topological_navigation: laser_slam_mapper | topological_map_2d | topological_nav_msgs | topological_roadmap

Stack Summary

Code pertaining to navigation using a global topological graph together with local metric information

• Author: Maintained by Bhaskara Marthi
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/topological_navigation/trunk

Overview

This stack contains a topological navigation system that uses a topological map consisting of overlapping local grids, and a roadmap overlaid on the topological map. The idea is to use metric occupancy grids only locally, and use a topological roadmap at the global scale. However, the roadmap's edges are created based on actual metric information from the slam system, and so the navigation planning is sound.

Installation

The current release series is 0.3.x, released against ROS diamondback. Assuming you have installed the ROS diamondback distro into /opt/ros/diamondback (as is done when you use apt-get on Ubuntu), as well as the rosinstall tool, you can install topological navigation and its dependencies using

$ rosinstall ~/desired-topo-nav-location http://www.ros.org/rosinstalls/extensions/topological_navigation-diamondback.rosinstall /opt/ros/diamondback

(this assumes you have the standard Debian install of ROS diamondback in `/opt/ros/diamondback). Then (assuming you're using bash), do

$ cd ~/desired-topo-nav-location
$ . setup.bash
$ rosmake topological_navigation

and verify that everything compiles.

Structure

The stack includes the following packages:

• topological_map_2d defines the basic 2d topological map datatype, consisting of a set of overlapping occupancy grids, as well as conversions to and from ROS messages.

• laser_slam_mapper defines a particular topological slam algorithm that generates a 2d topological map using the output from the laser_slam ROS node.

• topological_roadmap defines the roadmap datatype, as well as a ros node that maintains a roadmap, given a published topological map, as well as a topological navigation executive that sends commands to the ROS navigation stack (and accompanying launch files).

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