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@randaz81
randaz81 committed Dec 14, 2017
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2 changes: 1 addition & 1 deletion app/robotPathPlannerExamples/scripts/robotPathPlannerExample2.xml
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<module>
<name>fakeMobileBaseTest</name>
<parameters>--holonomic</parameters>
<parameters>--context fakeMobileBaseTest --holonomic</parameters>
<node>console</node>
</module>

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2 changes: 1 addition & 1 deletion app/rosExamples/scripts/rosExample3.xml
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<application>
<name>ros EXAMPLE3</name>
<name>ros EXAMPLE3 (Experimental)/name>

<dependencies>
</dependencies>
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32 changes: 1 addition & 31 deletions src/baseControl/main.cpp
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* velocity_pid also controls the motors in velocity modes, but it also implements and external closed loop on the realized cartesian trajectory.
* openloop_no_pid/openloop_pid are similar, but the individual motors are controlled by sending pwm references instead of velocity commands.
* The module also performs the odometry computation and publishes it onto a yarp port/ROS topic.
*
* Parameters required by this module are:
* | Parameter name | SubParameter | Type | Units | Default Value | Required | Description | Notes |
* |:--------------:|:--------------------:|:-------:|:--------:|:------------------:|:-----------: |:-----------------------------------------------------------------:|:-----:|
* | GENERAL | robot_type | string | - | - | Yes | The robot kinematic model. Can be one of the following: ikart_V1,ikart_V2,cer | |
* | GENERAL | control_mode | string | - | velocity_no_pid | Yes | It can be one of the following: velocity_no_pid, velocity_pid, openloop_no_pid, openloop_pid | |
* | GENERAL | max_linear_vel | double | m/s | 0.0 | Yes | Limiter for robot maximum linear velocities | - |
* | GENERAL | max_angular_vel | double | deg/s | 0.0 | Yes | Limiter for robot maximum angular velocities | - |
* | GENERAL | max_linear_acc | double | m/s^2 | 0.0 | Yes | Limiter for robot maximum linear accelerations | - |
* | GENERAL | max_angular_acc | double | deg/s^2 | 0.0 | Yes | Limiter for robot maximum angular accelerations | - |
* | GENERAL | ratio_limiter_enabled | int | - | 1 | Yes | Initial estimation of robot position | - |
* | GENERAL | input_limiter_enabled | int | - | 0 | Yes | Initial estimation of robot position | - |
* | GENERAL | use_ROS | bool | - | false | Yes | Globally enable/disable the ROS system: node, topics etc | - |
* | MOTORS | max_motor_pwm | double | - | - | Yes | Limiter for motor pwm (when control mode is openloop) | - |
* | MOTORS | max_motor_vel | double | deg/s | - | Yes | Limiter for motor velocity (when control mode is velocity) | - |
* | MOTORS | motors_filer_enabled | string | - | - | Yes | Enables a low-pass filter on motor controller to prevent jerky motion. Can be one of the following: 0,1,2,4,8 | - |
* | JOYSTICK | linear_vel_at_full_control | double | m/s | - | Yes | Robot linear velocity when the joypad stick is at its maximum | e.g. 0. |
* | JOYSTICK | angular_vel_at_full_control | double | deg/s | - | Yes | Robot angular velocity when the joypad stick is at its maximum | e.g. 30 |
* | XXX_VELOCITY_PID | kp | double | - | - | Yes | Proportional gain for PID control on user cartesian command | XXX can be one of the following: LINEAR, ANGULAR, HEADING |
* | XXX_VELOCITY_PID | ki | double | - | - | Yes | Integral gain for PID control on user cartesian command | - |
* | XXX_VELOCITY_PID | kd | double | - | - | Yes | Derivative gain for PID control on user cartesian command | - |
* | XXX_VELOCITY_PID | max | double | - | - | Yes | Limiter for PID control on user cartesian command | - |
* | XXX_VELOCITY_PID | min | double | - | - | Yes | Limiter for PID control on user cartesian command | - |
* | ROS_GENERAL | node_name | string | - | - | No | Name of the ROS node | e.g. baseControl |
* | ROS_FOOTPRINT | topic_name | string | - | - | No | Name of the topic used to publish the robot footprint | e.g. /footprint |
* | ROS_FOOTPRINT | footprint_frame | string | - | - | No | Frame to which the footprint is attached | e.g. mobile_base_link |
* | ROS_FOOTPRINT | footprint_diameter | double | m | - | No | Diameter of the robot footprint | e.g. 0.5 |
* | ROS_ODOMETRY | topic_name | string | - | - | No | Name of the topic used to publish odometry info | e.g. /odometry |
* | ROS_ODOMETRY | odom_frame | string | - | - | No | Name of the odometry frame | e.g. odom |
* | ROS_ODOMETRY | base_frame | string | - | - | No | Name of the base frame | e.g. mobile_base_body_link |
* | ROS_INPUT | topic_name | string | - | - | No | Name of the topic used to control the robot from ROS | e.g. /cmd_vel |
* A detailed description of configuration parameters available for the module is provided in the README.md file.
*/

