waypoint_nav

This program enables you to execute waypoint navigation.

Feature

• infinite loop
• enroling functions in yaml

Usage

Build

$ mkdir -p ~/ws/src
$ cd ~/ws/src
$ git clone 
$ cd ../
$ catkin_make

Run

$ source ~/ws/devel/setup.bash
$ roslaunch wayopint_nav run.launch
$ rosservice call /start_wp_nav "{}"

Settings

ROS Param

For detail, see run.launch

• robot_frame
  ex) base_link

• world_frame
  ex) map

• max_update_rate
  ex) 1.0

• filename
  Set your path to yaml

• dist_err
  Regarding your robot as arriving at the target waypoint

• loop_flg
  If this flg is true, do all over again after arriving at last waypoint

• wait_time
  This is a time which your robot waits for moving
  Send a waypoint again, if your robot doesn't move for this time

• resend_thresh
  This is a threshold which how many times to resend the waypoint
  Skip the waypoint if this threshold is over

Yaml Setting

waypoints:
  - point:
    x:
    y:
    z:
    function:

You can set some functions if you add function to source program.
This program has two functions, "run" and "suspend".
However, "function" is not compulsory.
See this sample.yaml

• run
  This is normal mode.
  When your robot gets at target waypoint, makes for next waypoint.

• suspend
  This makes your robot suspend mode after moving.

Suspend Mode

When you want a robot to start or resume navigation, call rosservice like below.
$ rosservice call /start_wp_nav "{}"

When you want a robot to set suspend mode, call rosservice like below.
$ rosservice call /suspend_wp_nav "{}"

Movie

• loop version
  https://youtu.be/5eXg1V7NM3A

• an obstacle on a waypoint
  https://youtu.be/TDLN0mZlM6w