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Only released in EOL distros:   electric fuerte groovy

ROS Nodes

This package contains ROS nodes for navigating the ART autonomous vehicle.

commander

Global path planning for the ART vehicle.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)

• current navigator state information

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)

• way-point orders for navigator

Parameters

Initial Parameters

~frame_id (string, default: "/map")

• Frame of reference for road map.

~mdf (string, default: "")

• Mission Definition File name (required).

~mission_state (string, default: "")

• Mission state save file name (default: none).

~rndf (string, default: "")

• Route Network Definition File name. Required, but can be defined anywhere within the enclosing namespace.

Examples

Run the ART commander, sending navigator/cmd messages.

  rosrun art_nav commander _rndf:=road_map.rndf _mdf:=mission_ckpts.mdf

navigator

Local path control for the ART vehicle.

Subscribed Topics

navigator/cmd (art_msgs/NavigatorCommand)

• way-point orders from the commander node

Published Topics

navigator/state (art_msgs/NavigatorState)

• current navigator state

pilot/cmd (art_msgs/CommandCar)

• velocity and steering angle for the pilot node

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~blockage_timeout_secs (double, default: 9.0)

• Blockage timeout (s) Range: 0.0 to 20.0

~close_stopping_distance (double, default: 15.3)

• Distance to stop from an obstacle (m) Range: 5.0 to 20.0

~desired_following_time (double, default: 5.0)

• Desired following time (s) Range: 0.0 to 10.0

~heading_change_ratio (double, default: 0.75)

• Heading change ratio Range: 0.0 to 1.0

~initialize_distance (double, default: 10.0)

• Initialize look ahead distance (m) Range: 0.0 to 30.0

~initialize_min_angle (double, default: 0.785398163397)

• Initialize minimum angle (radians) Range: 0.0 to 3.14159265359

~lane_change_secs (double, default: 2.0)

• Lane change target (seconds ahead) Range: 0.0 to 8.0

~lane_width_ratio (double, default: 0.3)

• Lane width ration (fraction) Range: 0.01 to 1.0

~lookahead_distance (double, default: 100.0)

• Turn lookahead distance (m) Range: 0.0 to 200.0

~lost_speed (double, default: 2.0)

• Speed when lost (m/s) Range: 1.0 to 5.0

~max_creep_distance (double, default: 4.8)

• Distance for which to creep (m) Range: 0.0 to 5.0

~max_deceleration (double, default: 0.4)

• turn max deceleration (m/s^2) Range: 0.1 to 4.0

~max_speed (double, default: 15.0)

• Maximum speed ever to request (m/s) Range: 0.0 to 25.0

~max_speed_for_sharp (double, default: 3.0)

• Maximum speed for sharpest possible turn (m/s) Range: 1.0 to 8.0

~max_yaw_rate (double, default: 0.15)

• turn max yaw rate (radians/s) Range: 0.01 to 2.0

~min_approach_speed (double, default: 2.0)

• Minimum approach speed considered dangerous (m/s) Range: 0.0 to 5.0

~min_curve_length (double, default: 1.5)

• Minimum curve length for turn (m) Range: 1.0 to 5.0

~min_following_time (double, default: 3.0)

• Minimum following time (s) Range: 0.0 to 10.0

~min_lane_steer_dist (double, default: 7.0)

• Minimum lane steering distance (m) Range: 0.0 to 16.0

~min_speed_for_curves (double, default: 3.0)

• Minimum speed when slowing for curves (m/s) Range: 1.0 to 5.0

~min_stop_distance (double, default: 5.0)

• Minimum distance to begin stopping (m) Range: 0.0 to 25.0

~offensive_driving (bool, default: False)

• Drive aggressively (defensively if false)

~passing_delay (double, default: 5.0)

• Wait time before passing (s) Range: 0.0 to 10.0

~precedence_delay (double, default: 10.0)

• Wait time for intersection precedence (s) Range: 0.0 to 30.0

~real_max_yaw_rate (double, default: 0.9)

• Real maximum yaw rate (radians/s) Range: 0.1 to 2.0

~roadblock_delay (double, default: 5.0)

• Wait time for road blockage (s) Range: 0.0 to 10.0

~spot_waypoint_radius (double, default: 0.5)

• Spot waypoint radius (m) Range: 0.1 to 4.0

~spring_lookahead (double, default: 0.0)

• Spring lookahead distance (m) Range: 0.0 to 8.0

~stop_approach_speed (double, default: 3.0)

• Stop line approach speed (m/s) Range: 1.0 to 5.0

~stop_creep_speed (double, default: 1.0)

• Speed while creeping to stop (m/s) Range: 0.5 to 3.0

~stop_deceleration (double, default: 2.0)

• Desired stopping deceleration (m/s^2) Range: 0.05 to 4.0

~stop_distance (double, default: 2.0)

• Desired stopping distance (m) Range: 0.0 to 4.0

~stop_latency (double, default: 0.0)

• Brake latency for stopping (s) Range: 0.0 to 4.0

~stop_line_delay (double, default: 1.0)

• Delay when stop line reached (s) Range: 0.0 to 10.0

~turning_heading_tune (double, default: 0.5)

• yaw tuning parameter (heading) Range: 0.0 to 1.0

~turning_int_tune (double, default: 1.25)

• yaw tuning parameter (integral) Range: 0.0 to 4.0

~turning_latency (double, default: 1.0)

• Turning latency time (s) Range: 0.0 to 4.0

~turning_offset_tune (double, default: 0.5)

• Yaw tuning parameter (offset) Range: 0.0 to 1.0

~uturn_speed (double, default: 2.0)

• U-turn speed (m/s) Range: 1.0 to 4.0

~uturn_stop_heading (double, default: 0.785398163397)

• U-turn stop heading (radians) Range: 0.0 to 3.14159265359

~uturn_threshold (double, default: 1.0)

• U-turn threshold (m) Range: 0.0 to 4.0

~uturn_yaw_rate (double, default: 1.5)

• U-turn yaw rate (radians/s) Range: 0.5 to 3.0

~zone_waypoint_radius (double, default: 1.0)

• Zone waypoint radius (m) Range: 0.1 to 4.0

Examples

Run the ART navigator, accepting navigator/cmd messages.

  rosrun art_nav navigator

estop

Graphical client for navigator E-stop control.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)

• current navigator state

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)

• navigator orders

Examples

Run GUI for sending Run and Pause orders to the navigator.

  rosrun art_nav estop.py