Only released in EOL distros:  

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

ROS Nodes

This package contains ROS nodes for navigating the ART autonomous vehicle.

commander

Global path planning for the ART vehicle.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)
  • current navigator state information

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)
  • way-point orders for navigator

Parameters

Initial Parameters
~frame_id (string, default: "/map")
  • Frame of reference for road map.
~mdf (string, default: "")
  • Mission Definition File name (required).
~mission_state (string, default: "")
  • Mission state save file name (default: none).
~rndf (string, default: "")
  • Route Network Definition File name. Required, but can be defined anywhere within the enclosing namespace.

Examples

Run the ART commander, sending navigator/cmd messages.

  rosrun art_nav commander _rndf:=road_map.rndf _mdf:=mission_ckpts.mdf

Local path control for the ART vehicle.

Subscribed Topics

navigator/cmd (art_msgs/NavigatorCommand)
  • way-point orders from the commander node

Published Topics

navigator/state (art_msgs/NavigatorState)
  • current navigator state
pilot/cmd (art_msgs/CommandCar)
  • velocity and steering angle for the pilot node

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~blockage_timeout_secs (double, default: 9.0)
  • Blockage timeout (s) Range: 0.0 to 20.0
~close_stopping_distance (double, default: 15.3)
  • Distance to stop from an obstacle (m) Range: 5.0 to 20.0
~desired_following_time (double, default: 5.0)
  • Desired following time (s) Range: 0.0 to 10.0
~heading_change_ratio (double, default: 0.75)
  • Heading change ratio Range: 0.0 to 1.0
~initialize_distance (double, default: 10.0)
  • Initialize look ahead distance (m) Range: 0.0 to 30.0
~initialize_min_angle (double, default: 0.785398163397)
  • Initialize minimum angle (radians) Range: 0.0 to 3.14159265359
~lane_change_secs (double, default: 2.0)
  • Lane change target (seconds ahead) Range: 0.0 to 8.0
~lane_width_ratio (double, default: 0.3)
  • Lane width ration (fraction) Range: 0.01 to 1.0
~lookahead_distance (double, default: 100.0)
  • Turn lookahead distance (m) Range: 0.0 to 200.0
~lost_speed (double, default: 2.0)
  • Speed when lost (m/s) Range: 1.0 to 5.0
~max_creep_distance (double, default: 4.8)
  • Distance for which to creep (m) Range: 0.0 to 5.0
~max_deceleration (double, default: 0.4)
  • turn max deceleration (m/s^2) Range: 0.1 to 4.0
~max_speed (double, default: 15.0)
  • Maximum speed ever to request (m/s) Range: 0.0 to 25.0
~max_speed_for_sharp (double, default: 3.0)
  • Maximum speed for sharpest possible turn (m/s) Range: 1.0 to 8.0
~max_yaw_rate (double, default: 0.15)
  • turn max yaw rate (radians/s) Range: 0.01 to 2.0
~min_approach_speed (double, default: 2.0)
  • Minimum approach speed considered dangerous (m/s) Range: 0.0 to 5.0
~min_curve_length (double, default: 1.5)
  • Minimum curve length for turn (m) Range: 1.0 to 5.0
~min_following_time (double, default: 3.0)
  • Minimum following time (s) Range: 0.0 to 10.0
~min_lane_steer_dist (double, default: 7.0)
  • Minimum lane steering distance (m) Range: 0.0 to 16.0
~min_speed_for_curves (double, default: 3.0)
  • Minimum speed when slowing for curves (m/s) Range: 1.0 to 5.0
~min_stop_distance (double, default: 5.0)
  • Minimum distance to begin stopping (m) Range: 0.0 to 25.0
~offensive_driving (bool, default: False)
  • Drive aggressively (defensively if false)
~passing_delay (double, default: 5.0)
  • Wait time before passing (s) Range: 0.0 to 10.0
~precedence_delay (double, default: 10.0)
  • Wait time for intersection precedence (s) Range: 0.0 to 30.0
~real_max_yaw_rate (double, default: 0.9)
  • Real maximum yaw rate (radians/s) Range: 0.1 to 2.0
~roadblock_delay (double, default: 5.0)
  • Wait time for road blockage (s) Range: 0.0 to 10.0
~spot_waypoint_radius (double, default: 0.5)
  • Spot waypoint radius (m) Range: 0.1 to 4.0
~spring_lookahead (double, default: 0.0)
  • Spring lookahead distance (m) Range: 0.0 to 8.0
~stop_approach_speed (double, default: 3.0)
  • Stop line approach speed (m/s) Range: 1.0 to 5.0
~stop_creep_speed (double, default: 1.0)
  • Speed while creeping to stop (m/s) Range: 0.5 to 3.0
~stop_deceleration (double, default: 2.0)
  • Desired stopping deceleration (m/s^2) Range: 0.05 to 4.0
~stop_distance (double, default: 2.0)
  • Desired stopping distance (m) Range: 0.0 to 4.0
~stop_latency (double, default: 0.0)
  • Brake latency for stopping (s) Range: 0.0 to 4.0
~stop_line_delay (double, default: 1.0)
  • Delay when stop line reached (s) Range: 0.0 to 10.0
~turning_heading_tune (double, default: 0.5)
  • yaw tuning parameter (heading) Range: 0.0 to 1.0
~turning_int_tune (double, default: 1.25)
  • yaw tuning parameter (integral) Range: 0.0 to 4.0
~turning_latency (double, default: 1.0)
  • Turning latency time (s) Range: 0.0 to 4.0
~turning_offset_tune (double, default: 0.5)
  • Yaw tuning parameter (offset) Range: 0.0 to 1.0
~uturn_speed (double, default: 2.0)
  • U-turn speed (m/s) Range: 1.0 to 4.0
~uturn_stop_heading (double, default: 0.785398163397)
  • U-turn stop heading (radians) Range: 0.0 to 3.14159265359
~uturn_threshold (double, default: 1.0)
  • U-turn threshold (m) Range: 0.0 to 4.0
~uturn_yaw_rate (double, default: 1.5)
  • U-turn yaw rate (radians/s) Range: 0.5 to 3.0
~zone_waypoint_radius (double, default: 1.0)
  • Zone waypoint radius (m) Range: 0.1 to 4.0

Examples

Run the ART navigator, accepting navigator/cmd messages.

  rosrun art_nav navigator

estop

Graphical client for navigator E-stop control.

Subscribed Topics

navigator/state (art_msgs/NavigatorState)
  • current navigator state

Published Topics

navigator/cmd (art_msgs/NavigatorCommand)
  • navigator orders

Examples

Run GUI for sending Run and Pause orders to the navigator.

  rosrun art_nav estop.py

Wiki: art_nav (last edited 2010-12-01 02:23:31 by JackOQuin)