对于刚体而言,在其通信插件ObjectCommunicationPlugin中,新建了std::shared_ptrget_command(),然后对指令进行解析,并执行相应的操作。例如,如果是ambf_msgs::RigidBodyCmd::TYPE_FORCE,则直接向刚体写入力和力矩;如果是ambf_msgs::RigidBodyCmd::TYPE_POSITION,当刚体是isStaticOrKinematicObject(),则直接写入;否则就...
_params.max_global_plan_lookahead_dist, transformed_plan, &goal_idx, &tf_plan_to_global)){ROS_WARN("Could not transform the global plan to the frame of the controller");message ="Could not transform the global plan to the frame of ...
_params.max_global_plan_lookahead_dist, transformed_plan, &goal_idx, &tf_plan_to_global)){ROS_WARN('Could not transform the global plan to the frame of the controller');message = 'Could not transform the global plan to the frame of the controller';return mbf_msgs::ExePathResult::INTERN...
实现了一个Action server使用actionlib库与path_control节点通信(msgs名字为"follow_path"),所以该类中定义了action的回调函数以及一个PathFollowerServer::spin()
#安装teb_local_plannersudoapt-getinstallros-noetic-teb-local-planner#costmap_converter插件sudoapt-getinstallros-noetic-costmap-converter#mbf-costmap-coresudoapt-getinstallros-noetic-mbf-costmap-core#mbf-msgssudoapt-getinstallros-noetic-mbf-msgs ...
[0%] Built target actionlib_msgs_generate_messages_lisp [0%] Built target actionlib_msgs_generate_messages_eus [0%] Built target nav_msgs_generate_messages_nodejs [0%] Built target actionlib_generate_messages_lisp [0%] Built target actionlib_generate_messages_nodejs ...
外部执行逻辑可以使用MBF及其操作来执行智能灵活的导航策略。 同时提供各独立功能的action和状态检测相关的servers,可使用SMACH或者BehaviourTrees灵活组合调用各功能。这里贴一个讲的不错的博客链接。同时move_base_flex还具有以下有点 完全向后兼容当前ROS导航。
--Move base flex, using the full_coverage_path_planner--> <node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true"> <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml...
[installed,automatic] ros-melodic-tf2-geometry-msgs/bionic,now 0.6.5-0bionic.20210921.221714 amd64 [installed,automatic] ros-melodic-tf2-kdl/bionic,now 0.6.5-0bionic.20210921.212349 amd64 [installed,automatic] ros-melodic-tf2-msgs/bionic,now 0.6.5-0bionic.20210505.012524 amd64 [installed,automatic...
// increase number of infeasible solutions in a row time_last_infeasible_plan_ = ros::Time::now(); last_cmd_ = cmd_vel.twist; message = "teb_local_planner velocity command invalid"; return mbf_msgs::ExePathResult::NO_VALID_CMD; } // Saturate velocity, if the optimization results viol...