
- License: apache-2.0
- Created: 2023-03-22T08:42:45.000Z (over 1 year ago)
- Default Branch: ros2
- Last Pushed: 2024-11-11T13:41:49.000Z (about 1 month ago)
- Last Synced: 2024-11-11T14:34:26.187Z (about 1 month ago)
- Topics: control, pure-pursuit, pursuit, ros, ros2, ros2-humble, sze, szenergy, trajectory, waypoint, waypoint-following, waypoints-creator
- Language: C++
- Homepage:
- Size: 226 KB
- Stars: 74
- Watchers: 1
- Forks: 6
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# `wayp_plan_tools` `ROS 2` package
Waypoint and planner tools for `ROS 2` with minimal dependencies. [](https://docs.ros.org/en/humble/)
Planner / control nodes:
- `single_goal_pursuit`: Pure pursuit (for vehicles / robots), a simple cross-track error method
- `multiple_goal_pursuit`: Multiple goal pursuit for vehicles / robots an implementation of our [paper](https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914)
- `stanley_control`: Stanley controller, a heading error + cross-track error method
- `follow_the_carrot`: Follow-the-carrot, the simplest controller
Waypoint nodes:
- `waypoint_saver`: saves the waypoints to a csv
- `waypoint_loader`: loads the waypoints from a csv to a ROS 2 topic
- `waypoint_to_target`: translates the global waypoint array to local target waypoint(s), thus it makes possible to use the controller nodes in a standalone way
## Build
It is assumed that the workspace is `~/ros2_ws/`.
### `Terminal 1` 🔴 clone
```
cd ~/ros2_ws/src
```
```
git clone https://github.com/jkk-research/wayp_plan_tools
```
### `Terminal 1` 🔴 build
```
cd ~/ros2_ws
```
```
colcon build --packages-select wayp_plan_tools --symlink-install
```
### `Terminal 2` 🔵 run
```
source ~/ros2_ws/install/setup.bash
```
```
ros2 launch wayp_plan_tools waypoint_saver.launch.py
```
# Control nodes
In this project the `single_goal_pursuit`, the `multiple_goal_pursuit`, `stanley_control` and the `follow_the_carrot` controllers are implemented. A high level overview about the algorithms is visible on the following figure:
# `single_goal_pursuit` node
The "classic" pure pursuit implementation
# `multiple_goal_pursuit` node
Multiple goal pursuit for vehicles / robots, an implementation of our [paper](https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914)
# `follow_the_carrot` node
Follow-the-carrot, the simplest controller
# `waypoint_to_target` node
Reads the waypoint array and speeds, from that it creates single or multiple goal points.
It also provides a `/metrics_wayp` array topic with the following elements:
| Array element | Meaning | Const
| :--- | :--- | :---
|`[0]` | current lateral distance to the waypoint (signed, cross-track error) | `CUR_LAT_DIST_SIGNED`
|`[1]` | current lateral distance to the waypoint (absolute value) | `CUR_LAT_DIST_ABS`
|`[2]` | average lateral distance over time | `AVG_LAT_DISTANCE`
|`[3]` | maximum lateral distance over time | `MAX_LAT_DISTANCE`
|`[4]` | current waypoint ID | `CUR_WAYPOINT_ID`
|`[5]` | target waypoint ID | `TRG_WAYPOINT_ID`
|`[6]` | target waypoint longitudinal distance (similar to lookahed distance, but at a waypoint) | `TRG_WAY_LON_DIST`
|`[7]` | actual lookahead distance | `ACT_LOOK_DIST`
|`[8]` | current cross-track error | `CUR_CROSS_TRACK`
# `waypoint_saver` node
Saves the waypoints to a csv. Important parameters are `file_name` and `file_dir`. Set from terminal or from a [launch file](launch/waypoint_saver.launch.py)
``` py
ros2 run wayp_plan_tools waypoint_saver --ros-args -p file_name:=tmp1.csv -p file_dir:=/mnt/bag/waypoints
```
# `waypoint_loader` node
Loads the waypoints from a csv to a ROS 2 topic. Set from terminal or from a [launch file](launch/waypoint_loader.launch.py)
``` py
ros2 run wayp_plan_tools waypoint_loader --ros-args -p file_name:=tmp1.csv -p file_dir:=/mnt/bag/waypoints
```
# Usage with a simulator
Please refer to [github.com/jkk-research/sim_wayp_plan_tools](https://github.com/jkk-research/sim_wayp_plan_tools).
# Cite & paper
If you use any of this code please consider citing the [paper](https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914):
```bibtex
@Article{horvath2020multigoalpursuit,
title={Theoretical background and application of multiple goal pursuit trajectory follower},
volume={48},
url={https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914},
DOI={10.33927/hjic-2020-03},
number={1},
journal={Hungarian Journal of Industry and Chemistry},
author={Horváth, Ernő and Pozna, Claudiu and Kőrös, Péter and Hajdu, Csaba and Ballagi, Áron},
year={2020},
month={Jul.},
pages={11–17}
}
```
