Only released in EOL distros:  

odor_search: particle_plume | pp_explorer | random_walk
Package LinksDependencies (9)

Package Summary

Documented

ROS implementation of a random walk algorithm based on the navigation stack.

Contents

  1. Overview
  2. ROS API
    1. random_walk
      1. Subscribed Topics
      2. Parameters

Overview

This package contains an implementation of a random walk algorithm based on the navigation stack. The algorithm generates a random cell inside the map, checks if the cell is not an obstacle or too close to one, and sends the robot there.

ROS API

random_walk

random_walk is navigation stack based random walk algorithm.

Subscribed Topics

map (nav_msgs/OccupancyGrid)
  • The global map.
move_base/local_costmap/obstacles (nav_msgs/GridCells)
  • Obstacles.
/visited_cells (nav_msgs/GridCells)
  • Visited cells from particle_plume.

Parameters

move_base/local_costmap/inflation_radius (double, default: 0.20)
  • The inflation radius used by the navigation stack.

Wiki: random_walk (last edited 2011-04-14 15:59:39 by Gonçalo Cabrita)

Except where otherwise noted, the ROS wiki is licensed under the
Creative Commons Attribution 3.0