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| Running the `move_base` node on a robot that is properly configured, please see [[navigation | navigation stack documentation]] for more details, results in a robot that, given a goal pose in the world, will attempt to achieve that pose with its base to within a user-specified tolerance. In the absence of dynamic obstacles, the move_base node will eventually get within this tolerance of its goal or signal failure to the user. The `move_base` node also includes a recovery behavior when the robot perceives itself as stuck. First, obstacles outside of a user-specified region will be cleared from the robot's map. Next, if possible, the robot will perform an in-place rotation to clear out space. If this too fails, the robot will more aggressively clear its map, removing all obstacles outside of the rectangular region in which it can rotate in place. This will be followed by another in-place rotation. If all this fails, the robot will consider its goal infeasible and notify the user that it has aborted. | Running the `move_base` node on a robot that is properly configured (please see [[navigation | navigation stack documentation]] for more details) results in a robot that will attempt to achieve a goal pose with its base to within a user-specified tolerance. In the absence of dynamic obstacles, the move_base node will eventually get within this tolerance of its goal or signal failure to the user. The `move_base` node also includes a recovery behavior when the robot perceives itself as stuck. First, obstacles outside of a user-specified region will be cleared from the robot's map. Next, if possible, the robot will perform an in-place rotation to clear out space. If this too fails, the robot will more aggressively clear its map, removing all obstacles outside of the rectangular region in which it can rotate in place. This will be followed by another in-place rotation. If all this fails, the robot will consider its goal infeasible and notify the user that it has aborted. |
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Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Author: Eitan Marder-Eppstein
- License: BSD
- Repository: navigation
- Source: hg https://kforge.ros.org/navigation/navigation
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation (branch: navigation-1.6)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation (branch: navigation-1.8)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: groovy-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)
Package Summary
The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: noetic-devel)
Contents
Deprecation of navigation 0.2 move_base API in navigation stack 0.3
The 0.2 API for communicating with move_base has been deprecated. To run move_base with the 0.2 API, please launch the following file from the move_base package when you run the navigation stack: launch/move_base_0.3_to_0.2.launch. Also, as soon as possible, please port you code to the new API described below. To help you out, here's the include line you can put in your roslaunch file to use the deprecated interface:
<include file="$(find move_base)/launch/move_base_0.3_to_0.2.launch" />
Nodes
move_base
The move_base node provides a ROS interface for configuring, running, and interacting with the navigation stack on a robot. A high-level view of the move_base node and its interaction with other components is shown above. The blue vary based on the robot platform, the gray are optional but are provided for all systems, and the white nodes are required but also provided for all systems. For more information on configuration of the move_base node, and the navigation stack as a whole, please see the navigation setup and configuration tutorial.
Action API
The move_base node provides an implementation of a the SimpleActionServer (see actionlib documentation), that takes in goals containing geometry_msgs/PoseStamped messages. You can communicate with the move_base node over ROS directly, but the recommended way to send goals to move_base if you care about tracking their status is by using the SimpleActionClient. Please see actionlib documentation for more information.
Action Input Topics
move_base/goal (move_base_msgs/MoveBaseActionGoal)
A goal for move_base to pursue in the world.
move_base/cancel (actionlib_msgs/GoalID)
- A request to cancel a specific goal.
Action Output Topics
move_base/feedback (move_base_msgs/MoveBaseActionFeedback)
- Feedback contains the current position of the base in the world.
move_base/status (actionlib_msgs/GoalStatusArray)
Provides status information on the goals that are sent to the move_base action.
move_base/result (move_base_msgs/MoveBaseActionResult)
Result is empty for the move_base action.
Published Topics
cmd_vel (geometry_msgs/Twist)
- A stream of velocity commands meant for execution by a mobile base
Subscribed Topics
move_base_simple/goal (geometry_msgs/PoseStamped)
- Provides a non-action interface to move_base for users that don't care about tracking the execution status of their goals.
Parameters
~base_global_planner (default: "NavfnROS")
The name of the plugin for the global planner to use with move_base, see pluginlib documentation for more details on plugins
~base_local_planner (default: "TrajectoryPlannerROS")
The name of the plugin for the local planner to use with move_base see pluginlib documentation for more details on plugins
~controller_frequency (default: 20.0)
- The rate at which to run the control loop and send velocity commands to the base
~planner_patience (default: 5.0)
- How long the planner will wait in an attempt to find a valid plan before space-clearing operations are performed
~controller_patience (default: 15.0)
- How long the controller will wait without receiving a valid control before space-clearing operations are performed
~conservative_reset_dist (default: 3.0)
The distance away from the robot at which obstacles will be cleared from the costmap when attempting to clear space in the map.
~recovery_behavior_enabled (default: true)
- Whether or not to attempt to clear out space by clearing parts of the map and rotating in-place when the robot is stuck
~clearing_rotation_allowed (default: true)
- Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space
~shutdown_costmaps (default: false)
Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state
Services
make_plan (nav_msgs/GetPlan)
Allows an external user to ask for a plan to a given pose from move_base without causing move_base to execute that plan.
Component APIs
The move_base node contains components that have their own ROS APIs. These components may vary based on the values of the ~base_global_planner and ~base_local_planner respectively. Links to the APIs for the default components can be found below:
costmap_2d - Documentation on the costmap_2d package used in move_base
base_local_planner - Documentation on the base_local_planner used in move_base
navfn - Documentation on the navfn global planner used in move_base
Expected Robot Behavior
Running the move_base node on a robot that is properly configured (please see navigation stack documentation for more details) results in a robot that will attempt to achieve a goal pose with its base to within a user-specified tolerance. In the absence of dynamic obstacles, the move_base node will eventually get within this tolerance of its goal or signal failure to the user. The move_base node also includes a recovery behavior when the robot perceives itself as stuck. First, obstacles outside of a user-specified region will be cleared from the robot's map. Next, if possible, the robot will perform an in-place rotation to clear out space. If this too fails, the robot will more aggressively clear its map, removing all obstacles outside of the rectangular region in which it can rotate in place. This will be followed by another in-place rotation. If all this fails, the robot will consider its goal infeasible and notify the user that it has aborted.
