3d_navigation: 3d_nav_executive | 3d_nav_gazebo | octomap_collision_check | pose_follower_3d | sbpl_lattice_planner_3d
Package Summary
This package provides an extended sbpl_lattice_planner to perform 3D collision checks against the robot's full kinematic configuration. It should serve as a drop-in replacement as global planner in the navigation stack, to be used with pose_follower_3d as local planner. The 3D collision map is usually sent out from octomap_server.
- Author: Michael Phillips, Armin Hornung
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/sandbox/3d_navigation/sbpl_lattice_planner_3d
Contents
Overview
NOTE: This package is currently unreleased and contains experimental code.
sbpl_lattice_planner_3d is based on the sbpl_lattice_planner global planner and adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package. It is supposed to work as a global planner in accordance with the pose_follower_3d local planner in move_base.
sbpl_lattice_planner_3d applies sbpl planning while performing 3D collision checks of the robot's full kinematic configuration against a 3D map. This map should be built and provided by octomap_server. A downprojected 2D map for costmap_2d should be also provided by octomap_server to perform fast checks agains the robot's footprint.
Documentation
ROS API
Subscribed Topics
octomap_collision_object (mapping_msgs/CollisionObject)- Occupied cells for collision check from octomap_server
- Attached object the robot may carry (experimental)
Services Called
/environment_server/get_robot_state (planning_environment_msgs/GetRobotState)- Requests the robot's current kinematic state at the beginning of each plan
Published Topics
See the documentation of sbpl_lattice_planner (the private namespace changed to SBPLLatticePlanner3D)
Parameters
See the documentation of sbpl_lattice_planner (the private namespace changed to SBPLLatticePlanner3D)