trajectory_tracker package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

trajectory_tracker

trajectory_tracker node controls vehicle velocity to follow given path.

Subscribed topics

• ~/path (new: path) [nav_msgs::Path]
• ~/speed (new: speed) [std_msgs::Float32]
• /tf

Published topics

• ~/cmd_vel (new: cmd_vel) [geometry_msgs::Twist]
• ~/status [trajectory_tracker_msgs::TrajectoryTrackerStatus]
• ~/tracking [geometry_msgs::PoseStamped]

Services

Called services

Parameters

• "frame_robot" (string, default: std::string("base_link"))
• "path" deprecated (string, default: std::string("path"))
• "cmd_vel" deprecated (string, default: std::string("cmd_vel"))
• "hz" (double, default: 50.0)
• "look_forward" (double, default: 0.5)
• "curv_forward" (double, default: 0.5)
• "k_dist" (double, default: 1.0)
• "k_ang" (double, default: 1.0)
• "k_avel" (double, default: 1.0)
• "gain_at_vel" (double, default: 0.0) > compensate k_ang according to the current linear velocity to keep convergence characteristic at the linear velocity, specified by this parameter, if gain_at_vel != 0
• "dist_lim" (double, default: 0.5)
• "dist_stop" (double, default: 2.0)
• "rotate_ang" (?, default: M_PI / 4)
• "max_vel" (double, default: 0.5)
• "max_angvel" (double, default: 1.0)
• "max_acc" (double, default: 1.0)
• "max_angacc" (double, default: 2.0)
• "acc_toc_factor" (double, default: 0.9) > decrease max_acc by this factor in time optimal control to reduce vibration due to control delay
• "angacc_toc_factor" (double, default: 0.9) > decrease max_angacc by this factor in time optimal control to reduce vibration due to control delay
• "path_step" (int, default: 1)
• "goal_tolerance_dist" (double, default: 0.2)
• "goal_tolerance_ang" (double, default: 0.1)
• "stop_tolerance_dist" (double, default: 0.1)
• "stop_tolerance_ang" (double, default: 0.05)
• "no_position_control_dist" (double, default: 0.0)
• "min_tracking_path" (?, default: noPosCntlDist)
• "allow_backward" (bool, default: true)
• "limit_vel_by_avel" (bool, default: false)
• "check_old_path" (bool, default: false)

---

trajectory_recorder

trajectory_recorder node generates Path message from TF.

Subscribed topics

• /tf

Published topics

• ~/recpath (new: path) [nav_msgs::Path]

Services

Called services

Parameters

• "frame_robot" (string, default: std::string("base_link"))
• "frame_global" (string, default: std::string("map"))
• "path" (string, default: std::string("recpath"))
• "dist_interval" (double, default: 0.3)
• "ang_interval" (double, default: 1.0)

---

trajectory_saver

trajectory_saver node saves Path message to file.

Subscribed topics

• ~/recpath (new: path) [nav_msgs::Path]
• /tf

Published topics

Services

Called services

Parameters

• "path" deprecated (string, default: std::string("recpath"))
• "file" (string, default: std::string("a.path"))

---

trajectory_server

trajectory_server node loads Path from file and publishes it.

Subscribed topics

• /tf

Published topics

• ~/path (new: path) [nav_msgs::Path]
• ~/status [trajectory_tracker_msgs::TrajectoryServerStatus]

Services

• ~/ChangePath (new: change_path) [trajectory_tracker_msgs::ChangePath]

Called services

Parameters

• "path" deprecated (string, default: std::string("path"))
• "file" (string, default: std::string("a.path"))
• "hz" (?, default: double(5))
• "filter_step" (double, default: 0.0)

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Acknowledgement

This research was supported by a contract with the Ministry of Internal Affairs and Communications entitled, 'Novel and innovative R&D making use of brain structures'

This software was implemented to accomplish the above research. Original idea of the implemented control scheme was published on:
S. Iida, S. Yuta, "Vehicle command system and trajectory control for autonomous mobile robots," in Proceedings of the 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS), 1991, pp. 212-217.

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