indires_macro_actions.

A set of navigation macro-actions have been implemented by using the actionlib of ROS. This way, the navigation system is employed to perform different actions as reaching a simple goal, perform an autonomous exploration, or teleoperate the robot. A launch file to test the macro-actions is inside the launch directory.

Actions implemented

• NavigateWaypoint. This is the regular navigation action in which a goal point must be provided by the user.
• NavigateHome. This action drives the robot to the home position (start position).
• Exploration. This action initiates an autonomous exploration of the area. The exploration continues until the user cancels the action.

• Teleoperation. This action is intended to be triggered when the user wants to control the robot manually. Inmediately, the macro-action in execution (NavigateWaypoint, NavigateHome or Exploration) is canceled. The action ends a few seconds after receiving the last manual control command.

• Note: See the package control_state_machine to see the relations and transitions between the different actions.

Parameters

• control_frequency. Frequency in Hz of execution, publishing and checking of the status of the macro-actions.
• odom_topic. Odometry topic of the robot.
• secs_to_check_block. It is used to check a blocked situation. Time in seconds that the robot stays still (during navigation) to consider that the path is blocked and the robot can not move forward.
• block_dist. It is used to check a blocked situation. Maximum distance in meters that the robot moves during the time indicated by “secs_to_check_block” in order to consider that the robot is blocked during navigation.

Functioning

• Besides your proper robot simulation, the adapted_move_base node (see adapted_move_base.launch) must be running. The macro-actions are programmed by using a client of the actionlib move_baser server.

• To run the actionlib actions, launch the file indires_macro_actions.launch in the launch directory.

Dependences

• actionlib
• adapted_move_base

The package is a work in progress used in research prototyping. Pull requests and/or issues are highly encouraged.