tx2_action_server

Action server for performing exploration in simulated environments.

Is used with m-explore exploration node and ThetaStarROS path planning node.

Requirements

• ROS version at least Kinetic
• CMake version at least 2.8.3
• Python 2.7
• Python packages:
  • Actionlib
  • Transformations

Usage

rosrun tx2_action_server tx2_action_server_external_driver.py

Parameters

• tolerance (float): distance (in meters) to consider goal as reached. Default value: 1
• timeout (float): time (in seconds) to wait for reaching the goal. If this time is exceeded, navigation will be aborted. Default value: 30
• rate (float): frequency (in Hz) of checking robot's pose and path planning. Default value: 10
• max_path_fails (int): maximum number of path planning fails. If path planning fails more times, navigation will be aborted. Default value: 5

Input and output

Subscribed topics

• odom (nav_msgs::Odometry) - robot's position
• path (nav_msgs::Path) - path from robot's position to goal
• tf - transform from map frame to odom_frame

Used servers

• move_base (actionlib.SimpleActionServer)

Published topics

• exploration_goal (geometry_msgs::PoseStamped) - position of goal
• task (std_msgs::Float32MultiArray) - coordinates for path planner