Package Summary

This package presents a node, which converts synchronized robot routes to path segments published sequentially to maintain synchronization

Maintainer status: maintained
Maintainer: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>, Markus Bader <markus.bader AT tuwien.ac DOT at>
Author: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>
License: BSD
Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: master)

Documentation

This package contains a node, which receives the tuw_segment_path msg for a robot and publishes a nav_msgs::path up to the point a robot is allowed to move.

In detail: A tuw_segment_path contains a set of segments, where each of them has preconditions to tell when a robot is allowed to enter a certain segment. The tuw_multi_robot_route_to_path_node subscribes to these messages and checks how many of these preconditions are met and publishes a path from start to the least segment, for which the preconditions are met. This node subscribes to all robots as one node for performance reasons while testing with a large number of robots.

Subscribed Topics

[robot_name]/seg_path (tuw_multi_robot_msgs::SegmentPath)

The segment path containing Preconditions

[robot_name]/odom (nav_msgs::odom)

The pose of every robot used to determine the current segment on its path.

Published Topics

[robot_name]/path_synced (nav_msgs::Path)

A unsynchronized path to the last free segment.

/robot_info (tuw_multi_robot::RobotInfo)

Publishes information to all robots used by the behavior planner.

Parameters

~robot_names (string[] default: "[robot_0]")

Sets the prefixes for all topics (e.g.: /robot_0/odom)

~robot_names_str (string default: "")

A string which overrides the robot_names array to prevent a method of giving the param over console. All robot names have to be seperated by ",".

~robot_radius (float[] default: "[]")

Sets the radius for a specific robot (matched to the robot in the robot_names list)

~robot_default_radius (float default: "0.3")

Sets the default radius used if no robot_radius is set for the specific robot

~odom_topic (string default: "odom")

The topic used for gathering the start positions of the robots.

~path_topic (string default: "path_synced")

The topic used for publishing an unsynchronized nav_msgs::Path for every robot.

~seg_path_topic (string default: "seg_path")

Topic containing the synchronized Path for every robot.

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