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• Top level ROS node:/src/cyborg_ros_navigation
• Required libraries: /src/navigation
• Required ROS node: /src/rosaria

Report:

• 2020, Lasse GrønczGøncz
  

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Navigationstack 

• Takesdesired goal ontopicmove_base_simple/goal as input. 

• Publishesvelocitycommadsontopiccmd/vel 

• Requires URDF file of robot model 

• Requires .yaml and .png file ofthemap
  

Overview

High-level:

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The overview of the system architecture is shown here:¨

• cyborg_controller: the main controller and manager of all other nodes
• part of behaviour module
  
  • cyborg_behavior: the emotional system that decides what future states are attractive
  • cyborg_eventscheduler: posts events like "go and charge" by monitoring the battery status or "go to kantine" during lunch time
  • cyborg_primary_states
• Nodes handling actuators
  
  • cyborg_navigation: High-level navigation, defines where to go in the map.
    • ros-arnl: low-level navigation stack (now using ROS navigation stack)
  • cyborg_audio: everything related to making sounds on the speakers
  • cyborg_visual: controls the LED-dome
• rosaria: used by navigation and to retrieve status information from the Pioneer LX

Navigation Stack

A high-level overview of the system architecture in the navigation stack is shown below:

A more detailed architecture of the navigation stack is shown below:

Node descriptions:

• AMCL
  • Responsible for localization
  • Include an implementation of the Adaptive Monte Carlo Localization (AMCL) algorithm
• joint_state_publisher
  • Takes a model of the Cyborg as input and outputs joint values.
  • Used to generate correct coordinate transforms.
• robot_state_publisher
  • Works in conjunction with joint_state_publisher.
  • Takes joint values as input and output correct coordinate transforms between the frames on the Cyborg (base_link, left and right wheel, laser)
• RosAria
  • Responsible for interfacing the robot controller on the Pioneer LX for navigation and to receive data from the sensors and odometry.
• map_server
  • Takes a pre-generated static map as input and servers it to the move_base node.
• move_base
  • The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task.

Detailed:

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