teb_local_planner

Summary

teb_local_planner
Version:

0.2.3
Description:

The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. The underlying method called Timed Elastic Band locally optimizes the robot’s trajectory with respect to trajectory execution time, separation from obstacles and compliance with kinodynamic constraints at runtime.
Maintainers:
  • Christoph Rösmann <christoph DOT roesmann AT tu-dortmund DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Christoph Rösmann <christoph DOT roesmann AT tu-dortmund DOT de>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <nav_core plugin=”${prefix}/teb_local_planner_plugin.xml”/>

Types

Message types

teb_local_planner/TrajectoryMsg
Field:

Message that contains a trajectory for mobile robot navigation

# Message that contains a trajectory for mobile robot navigation

std_msgs/Header header
teb_local_planner/TrajectoryPointMsg[] trajectory
teb_local_planner/TrajectoryPointMsg
Field:

Message that contains single point on a trajectory suited for mobile navigation. The trajectory is described by a sequence of poses, velocities, accelerations and temporal information.

Why this message type? nav_msgs/Path describes only a path without temporal information. trajectory_msgs package contains only messages for joint trajectories.

The pose of the robot

# Message that contains single point on a trajectory suited for mobile navigation.
# The trajectory is described by a sequence of poses, velocities,
# accelerations and temporal information.

# Why this message type?
# nav_msgs/Path describes only a path without temporal information.
# trajectory_msgs package contains only messages for joint trajectories.

# The pose of the robot
geometry_msgs/Pose pose

# Corresponding velocity
geometry_msgs/Twist velocity

# Corresponding acceleration
geometry_msgs/Twist acceleration

duration time_from_start
teb_local_planner/FeedbackMsg
Field:

Message that contains intermediate results and diagnostics of the (predictive) planner.

# Message that contains intermediate results 
# and diagnostics of the (predictive) planner.

std_msgs/Header header

# The planned trajectory (or if multiple plans exist, all of them)
teb_local_planner/TrajectoryMsg[] trajectories

# Index of the trajectory in 'trajectories' that is selected currently
uint16 selected_trajectory_idx

# List of active obstacles
geometry_msgs/PolygonStamped[] obstacles
teb_local_planner/ObstacleMsg
Field:

Message that contains a list of polygon shaped obstacles. Special types: Polygon with 1 vertex: Point obstacle Polygon with 2 vertices: Line obstacle Polygon with more than 2 vertices: First and last points are assumed to be connected

If optional properties (orientaions or velocities) are provided, each container size must match the number of obstacles otherwise let them empty.

# Message that contains a list of polygon shaped obstacles.
# Special types:
# Polygon with 1 vertex: Point obstacle
# Polygon with 2 vertices: Line obstacle
# Polygon with more than 2 vertices: First and last points are assumed to be connected
#
# If optional properties (orientaions or velocities) are provided,
# each container size must match the number of obstacles
# otherwise let them empty.


std_msgs/Header header

# Actual obstacle positions (polygon descriptions)
geometry_msgs/PolygonStamped[] obstacles

# Obstacle IDs [optional]
# Specify IDs in order to provide (temporal) relationships
# between obstacles among multiple messages.
# If provided it must be size(ids) = size(obstacles)
uint32[] ids

# Individual orientations (centroid) [optional]
# If provided it must be size(orientations) = size(obstacles) 
geometry_msgs/QuaternionStamped[] orientations

# Individual velocities (centroid) [optional]
# If provided it must be size(velocities) = size(obstacles)
geometry_msgs/TwistWithCovariance[] velocities