topological_navigation

A ROS pkg to create and navigate on topological map in auto-driving.

Topological map file format

[N: number of points]
[X: resolution 1:X(cm)]
N lines of id to coord: [point_id x y z]
N lines of adj list: [point_id n nb1 nb2 ... nbn]

Build topological map

roslaunch topological_navigation build_map.launch

• press 'a' to add current point and an undirected edge <cur_point, last_point> into map
• press 's' to save current map

Navigate through the topological map

roslaunch topological_navigation navigation.launch

• input an on-map destination coord (x, y)
• node will find a shortest path on topological map, publishing middle points orderly as goals, leading the robot towards final destination.

Arguments

Modify arguments such as resolution, threshold(the range each point covers) and topic names in launch files. Be careful of the scope of ros parameters.

Todo

1. a user-friendly way of interaction
2. topological points pruning and combining