Usage¶
First make sure that an occupancy grid map (nav_msgs/OccupancyGrid) is
published on a topic, e.g. /map. Second, launch the service as
follows:
roslaunch nav_goal_generation nav_goal_generation.launch
The default map is /map. It can be overwritten by passing an
argument as follows:
roslaunch nav_goal_generation nav_goal_generation.launch map:=/projected_map
If the map argument is a costmap, you should also set the flag
is_costmap to true. Then the inflation radius in the service
call is ignored (a costmap is already inflated)
roslaunch nav_goal_generation nav_goal_generation.launch map:=/move_base/global_costmap/costmap is_costmap:=true
You can send a service request as follows:
rosservice call /nav_goals '{n: 100, inflation_radius: 0.5, roi: {points: [[0,0,0],[2,-2,0],[-2,-2,0]]}}'
whereby the first argument is the number of goal loactions to be
generated (here 100) and and the second argument is the inflation radius
of the robot’s footprint (here 0.5), and the third argument is a ROI
specified as a list of points (at least three). The result of the pose
generation is additionally published on the topic /nav_goals in
order to visualize the result in RVIZ.
If the service is called with an empty ROI, the full map is considered as ROI by default.
rosservice call /nav_goals '{n: 100, inflation_radius: 0.5, roi: {}}'
If a specified ROI includes a point that is outside the map, its conflicting coordinates are automatically adjusted to the map’s bounding box.
Known Issues¶
The service fails if there is no map topic available or no message has been published on this topic after the service has been started. As a workaround, the map server could be started after this service.
Original page: https://github.com/strands-project/strands_navigation/blob/indigo-devel/nav_goals_generator/README.md