https://github.com/toshikinakamura0412/recovery_behavior_ros
The ROS package for recovery behavior of mobile robots
https://github.com/toshikinakamura0412/recovery_behavior_ros
cpp footprint mit-license navigation planner recovery robotics ros ros-noetic
Last synced: about 2 months ago
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The ROS package for recovery behavior of mobile robots
- Host: GitHub
- URL: https://github.com/toshikinakamura0412/recovery_behavior_ros
- Owner: ToshikiNakamura0412
- License: mit
- Created: 2024-06-24T08:47:36.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2024-06-24T09:22:59.000Z (over 1 year ago)
- Last Synced: 2025-03-15T00:43:11.292Z (7 months ago)
- Topics: cpp, footprint, mit-license, navigation, planner, recovery, robotics, ros, ros-noetic
- Language: C++
- Homepage:
- Size: 43.9 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# recovery_behavior_ros
[](https://opensource.org/licenses/MIT)
The ROS package for recovery behavior of mobile robots
## Environment
- Ubuntu 20.04
- ROS Noetic
## Dependencies
- [amr_navigation_utils_ros](https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros.git)
## Install and Build
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/recovery_behavior_ros.git
git clone https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build recovery_behavior_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
```
## How to use
```
roslaunch recovery_behavior_ros recovery_behavior.launch
```
## Running the demo
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/emcl_ros.git
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release
# run demo
## terminal 1
export TURTLEBOT3_MODEL=burger
roslaunch recovery_behavior_ros test.launch
## terminal 2
rosservice call /recovery_behavior/trigger "{}"
```
## Node I/O
## Nodes
### recovery_behavior
#### Published Topics
- /recovery/cmd_vel (`geometry_msgs/Twist`)
- Command velocity of recovery mode
- ~\/footprint (`geometry_msgs/PolygonStamped`)
- Footprint of the robot
#### Subscribed Topics
- /cloud (`sensor_msgs/PointCloud2`)
- Input pointcloud
#### Service Topics
- ~\/trigger
- Trigger of recovery behavior
#### Parameters
- Recovery behavior
- ~\/hz (int, default: `10`):
The rate of cmd_vel publishing
- ~\/sim_time_samples (int, default: `10`):
The number of samples to use when simulating trajectories
- ~\/vel_samples (int, default: `3`):
The number of samples to use when searching for the best linear and rotational velocities
- ~\/move_time (float, default: `2.0` [s]):
The amount of time to backward simulate trajectories in the future
- ~\/min_vel_x (float, default: `-0.2` [m/s]):
The minimum x velocity of the robot
- ~\/max_vel_theta (float, default: `0.4` [rad/s]):
The maximum rotational velocity of the robot
- [Footprint](https://github.com/ToshikiNakamura0412/amr_navigation_utils_ros#parameters)