homer_navigation merge requestshttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests2019-03-06T14:06:20Zhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/1added move_base action2019-03-06T14:06:20ZNiklas Yann Wettengeladded move_base actionhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/2fix2019-06-04T11:50:04ZNiklas Yann Wettengelfixhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/3global use_ptu2019-06-05T15:49:53ZNiklas Yann Wettengelglobal use_ptuhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/4node for narrow passage detection2019-12-09T13:11:37ZMichael Duhmenode for narrow passage detectionnode for narrow passage detection using ray casting
- subscribes to topic "map" and publishes marker that visualizes narrow passages in mapnode for narrow passage detection using ray casting
- subscribes to topic "map" and publishes marker that visualizes narrow passages in mapDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/5r34_depth_obstacle_evasion Monitoring2020-07-20T08:19:04ZDaniel Müllermuellerd@uni-koblenz.der34_depth_obstacle_evasion MonitoringDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/6removed old .pyc and added .gitignore2020-10-20T21:01:13ZRobin Bartschremoved old .pyc and added .gitignoreOld `interface.pyc` got pushed to master causing a bug for drive_to_POI.Old `interface.pyc` got pushed to master causing a bug for drive_to_POI.Niklas Yann WettengelNiklas Yann Wettengelhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/7Cpp Library2020-10-26T13:22:40ZRobin BartschCpp LibraryDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/8Bugfix and added library init()2020-11-02T08:42:29ZRobin BartschBugfix and added library init()Initially just wanted to add a "dummy" init() function.
Then I realized that the SimpleActionClient has the same problem that a Publisher has, in that it needs to be created a while before the first goal is sent.
Otherwise for multiple `...Initially just wanted to add a "dummy" init() function.
Then I realized that the SimpleActionClient has the same problem that a Publisher has, in that it needs to be created a while before the first goal is sent.
Otherwise for multiple `drive_to_POI(_blocked)()` calls, only the first one actually arrives on the goal topic and is executed.
The "singleton" architecture with the getter was able to fix the problem. Now the global SimpleActionClient is created on init() and is instantly available for every call.
Goes to show that simply translating the Python code to C++ doesn't necessarily produce the same result, as it's hard to reason about the ROS internals sometimes.Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/9refactor init() check2020-11-12T14:26:09ZRobin Bartschrefactor init() checkhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/11Lower min Z in simulation for downprojecting smaller obstacles on the ground2021-05-14T13:10:30ZDaniel Müllermuellerd@uni-koblenz.deLower min Z in simulation for downprojecting smaller obstacles on the groundAdded homer_rgbd_node point cloud topic retrieval for downprojecting points; Added simulation bool member and lowered min z when downprojecting points for depth obstacle avoidanceAdded homer_rgbd_node point cloud topic retrieval for downprojecting points; Added simulation bool member and lowered min z when downprojecting points for depth obstacle avoidanceDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/12Extend depth_occupancy_map to maintain a continuously updated map2021-06-18T12:12:01ZDaniel Müllermuellerd@uni-koblenz.deExtend depth_occupancy_map to maintain a continuously updated mapDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/14Sim env fix2021-11-09T14:52:14ZNiklas Yann WettengelSim env fixhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/15Searching for reason robots do not drive anymore (inter-COVID), but refactori...2021-12-09T14:09:09ZDaniel Müllermuellerd@uni-koblenz.deSearching for reason robots do not drive anymore (inter-COVID), but refactoring might have solved the issue.Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/16check for nullptr2021-12-14T21:11:46ZDaniel Müllermuellerd@uni-koblenz.decheck for nullptrDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/18Added switching depth mapping permanently on by using an input topic (std_msg...2022-02-24T18:41:02ZDaniel Müllermuellerd@uni-koblenz.deAdded switching depth mapping permanently on by using an input topic (std_msgs/Bool)fyi @niyawe @yfrey
* [x] Add input topic for turning depth mapping permanently on
* [x] Also add reset depth occupancy map mechanism
* [x] Implement Python `interfaces.py` functionality for new featuresfyi @niyawe @yfrey
* [x] Add input topic for turning depth mapping permanently on
* [x] Also add reset depth occupancy map mechanism
* [x] Implement Python `interfaces.py` functionality for new featuresDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/19Improve configuration of depth_occupancy_map node while running2022-02-28T17:34:40ZDaniel Müllermuellerd@uni-koblenz.deImprove configuration of depth_occupancy_map node while runningMain goal has been enabling online adjustment of minimum height for points downprojected as obstacle in order to tweak this value when working in the real world.
Use `rosparam get /depth_occupancy_map` to see all available config values...Main goal has been enabling online adjustment of minimum height for points downprojected as obstacle in order to tweak this value when working in the real world.
Use `rosparam get /depth_occupancy_map` to see all available config values or take a look in `config/depth_occupancy_map.yaml`.
You may want activate continuous depth mapping with `r.toggle_permanent_depth_occupancy_mapping()` while looking to the ground and adjust lower bound for obstacle points with `rosparam set /depth_occupancy_map/lower_height_bound <Z THRESHOLD>`. Also check downprojected map while moving because of non-planar 3D movement of robot.Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/22Fix/blocked roi handling2022-11-15T14:36:02ZDaniel Müllermuellerd@uni-koblenz.deFix/blocked roi handlingAdd virtual obstacle points on ROI contours to tmp map before planning path.Add virtual obstacle points on ROI contours to tmp map before planning path.Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/23Fix/laser collision avoidance2023-01-05T13:41:58ZNiklas Yann WettengelFix/laser collision avoidanceDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/24Better isolation of planning routine, refactored overall path planning/follow...2023-05-24T12:56:56ZDaniel Müllermuellerd@uni-koblenz.deBetter isolation of planning routine, refactored overall path planning/following routine, added markersThis branch was started in order to add a service server for retrieving planned path without directly driving them (e.g. to compare which item to retrieve first). It developed into a refactoring branch to better isolate the planning rout...This branch was started in order to add a service server for retrieving planned path without directly driving them (e.g. to compare which item to retrieve first). It developed into a refactoring branch to better isolate the planning routine. I will rename this merge request and pull it into the current `master`. Then, I will start a follow-up merge request for finally adding this said service.
* Added `planPath` function
* Started refactoring replanning and proper reaction to obstacles
* Still work open in order to reduce number of indirections (mainly member variable states used in different functions which call each other)Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/27Cleaning up navigation node code2023-11-20T08:58:15ZDaniel Müllermuellerd@uni-koblenz.deCleaning up navigation node codeDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.de