using namespace std;
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3 changes: 2 additions & 1 deletion src/robotGoto/README.md
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# robotGoto
This module performs a point-to-point local navigation. It receives a goal from the user either via RPC command or via yarp iNavigation2D interface and it computes the Cartesian velocities to be sent to [**baseControl**](https://github.com/robotology/navigation/tree/master/src/baseControl) module.

The module can be configured to stop the navigation if an obstacle is detected, or perform obstacle avoidance using an APF-based approach.

## YARP Connections
* **/robotGoto/rpc** standard rpc port
* **/robotGoto/control:o** this port is used by the module to send cartesian velocities commands to baseControl module.
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45 changes: 3 additions & 42 deletions src/robotGoto/main.cpp
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* \section robotGoto
* robotGoto is a local navigation module. It receives a position cartesian target, either absolute (respect to the map origin) or relative (respect to the robot frame) and computes
* the cartesian velocity commands to be sent to baseControl module.
* Four control modes are available: velocity_no_pid sets the control modes of the motors to velocity and sends individual velocity references, computed by from user cartesian commands, to the joints.
* velocity_pid also controls the motors in velocity modes, but it also implements and external closed loop on the realized cartesian trajectory.
* openloop_no_pid/openloop_pid are similar, but the individual motors are controlled by sending pwm references instead of velocity commands.
* The module also performs the odometry computation and publishes it onto a yarp port/ROS topic.
*
* Parameters required by this module are:
* | Parameter name | SubParameter | Type | Units | Default Value | Required | Description | Notes |
* |:----------------:|:--------------------:|:-------:|:--------:|:------------------:|:-----------: |:-----------------------------------------------------------------:|:-----:|
* | LOCALIZATION | robot_frame_id | string | - | - | Yes | The robot kinematic model. Can be one of the following: ikart_V1,ikart_V2,cer | |
* | LOCALIZATION | map_frame_id | string | - | - | Yes | It can be one of the following: velocity_no_pid, velocity_pid, openloop_no_pid, openloop_pid | |
* | LASER | laser_port | string | - | - | Yes | Limiter for robot maximum linear velocities | - |
* | ROBOT_GEOMETRY | robot_radius | double | m | 0.0 | Yes | Limiter for robot maximum angular velocities | - |
* | ROBOT_GEOMETRY | laser_pos_x | double | m | 0.0 | Yes | Limiter for robot maximum linear accelerations | - |
* | ROBOT_GEOMETRY | laser_pos_y | double | m | 0.0 | Yes | Limiter for robot maximum angular accelerations | - |
* | ROBOT_GEOMETRY | laser_pos_theta | double | deg | 0.0 | Yes | Initial estimation of robot position | - |
* | ROBOT_TRAJECTORY | robot_is_holonomic | int | 0/1 | 0 | Yes | Initial estimation of robot position | - |
* | ROBOT_TRAJECTORY | max_beta_angle | double | - | | Yes | Initial estimation of robot position | - |
* | ROBOT_TRAJECTORY | ang_speed_gain | double | - | | Yes | Globally enable/disable the ROS system: node, topics etc | - |
* | ROBOT_TRAJECTORY | lin_speed_gain | double | - | - | Yes | Limiter for motor pwm (when control mode is openloop) | - |
* | ROBOT_TRAJECTORY | max_lin_speed | double | m/s | - | Yes | Limiter for motor velocity (when control mode is velocity) | - |
* | ROBOT_TRAJECTORY | max_ang_speed | double | deg/s | - | Yes | Enables a low-pass filter on motor controller to prevent jerky motion. Can be one of the following: 0,1,2,4,8 | - |
* | ROBOT_TRAJECTORY | min_lin_speed | double | m/s | - | Yes | Robot linear velocity when the joypad stick is at its maximum | e.g. 0. |
* | ROBOT_TRAJECTORY | min_ang_speed | double | deg/s | - | Yes | Robot angular velocity when the joypad stick is at its maximum | e.g. 30 |
* | ROBOT_TRAJECTORY | goal_tolerance_lin | double | m | - | Yes | Proportional gain for PID control on user cartesian command | XXX can be one of the following: LINEAR, ANGULAR, HEADING |
* | ROBOT_TRAJECTORY | goal_tolerance_angle | double | deg | - | Yes | Integral gain for PID control on user cartesian command | - |
* | RETREAT_OPTION | enable_retreat | int | 0/1 | - | Yes | Derivative gain for PID control on user cartesian command | - |
* | RETREAT_OPTION | retreat_duration | double | s | - | Yes | Limiter for PID control on user cartesian command | - |
* | OBSTACLES_EMERGENCY_STOP | enable_obstacles_emergency_stop | int | 0/1 | - | Yes | Limiter for PID control on user cartesian command | - |
* | OBSTACLES_EMERGENCY_STOP | max_waiting_time | double | - | - | Yes | Name of the ROS node | e.g. baseControl |
* | OBSTACLES_EMERGENCY_STOP | enable_dynamic_max_distance | int | 0/1 | - | Yes | Name of the topic used to publish the robot footprint | e.g. /footprint |
* | OBSTACLES_EMERGENCY_STOP | max_detection_distance | double | m | - | Yes | Frame to which the footprint is attached | e.g. mobile_base_link |
* | OBSTACLES_EMERGENCY_STOP | min_detection_distance | double | m | - | Yes | Diameter of the robot footprint | e.g. 0.5 |
* | OBSTACLES_AVOIDANCE | enable_obstacles_avoidance | int | 0/1 | - | Yes | Name of the topic used to publish odometry info | e.g. /odometry |
* | OBSTACLES_AVOIDANCE | frontal_blind_angle | double | - | - | Yes | Name of the odometry frame | e.g. odom |
* | OBSTACLES_AVOIDANCE | speed_reduction_factor | double | - | - | Yes | Name of the base frame | e.g. mobile_base_body_link |
* | ROS | rosNodeName | string | - | - | Yes | Name of the ROS node | e.g. /cmd_vel |
* | ROS | useGoalFromRosTopic | bool | - | - | Yes | Name of the topic used to control the robot from ROS | e.g. /robotGoto |
* | ROS | goalTopicName | string | - | - | Yes | Name of the topic used to receive goals from ROS modules | e.g. //move_base_simple/goal |
* | ROS | publishRosStuff | bool | - | - | Yes | Name of the topic used to control the robot from ROS | e.g. /cmd_vel |
* | ROS | currentGoalTopicName | string | - | - | Yes | Name of the topic used to publish the current goal | e.g. /goal |
* | ROS | localPlanTopicName | string | - | - | Yes | Name of the topic used to control the current local plan | e.g. /local_plan |
* | ROS | globalPlanTopicName | string | - | - | Yes | Name of the topic used to control the current global plan | e.g. /global_plan |
* The module can be configured to stop the navigation if an obstacle is detected, or perform obstacle avoidance using an
* APF-based approach.
* A detailed description of configuration parameters available for the module is provided in the README.md file.
*/

