mrpt_reactivenav2d

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers

IROS06 (PDF)

@INPROCEEDINGS{,
     author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio},
      month = oct,
      title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation},
      booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)},
      year = {2006},
      location = {Beijing (China)}
}

Other related papers

IEEE RAM 2023

@ARTICLE{xiao2023barn,
    author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan},
     month = {{aug}},
     title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023},
     journal = {IEEE Robotics & Automation Magazine},
     volume = {30},
     number = {4},
     year = {2023},
     url = {https://ieeexplore.ieee.org/abstract/document/10355540/},
     doi = {10.1109/MRA.2023.3322920},
     pages = {91--97}
}

IJARS 2015 PDF

@ARTICLE{bellone2015tprrt,
    author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio},
    month = {{{may}}},
    title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles},
    journal = {International Journal of Advanced Robotic Systems},
    volume = {12},
    number = {55},
    year = {2015},
    url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles},
    doi = {10.5772/60463}
}

Configuration

The main parameters of our approach are:

• Robot shape: The "2D foot-print" of the robot.
• PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
• Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

Navigation in simulated warehouse

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

• mrpt_reactivenav2d for the autonomous reactive navigation (this package),
• mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
• mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

• xxx

Published topics

• xxx

• reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event. The list possible message strings are:

  • START: Start of navigation
  • END: Successful end of navigation command (reach of single goal, or final waypoint of waypoint list).
  • WP_REACHED <INDEX> (REACHED|SKIPPED): Reached an intermediary waypoint in waypoint list navigation. The waypoint may have been physically reached or just skipped.
  • WP_NEW <INDEX>: Heading towards a new intermediary/final waypoint in waypoint list navigation.
  • ERROR: Error asking sensory data from robot or sending motor commands.
  • WAY_SEEMS_BLOCKED: No progression made towards target for a predefined period of time.
  • APPARENT_COLLISION: Apparent collision event (i.e. there is at least one obstacle point inside the robot shape).
  • CANNOT_GET_CLOSER: Target seems to be blocked by an obstacle.

Actions

NavigateGoal

Can be used to navigate to a single target SE(2) pose.

Example output

Example CLI call:

ros2 action send_goal /rnav/navigate_goal mrpt_nav_interfaces/action/NavigateGoal  --feedback \
"target:
  header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}
  pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}
"

Example output:

Goal accepted with ID: 38d28cd7ad604e41bcfa7d50162fbd93

Feedback:
    state:
  total_waypoints: 1
  reached_waypoints: 0

Feedback:
    state:
  total_waypoints: 1
  reached_waypoints: 0

[...]

Feedback:
    state:
  total_waypoints: 1
  reached_waypoints: 0

Result:
    state:
  navigation_status: 0

Goal finished with status: SUCCEEDED

NavigateWaypoints

Can be used to navigate to a sequence of waypoints.

Example output

Example CLI call:

ros2 action send_goal /rnav/navigate_waypoints mrpt_nav_interfaces/action/NavigateWaypoints  --feedback \
"waypoints:
  header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}
  waypoints:
    - target: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}
      ignore_heading: true
      allow_skip: false
      allowed_distance: 0.30
    - target: {position: {x: 4.0, y: 0.2, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}
      ignore_heading: true
      allow_skip: false
      allowed_distance: 0.30
"

Example output:

Goal accepted with ID: f8180e191f0d4f5ca8466c77acbab333

Feedback:
    state:
  total_waypoints: 2
  reached_waypoints: -1

Feedback:
    state:
  total_waypoints: 2
  reached_waypoints: 0

Feedback:
    state:
  total_waypoints: 2
  reached_waypoints: 1

[...]

Feedback:
    state:
  total_waypoints: 2
  reached_waypoints: 1

Result:
    state:
  navigation_status: 0

Goal finished with status: SUCCEEDED

Template ROS 2 launch files

This package provides launch/reactivenav.launch.py:

ros2 launch mrpt_reactivenav2d reactivenav.launch.py

which can be used in user projects to launch the MRPT reactive navigation node, by setting these launch arguments:

• XXX_config_file: Path to an INI file with...