clcbs_ros

ROS wrapper for CL-CBS with some extra functionality like parameter reconfiguration and the ability to drive through multiple waypoints. Follows the structure and format of MuSHR Coordination.

Installing

If you don't already have a full installation of ROS, follow the instructions at https://wiki.ros.org/Installation to install ROS on your system.

Install OMPL:

sudo apt-get install libompl-dev

Clone this repo and build:

cd ~/catkin_ws/src/  
git clone --recurse-submodules https://github.com/arnavthareja/clcbs_ros.git
cd ~/catkin_ws
catkin_make

If you want to launch the map server in launch/init_clcbs.launch, install the MuSHR platform. To disable the map server, edit the map_server arg in launch/init_clcbs.launch to have a value of 0.

Running

Open 3 terminals.

Terminal 1:

roscore

Terminal 2:

roslaunch clcbs_ros clcbs_ros.launch

Terminal 3:

roslaunch clcbs_ros init_clcbs.launch

Visualizing with rviz

In a new terminal:

rviz -d ~/catkin_ws/src/clcbs_ros/rviz/clcbs.rviz

Make sure to start rviz before launching init_clcbs.launch.

API

Subscribed Topics

/{car_n's name}/init_pose (geometry_msgs/PoseStamped)

The initial position of car_n. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

/clcbs_ros/obstacles (geometry_msgs/PoseArray)

A list of obstacles in the environment to avoid.

/clcbs_ros/goals (clcbs_ros/GoalPoseArray)

The goal poses for the cars to drive to.

Published Topics

/{car_n's name}/waypoints (geometry_msgs/PoseArray)

The navigation plan outputted for car_n. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

/{car_n's name}/marker (visualization_msgs/Marker)

Markers for visualization of car_n's inputted goal poses. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

/clcbs_ros/border (visualization_msgs/Marker)

The boundary of the environment for visualization.

Message Definition

clcbs_ros/GoalPoseArray

std_msgs/Header Header
float64 scale
float64 minx
float64 miny
float64 maxx
float64 maxy
geometry_msgs/PoseArray[] goals