Robot Operating System Ros Tutorial (14) Move_base (Path planning)

In our previous blog, we learned about the overall framework of ROS positioning in navigation, and this article focuses on one of the most important move_base packages.

As you can see in the overall framework diagram, Move_base provides the configuration, operation, and interface of Ros Navigation, which consists of two main parts:

(1) Global Path Planning (Planner): Planning the overall path according to the given target location;

(2) Local real-time planning (planner): Avoid route planning according to nearby obstructions.

One, data structure

The MOVEBASEACTIONGOAL data structure is defined in Ros to store the target location data of the navigation, the most important of which is the position coordinates (position) and the direction (orientation).

Rosmsg show Movebaseactiongoal  
      
[move_base_msgs/movebaseactiongoal]:  
std_msgs/header Header  
  uint32 seq Time  
  stamp  
  string frame_id  
actionlib_msgs/goalid goal_id time  
  stamp  
  string ID  
move_base_ Msgs/movebasegoal goal  
  geometry_msgs/posestamped target_pose  
    std_msgs/header Header  
      uint32 seq Time  
      stamp  
      string frame_id  
    geometry_msgs/pose Pose  
      geometry_msgs/point position float64  
        x  
        float64 y  
        float64 z  
      geometry_msgs/quaternion orientation  
        float64 x  
        float64 y  
        float64 Z  
        float64 W

Second, the configuration file

Move_base need to configure some parameters before use: Operating cost, robot radius, distance to the target location, robot movement speed, these parameters are in the Rbx1_nav package in the following configuration files:

Base_local_planner_params.yaml

Costmap_common_params.yaml

Global_costmap_params.yaml

Local_costmap_params.yaml