Launch and configuration files for demonstrating nonholonomic navigation using the lattice_planner package.
Currently, the package allows you to spawn a Pioneer P3-DX robot in an empty Gazebo world and control it by providing navigation goals.
The package has been tested with ROS Kinetic on Ubuntu 16.04.
In addition to ros-kinetic-desktop-full, the following packages must be available in your workspace:
- p2os - URDF model of the P3-DX
- lattice_planner - the lattice path planner
- agv_control_msgs - path planner dependency
- pure_pursuit - path following algorithm
The lattice_planner package also requires the matio library for loading lattice parameters from .mat files:
sudo apt install libmatio-dev
The pure_pursuit path following package requires the ackermann_msgs ROS package for publishing Ackermann steering commands, which can be installed from the official ROS repo:
sudo apt install ros-kinetic-ackermann-msgs
Make sure to catkin_make or catkin build the package and sourcing setup.bash for your workspace before running the demo.
roslaunch lattice_navigation_demos p3dx-gazebo-empty-lattice-ppursuit.launch
You can set navigation goals through rviz. Currently, both the planner and the path following algorithm have some limitations which are documented in their respective README files.
These packages have been developed within our research on AGV coordination in warehouses. The path planner implementation is described in the following paper:
@ARTICLE{7571170,
author={I. Draganjac and D. Miklić and Z. Kovačić and G. Vasiljević and S. Bogdan},
journal={IEEE Transactions on Automation Science and Engineering},
title={Decentralized Control of Multi-AGV Systems in Autonomous Warehousing Applications},
year={2016},
volume={13},
number={4},
pages={1433-1447},
keywords={},
doi={10.1109/TASE.2016.2603781},
ISSN={1545-5955},
month={Oct},}