twoLevelMTTD_stack: MTTDMeasurementSimulator | MTTD_background_subtraction | MTTD_interface | MTTD_msgs | MTTD_simulation | MTTD_visualize | RBBM | background | dataAssociationMurty | linearAssignmentProblem | readGitData | readLaserScannerMeasurementsFile | separateEnvironmentFromLaserScan | srl_people_tracker_0.2 | twoLevelMTTD | twoLevelMTTDExamples
Package Summary
This package contains configuration files to simulate twoLevelMTTD algorithm using stageros.
- Author: Enea Scioni enea.scioni@student.unife.it, Tinne De Laet Tinne.DeLaet@mech.kuleuven.be
- License: LGPL
- Repository: kul-ros-pkg
- Source: svn http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/twoLevelMTTD_stack/MTTD_simulation
Overview
This package contains configuration and launch files to run a simple simulation using stageros. The simulated robot is generic, it could be adapted to a specific robot. The robot is able to navigate around using the navigation stack. In a nutshell, this package presents a simulated scenario created following navigation_stack tutorials, so it could be considered another navigation stack example also. MTTD_interface will use this scenario as twoLevelMTTD testing environment.
Nodes
initial_sender
initial_sender set the robot initial pose.Published Topics
initialpose (geometry_msgs/PoseWithCovarianceStamped)- Just set the initial pose.
Parameters
~x_pose (double, default: 8.0)- x initial position
- y initial position
- z initial position
- theta initial orientation
Running
In order to run the simulation, just typing
$ roslaunch MTTD_simulation simulation.launch
and then set the robot initial pose using rviz, or typing (in a new terminal)
$ rosrun MTTD_simulation initial_sender
Remember to kill initial_sender node after.