Constraint Based Base Navigation

Alternative to move_base (navigation stack ROS); a more simplistic base bavigation which works with the Costmap 2D ROS world model. In can handle goal position constraints and the goal orientation constraint is set up in a different way (see cb_base_navigation_msgs_srvs package).

It provides two interfaces:

• Local Planner Interface: Interface to communicate with the local planner via actionlib. It works with local planners that adhere to the nav_core::base_local_planner interface.
• Global Planner Interface: Interface to communicate with the global planner, works with a new interface specified in cb_global_planner::GlobalPlannerPlugin. The following interaction is possible:
• Request a plan based on a set of position constraints
• Check if a plan is still valid

Setup

Setup the following parameter files:

• params/local_planner.yaml
• params/local_costmap.yaml
• params/global_planner.yaml
• params/global_costmap.yaml

Example

roslaunch cb_base_navigation local_planner.launch

roslaunch cb_base_navigation global_planner.launch

rosrun cb_base_navigation move '/person' 'x^2 + y^2 < r^2'