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state_lattice_planner

Build Status issue_opened issue_closed

Overview

TBW

Enviornment

  • Ubuntu 16.04 or 18.04
  • ROS Kinetic or Melodic

Install and Build

cd catkin_workspace/src
git clone https://github.com/amslabtech/state_lattice_planner.git
cd ..
catkin_make

Nodes

state_lattice_planner

  • local planner node

Published topics

  • /cmd_vel (geometry_msgs/Twist)
  • ~/candidate_trajectoryies (visualization_msgs/MarkerArray)
    • for visualization
  • ~/candidate_trajectoryies/no_collision (visualization_msgs/MarkerArray)
    • for visualization

Subscribed topics

  • /local_goal (geometry_msgs/PoseStamped)
    • the local goal must be in the local map
  • /local_map (nav_msgs/OccupancyGrid)
    • robot-centered costmap
  • /odom (nav_msgs/Odometry)
    • robot odometry

Parameters

  • HZ
    • main loop rate (default: 20[Hz])
  • ROBOT_FRAME
    • robot's coordinate frame (default: base_link)
  • N_P
    • number of terminal state sampling for x-y position (default: 10)
  • N_H
    • number of terminal state sampling for heading direction (default: 3)
  • MAX_ALPHA
    • max terminal state sampling direction (default: M_PI/3.0[rad/s])
  • MAX_PSI
    • max heading direction at terminal state (default: M_PI/6.0[rad/s])
  • N_S
    • parameter for globally guided sampling (default: 1000)
  • MAX_ACCELERATION
    • max acceleration of robot (absolute value)(default: 1.0[m/ss])
  • TARGET_VELOCITY
    • max velocity of robot's target velocity (default: 0.8[m/s])
  • LOOKUP_TABLE_FILE_NAME
    • absolute path of lookup table (default: $HOME/lookup_table.csv)
  • MAX_ITERATION
    • max number of iteration (default: 100)
  • OPTIMIZATION_TOLERANCE
    • when the cost becomes lower than this parameter, optimization loop is finished (default: 0.1)
  • MAX_CURVATURE
    • max trajectory curvature (default: 1.0[rad/m])
  • MAX_D_CURVATURE
    • max time derivative of trajectory curvature (default: 2.0[rad/ms]
  • MAX_YAWRATE
    • max robot's yawrate (default: 0.8[rad/s])

Runtime requirement

  • TF (from /odom to /base_link) is required

lookup_table_generator

  • this node is a tool for generating a lookup table, not for planning. so this node doesn't publish or subscribe topics.

Parameters

  • MIN_X
    • target state sampling parameter (default: 1.0[m])
  • MAX_X
    • target state sampling parameter (default: 7.0[m])
  • DELTA_X
    • target state sampling parameter (default: 1.0[m])
  • MAX_Y
    • target state sampling parameter (default: 3.0[m])
  • DELTA_Y
    • target state sampling parameter (default: 1.0[m])
  • MAX_YAW
    • target state sampling parameter (default: 1.0471975[rad])
  • DELTA_YAW
    • target state sampling parameter (default: 1.0471975[rad])
  • LOOKUP_TABLE_FILE_NAME
    • full path of lookup_table.csv
  • MIN_V
    • initial velocity sampling parameter (default: 0.1[m/s])
  • MAX_V
    • initial velocity sampling parameter (default: 0.8[m/s])
  • DELTA_V
    • initial velocity sampling parameter (default: 0.1[m/s])
  • MAX_KAPPA
    • initial curvature sampling parameter (default: 1.0[rad/m])
  • DELTA_KAPPA
    • initial curvature sampling parameter (default: 0.2[rad/m])
  • MAX_ACCELERATION
    • max acceleration of robot (default: 1.0[m/ss])
  • MAX_CURVATURE
    • max trajectory curvature (default: 1.0[rad/m])
  • MAX_D_CURVATURE
    • max time derivative of trajectory curvature (default: 2.0[rad/ms])
  • MAX_YAWRATE
    • max yawrate of robot (default: 0.8[rad/s])

How to Use

  • for generating lookup table
roslaunch state_lattice_planner generate_lookup_table.launch
  • for local path planning
roslaunch state_lattice_planner local_planner.launch

References