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Confusion about navigation and navigation experimental

asked 2016-04-13 02:02:49 -0600

schultza gravatar image

Hi together,

I am pretty new to pathplanning and navigation in general and especially with ROS. So for now my goal is to use the SBPL_Lattice_Planner as global planner and another planner as local planner. My problem is that I downloaded the sbpl lattice planner fork from TU-Darmstadt and built it in my workspace with the sbpl package, which I got from here. (see below for "full" workspace configuration)

After struggling with it for I while, I noticed that the sbpl planner is included in the navigation_experimental package. So do I have to use the experimental package? Or is it possible to get it to work as I configured my workspace?

My workspaceconfig looks like this:

  • catkin_ws
    • src
      • navigation
      • my_robot_2dnav
      • sbpl
      • sbpl_lattice_planner

and I am trying to get the planner to work with the following lines in my move_base.launch:

<param name="base_global_planer" value="sbpl_lattice_planner/SBPLLatticePlanner" />
<param name="SBPLLatticePlanner/planner_type" value="AD*" />
<param name="SBPLLatticePlanner/primitive_filename" value="/home/aschultz/temp_ws/src/sbpl/matlab/mprim/pr2_all_2.5cm_20turncost.mprim" />

Is this all the right way to go?

Thanks in advance :)

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answered 2016-04-13 04:26:53 -0600

Procópio gravatar image

navigation_experimental just grouped a bunch of other packages, where some depended on each other. If you managed to compile your SBPL_Lattice_Planner without errors, it should work without the need of the navigation_experimental metapackage.

use the command rospack plugins --attrib=plugin nav_core to verify which planners you have available to work with.

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rospack plugins --attrib=plugin nav_core

sbpl_lattice_planner /home/aschultz/temp_ws/src/sbpl_lattice_planner/bgp_plugin.xml

It seems it is in the list. So it means I am able to use it. I the move_base.launch correct? Thanks for your help!

schultza gravatar imageschultza ( 2016-04-13 05:00:44 -0600 )edit

I've never used that planner, so I cannot tell it for sure, but it seems correct to me. You definitely have the plugin available, so give it a try!

Procópio gravatar imageProcópio ( 2016-04-13 05:24:42 -0600 )edit

Okay but when i look at rostopic list I just see my local planner and this output /move_base/NavfnROS/plan which is a global planner I guess. But the output of rostopic list should also outout something from sbpl isn't it? As it should provide a global plan topic.

schultza gravatar imageschultza ( 2016-04-13 06:00:41 -0600 )edit

this is only a visualization topic, although it's weird that you are seeing it. Not sure if sbpl also publishes such a topic.... can you post your complete launch file and config files, please?

Procópio gravatar imageProcópio ( 2016-04-13 08:19:17 -0600 )edit

Hey, sorry for the late answer. The problem was, a wrongly sourced workspace :/ Thanks for your help!!!

schultza gravatar imageschultza ( 2016-04-25 01:52:19 -0600 )edit

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Asked: 2016-04-13 02:02:49 -0600

Seen: 196 times

Last updated: Apr 13 '16