2D waypoints will be predefined in ROS based robots to navigate to the destination avoiding obstacles.

Overview

waypoint-based-2D-Navigation-in-ROS

2D waypoints will be predefined in ROS based robots to navigate to the destination avoiding obstacles.

A package that will buffer move_base goals until instructed to navigate to all waypoints in sequence.

follow_waypoints

Installation

Install the binaries needed for the package.

sudo apt-get install ros-melodic-follow-waypoints

New features not documented on wiki:

The code can be run in this way:

rosrun follow_waypoints follow_waypoints.py

A wait_duration parameter. This sets wait duration in between waypoints. The default value is set to 0.0 sec.

rosparam set wait_duration 5.0

A distance threshold parameter. Issue the next goal target if the robot reaches within this distance. This has the effect of smoothing motion and not stopping at each waypoint. The default value is set to 0.0 distance which disables the feature.

rosparam set waypoint_distance_tolerance 0.5

Following waypoints will save the list of poses to a file in the following directory:

follow_waypoints/saved_path/pose.csv

To load the previously save path:

rostopic pub /start_journey std_msgs/Empty -1

follow_waypoints

Source

  1. Follow waypoints by Daniel Snider
  2. Follow waypoints by SLAMCore
  3. Follow waypoints by Qbotics Lab
  4. Follow waypoints by Sugbuv
  5. Follow waypoints in ROS Tutorial
You might also like...
LT-OCF: Learnable-Time ODE-based Collaborative Filtering, CIKM'21
LT-OCF: Learnable-Time ODE-based Collaborative Filtering, CIKM'21

LT-OCF: Learnable-Time ODE-based Collaborative Filtering Our proposed LT-OCF Our proposed dual co-evolving ODE Setup Python environment for LT-OCF Ins

Event-based hardware simulation framework

An event-based multi-device simulation framework providing configuration and orchestration of complex multi-device simulations.

GUI wrapper designed for convenient service work with TI CC1352/CC2538/CC2652 based Zigbee sticks or gateways. Packed into single executable file
GUI wrapper designed for convenient service work with TI CC1352/CC2538/CC2652 based Zigbee sticks or gateways. Packed into single executable file

ZigStar GW Multi tool is GUI wrapper firtsly designed for convenient service work with Zig Star LAN GW, but now supports any TI CC1352/CC2538/CC2652 b

Home solar infrastructure (with Peimar Inverter) monitoring based on Raspberry Pi 3 B+ using Grafana, InfluxDB, Custom Python Collector and Shelly EM.
Home solar infrastructure (with Peimar Inverter) monitoring based on Raspberry Pi 3 B+ using Grafana, InfluxDB, Custom Python Collector and Shelly EM.

raspberry-solar-mon Home solar infrastructure (with Peimar Inverter) monitoring based on Raspberry Pi 3 B+ using Grafana, InfluxDB, Custom Python Coll

New armachat based on Raspberry Pi PICO an Circuitpython code

Armachat-circuitpython New Armachat based on Raspberry Pi PICO an Circuitpython code Software working features: send message with header and store to

A iot Bike sytem based on RaspberryPi, Ardiuino
A iot Bike sytem based on RaspberryPi, Ardiuino

Cyclic 's Kernel ---- A iot Bike sytem based on RaspberryPi, Ardiuino, etc 0x1 What is This? Cyclic 's Kernel is an independent System With self-produ

A modular sequencer based on Pi Pico & EuroPi

PicoSequencer A modular sequencer based on Pi Pico & EuroPi by Zeno Van Moerkerke / Keurslager Kurt For now it is 'only' a trigger sequencer, but I si

An embedded application for toy-car controlling based on Raspberry Pi 3 Model B and AlphaBot2-Pi.
An embedded application for toy-car controlling based on Raspberry Pi 3 Model B and AlphaBot2-Pi.

An embedded application for toy-car controlling based on Raspberry Pi 3 Model B and AlphaBot2-Pi. This is the source codes of my programming assignmen

This repo uses a stereo camera and gray-code-based structured light to realize dense 3D reconstruction.
This repo uses a stereo camera and gray-code-based structured light to realize dense 3D reconstruction.

Structured-light-stereo This repo uses a stereo camera and gray-code-based structured light to realize dense 3D reconstruction. . How to use: STEP 1:

Owner
Arghya Chatterjee
Space Robotics Perception, Planning and Autonomy Engineer | CV and ML Researcher | Multi-Robot Autonomy Researcher
Arghya Chatterjee
This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump.

This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump.

Stanford Student Robotics 1.2k Dec 25, 2022
A python file which I wrote to allow the Dorna Robots API to draw an Image on a 3D plane

Dorna-Robotics-Internship Code In the directory "Code" is a python file which I wrote to allow the Dorna Robots API to draw an Image on a 3D plane. I

Stephen Otto 2 Dec 6, 2021
Isaac Gym Environments for Legged Robots

Isaac Gym Environments for Legged Robots This repository provides the environment used to train ANYmal (and other robots) to walk on rough terrain usi

Robotic Systems Lab - Legged Robotics at ETH Zürich 372 Jan 8, 2023
This repository contains all the code and files needed to simulate the notspot quadrupedal robot using Gazebo and ROS.

Notspot robot simulation - Python version This repository contains all the files and code needed to simulate the notspot quadrupedal robot using Gazeb

null 50 Sep 26, 2022
Playing diabolo with two robot arms in ROS + Gazebo

Playing diabolo with robots This repository holds the ROS packages for playing diabolo with two UR5e robot arms on ROS Melodic (Ubuntu 18.04). Read ou

null 23 Dec 18, 2022
Mini Pupper - Open-Source,ROS Robot Dog Kit

Mini Pupper - Open-Source,ROS Robot Dog Kit

MangDang 747 Dec 28, 2022
Small Robot, with LIDAR and DepthCamera. Using ROS for Maping and Navigation

?? RoboCop ?? Small Robot, with LIDAR and DepthCamera. Using ROS for Maping and Navigation Made by Clemente Donoso, ?? Chile ???? RoboCop Lateral Fron

Clemente Donoso Krauss 2 Jan 4, 2022
Projet d'integration SRI 3A ROS

projet-integration-sri-2021-2022 Projet d'intégration ROS SRI 2021 2022 Organization: Planification de tâches Perception Saisie: Cédérick Mouliets Sim

AIP Primeca Occitanie 3 Jan 7, 2022
Scapy: the Python-based interactive packet manipulation program & library. Supports Python 2 & Python 3.

Scapy Scapy is a powerful Python-based interactive packet manipulation program and library. It is able to forge or decode packets of a wide number of

SecDev 8.3k Jan 8, 2023
LedFx is a network based LED effect controller with support for advanced real-time audio effects

Welcome to LedFx ✨ -Making music come alive! LedFx website: https://ledfx.app/ What is LedFx? What LedFx offers is the ability to take audio input, an

null 786 Jan 2, 2023