ROS的元包，包含UPO机器人实验室导航系统涉及的包_C++_CMake_下载.zip

# upo_rrt_planners C++ library of some RRT planners and API for its use with ROS This is a catkin package of ROS that contains two libraries: * *upo_rrt_planners*: C++ library that contains the following RRT planners: - *simple RRT*: RRT planner in x,y coordinates without reasoning about kinodynamic constraints. - *simple RRTstar*: RRT* planner in x,y coordinates without reasoning about kinodynamic constraints. - *RRT*: RRT planner with kinodynamic constrains. - *RRTstar*: RRT* planner with kinodynamic constrains. * *upo_rrt_planners_ros*: C++ library that wraps the previous library in order to be used in ROS. ## Dependences * Package **navigation_features**. ## Parameters * **rrt_planner_type**. RRT planner to use (value 1,2,3,4 or 5) - 1 RRT. *x,y* state space (no dynamics). - 2 RRT*. *x,y* state space (no dynamics). - 3 Kinodynamic RRT (*x, y, yaw* state space). - 4 Kinodynamic RRT* (*x, y, yaw* state space). - 5 Simplified Kinodynamic RRT*. RRT* that does not perform the tree rewiring. * **rrt_solve_time**. Time in seconds that the RRT* planner is allowed to plan a path. Maximum time to find a path in the case of the RRT. * **rrt_goal_bias**. probability bias to sample the goal. * **rrt_max_insertion_dist**. Maximum distance (m) to insert a new node from the nearest node of the sample. * **rrt_goal_xy_tol**. Tolerance (m) to consider that the goal has been reached in the x,y space. * **rrt_goal_th_tol**. Tolerance (radians) to consider that the goal has been reached in the angular space. * **rrt_interpolate_path_dist**. Distance (m) between nodes to perform an interpolation of the resulting path. Use value 0 for no interpolation. Only for RRT* planner: * **rrtstar_use_k_nearest**. Boolean to indicate whether to use k-nearest or radius search to find the neighbors in the tree. * **rrtstar_first_path_biasing**. Boolean to indicate if a sample biasing over the first path found should be performed. * **rrtstar_first_path_bias**. If *rrtstar_first_path_biasing* is true, this is the bias to sample for the path. * **rrtstar_first_stddev_bias**. If *rrtstar_first_path_biasing* is true, this is the standard deviation of the gaussian sampling performed over the first path found. Only for kinodynamic planners: * **kino_time_step**. Time step (seconds) to propagate the movement of the robot. * **kino_max_control_steps**. Maximum number of time steps to extend the movement of the robot. * **kino_linear_acc**. Maximum linear acceleration of the robot (*m/s²*). * **kino_angular_acc**. Maximum angular acceleration of the robot (*m/s²*). * **Kino_steering_type**. Extend function to use. Two options. - 1 POSQ method. - 2 Modified version of the POSQ for more flexible turns. State Space: * **rrt_dimensions**. Usually it should be 2 (*x,y* state space) for non-kinodynamic planners, or 3 (*x,y* and *yaw*) for kinodynamic planners. * **distance_type**. Functions available to calculate the distance between nodes necessary to obtain the nearest neighbor. The options are: - 1 Distance calculated as *(x1-x2)+(y1-y2)*. - 2 Euclidean distance. - 3 If the yaw is in the state space. *w1 * ED + w2 * QD*, where ED is the euclidean distance and QD is the heading changes obtained as *(1 - |qi+1 - qi|)²*. * **motion_cost_type**. Function to calculate the cost of moving from one node to the next one. Usually option 2 is employed. - 1 Average of the costs. *(Cost1 + Cost2)/2*. - 2 Average of the costs and distance between nodes. *(Cost1 + Cost2)/2 * ||node1 - node2||* - 3 Average of the costs and exponential of the distance. *(Cost1 + Cost2)/2 * exp(||node1 - node2||)* - 4 Sum of the costs. *Cost1 + Cost2*. * **rrt_size_x**. Size in meters of the *x* dimension. So, the range is [-x, x]. * **rrt_size_y**. Size in meters of the *y* dimension. So, the range is [-y, y]. * **rrt_xy_resolution**. Resolution of the *x,y* space. * **robot_radius**. Radius of the inscribed circunference of the robot (meters). Path smoothing: * **path_smoothing**. Boolean to indicate whether to perform a smoothing of the RRT path obtained. * **smoothing_samples**. Integer value to indicate the number of samples to include in the sliding window for path smoothing. Visualization options: * **visualize_rrt_tree**. Boolean to indicate whether to publish the tree or not as a marker in the topic *~/rrt_tree*. (NOTE: the points of the path obtained are published in the topic *~/rrt_path_points*). * **visualize_nav_costmap**. Boolean to indicate whether to publish a map of type costmap based on the RRT function cost. The topic is *~/rrt_costmap*. * **show_rrt_statistics**. If it is enabled (boolean to true), some statistics about the RRT execution are shown on the screen. * **show_intermediate_states**. If it is enabled (boolean to true), the intermediate states corresponding to the time step between nodes are published as a marker in the topic *~/rrt_path-interpol_points*. Only valid for kinodynamic planners. The upo_rrt_planners library uses nearest neighbor data structures through the FLANN library. See: M. Muja and D.G. Lowe, "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration", in International Conference on Computer Vision Theory and Applications (VISAPP'09), 2009. http://people.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN #### TODO - [ ] Replace regular pointers by boost smart pointers. - [ ] Add new RRT algorithms. - [ ] Add a plugin to be used as a global planner in the move_base architecture of ROS. The package is a **work in progress** used in research prototyping. Pull requests and/or issues are highly encouraged.