Basic Navigation

Note

For simulation, ropod_sim is a requirement.

basic_navigation

The robot moves in a straight line from its current position to given goal position. The robot rotates in place to align to the straight line, follows the line to reach the goal position and finally rotates in place to reach goal orientation. In short, it uses rotate-drive-rotate strategy. If there is an obstacle in its path, the robot stops before colliding and returns failure.

It accepts goal in 2 ways

1. Pose goal (/move_base_simple/basic_goal) where it behaves as mentioned above.
2. Path goal (/basic_navigation/goal_path) where it follows the given path with pre-defined safety params

topological_navigation

Once a goal is requested this navigation does the following

1. Uses topological_planner to plan a global path from robot's current position to requested goal position.
2. Uses geometric_planner to plan a geometric path from robot's current position to next topological node
3. Sends the geometric plan to basic_navigation.
4. Call recovery_manager if a failure occurs.
5. Repeat step 2 and 3 until the robot reaches the goal position.

topology_visualiser

A node to visualise and edit topological graph.