#include <yarp/os/Network.h>
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2 changes: 1 addition & 1 deletion src/robotPathPlanner/README.md
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# robotPathPlanner
This module performs global path-planning by generating a sequence of waypoints to be tracked by a local navigation algorithm. It receives a goal from the user either via RPC command or via yarp iNavigation2D interface and it computes a sequence of waypotints which are sent one by one to a local navigator such as [**robotGoto**](https://github.com/robotology/navigation/tree/master/src/robotGoto). If the local navigation module fails to reach one of these waypoints, the global navigation is aborted too.
This module performs global path-planning by generating a sequence of waypoints to be tracked by a local navigation algorithm. It receives a goal from the user either via RPC command or via yarp iNavigation2D interface and it computes a sequence of waypoints which are sent one by one to a local navigator such as [**robotGoto**](https://github.com/robotology/navigation/tree/master/src/robotGoto). If the local navigation module fails to reach one of these waypoints, the global navigation is aborted too.

## YARP Connections
* **/roboPathPlanner/rpc** Standard rpc port
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8 changes: 8 additions & 0 deletions src/robotPathPlanner/main.cpp
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* Public License for more details
*/

/**
* \section robotPathPlanner
* This module performs global path-planning by generating a sequence of waypoints to be tracked by a local navigation algorithm.
* It receives a goal from the user either via RPC command or via yarp iNavigation2D interface and it computes a sequence of waypoints which are sent one by one to a local navigator module.
* If the local navigation module fails to reach one of these waypoints, the global navigation is aborted too.
* A detailed description of configuration parameters available for the module is provided in the README.md file.
*/

#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
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