move_base

Description

The move_base package provides an implementation of an action (see the actionlib package) that provides a goal in the world, while attempting to reach it with a mobile base.
http://wiki.ros.org/move_base

It works in conjunction with 4 ROS plugins, namely – base_global_planner, base_local_planner, global_costmap and local_costmap.

It receives a target-goal and when after it is reached, a goal-result is returned.

Periodically, it sends output velocity commands to the robot via cmd_vel.

Examples

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Input List

There are 14 parameters.

Port Name	Message type	Callback
`base_global_planner`	Plugin [movai_msgs-ROS1/PluginServer][movai_msgs-ROS1/PluginServer]
`base_local_planner`	Plugin [movai_msgs-ROS1/PluginServer][movai_msgs-ROS1/PluginServer]
`global_costmap`	Plugin [movai_msgs-ROS1/PluginServer][movai_msgs-ROS1/PluginServer]
laser_back/scan	LaserScan [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]	place_holder.cb
laser_front/scan	LaserScan [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]	place_holder.cb
`local_costmap`	Plugin [movai_msgs-ROS1/PluginServer][movai_msgs-ROS1/PluginServer]
map	-missing-package-message	place_holder.cb
move_base	MoveBaseAction [move_base_msgs-ROS1/ActionServer][move_base_msgs-ROS1/ActionServer]
path	Path [nav_msgs-ROS1/Subscriber][nav_msgs-ROS1/Subscriber]	place_holder.cb
points0	PointCloud2 [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]	place_holder.cb
points1	PointCloud2 [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]	place_holder.cb
scan_omni	LaserScan [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]	place_holder.cb
tf	TF [movai_msgs-ROS1/TFSubscriber][movai_msgs-ROS1/TFSubscriber]	place_holder.cb
~clear_costmaps	Empty [std_srvs-ROS1/ServiceServer][std_srvs-ROS1/ServiceServer]	place_holder.cb

Output List

There are 9 parameters.

Port Name	Message type
cmd_vel	Twist [geometry_msgs-ROS1/Publisher][geometry_msgs-ROS1/Publisher]
move_base	MoveBaseAction [move_base_msgs-ROS1/ActionServer][move_base_msgs-ROS1/ActionServer]
~TebLocalPlannerROS/global_plan	Path [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]
~TebLocalPlannerROS/local_plan	Path [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]
~TebLocalPlannerROS/parameter_updates	Config [dynamic_reconfigure-ROS1/Publisher][dynamic_reconfigure-ROS1/Publisher]
~global_costmap/costmap	OccupancyGrid [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]
~global_costmap/costmap_updates	OccupancyGrid [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]
~local_costmap/costmap	OccupancyGrid [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]
~local_costmap/costmap_updates	OccupancyGrid [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher]

Parameter List

There are 9 parameters.

Parameter	Description
base_global_planner	[string] The name of the plugin for the global planner to use with move_base. You may refer to the pluginlib GGG documentation for more details about the plugins. This plugin must adhere to the nav_core::BaseGlobalPlanner interface specified in the nav_core package.
base_local_planner	[string] The name of the plugin for the local planner to use with move_base. You may refer to the pluginlib documentation for more details about plugins. This plugin must adhere to the nav_core::BaseLocalPlanner interface specified in the nav_core package.
clearing_rotation_allowed	[bool] Determines whether or not the robot will attempt an in-place rotation while attempting to clear out space. Note – This parameter is only used when the default recovery behaviors are in use, meaning the user has not set the recovery_behaviors parameter to anything custom.
cmd_vel	[string] The name of the topic responsible for streaming velocity commands meant for execution by a mobile base.
controller_frequency	[double] The rate in Hz at which to run the control loop and send velocity commands to the base.
planner_frequency	[double] The rate in Hz at which to run the global planning loop. If the frequency is set to 0.0, the global planner will only run when a new goal is received or the local planner reports that its path is blocked.
planner_patience	[double] The length of time that the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.
recovery_behavior_enabled	[bool] Whether or not to enable the move_base recovery behaviors to attempt to clear out space.
static_map	[string] This parameter determines whether or not the costmap should initialize itself based on a map served by the map_server.

More Info

wiki.ros.org/move_base