https://github.com/advrhumanoids/centauro_ros_nav
Simple package for ros navigation with centauro
Science Score: 26.0%
This score indicates how likely this project is to be science-related based on various indicators:
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○CITATION.cff file
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✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
○DOI references
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○Academic publication links
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○Committers with academic emails
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○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (7.1%) to scientific vocabulary
Repository
Simple package for ros navigation with centauro
Basic Info
- Host: GitHub
- Owner: ADVRHumanoids
- Language: C++
- Default Branch: ros2
- Size: 20.7 MB
Statistics
- Stars: 0
- Watchers: 5
- Forks: 1
- Open Issues: 1
- Releases: 0
Metadata Files
README.md
ROS2 - Nav2 for robots
Dependencies
- Nav2
- perception_utils [github: aled96]
Tested in ROS2 with CENTAURO.
Input: Nav Target [geometrymsgs::msg::PoseStamped] Output: /cmdvel [geometry_msgs::msg::TwistStamped]
Packages
This repo contains two ROS2 pacakges: - centaurorosnav - centaurorosnav_srvs
centaurorosnav
More specifically: - behaviortrees: containes the BT used by Nav2 to define the behavior. - _config/centauronavparams.yaml: contains the parameters for all the nodes running within the Nav2 framework, i.e. local and global costmaps, planner, controller etc. If you want to change them, this is the config file you have to modify. - launch/centauronav.launch.py: launch Nav2 and other custom nodes - _maps: Empty at the moment.
centaurorosnavsrvs_
ROS2 package for the definition of a custom service: centauro_ros_nav_srvs::srv::SendCandidateNavTarget.
Run
By running centuaro_nav.launch.py you will launch:
- Nav2 nodes (controller, planner, btbehavior, ..)
- static transform map -> odom (identity)
- rviz2
- Octomap with dynamic 2D occupancy grid based on velodyne point cloud
- Octomap 3D based on 'D435icamera/pointsfiltered'
- validtargetselectornode: used to adjust the nav target in case it is close/on occupied elements (which would result in planning failures)
NOTE: Valid Target Selector Node is executed only when the nav target is sent via 'setcandidatenavtarget' service. If you send a target to Nav2 with the 2D Goal of Rviz, then valid target selector is bypassed. Valid Target Selector is used only if the target is sent through the `centaurorosnavsrvs::srv::SendCandidateNavTarget` service.
Required
- odom -> pelvis
- xbot2-core running for robot's tf
- velodyne point cloud
- camera-pelvis TF
Owner
- Name: ADVR Humanoids
- Login: ADVRHumanoids
- Kind: organization
- Email: luca.muratore@iit.it
- Location: Istituto Italiano di Tecnologia
- Website: https://www.iit.it/lines/humanoids-human-centered-mechatronics
- Repositories: 206
- Profile: https://github.com/ADVRHumanoids
Humanoids & Human Centered Mechatronics, HHCM, IIT
GitHub Events
Total
- Delete event: 4
- Push event: 31
- Pull request event: 4
- Fork event: 2
- Create event: 6
Last Year
- Delete event: 4
- Push event: 31
- Pull request event: 4
- Fork event: 2
- Create event: 6
Committers
Last synced: about 1 year ago
Top Committers
| Name | Commits | |
|---|---|---|
| aled96 | a****6@h****t | 31 |
| Alessio De Luca | 3****6 | 3 |
| Your Name | y****u@e****m | 2 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: about 1 year ago
All Time
- Total issues: 2
- Total pull requests: 3
- Average time to close issues: 15 days
- Average time to close pull requests: less than a minute
- Total issue authors: 1
- Total pull request authors: 1
- Average comments per issue: 0.5
- Average comments per pull request: 0.0
- Merged pull requests: 3
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 2
- Pull requests: 3
- Average time to close issues: 15 days
- Average time to close pull requests: less than a minute
- Issue authors: 1
- Pull request authors: 1
- Average comments per issue: 0.5
- Average comments per pull request: 0.0
- Merged pull requests: 3
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- aled96 (2)
Pull Request Authors
- aled96 (4)