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| # vgraph_nav | ||
| # vgraph_nav [](https://github.com/Alpaca-zip/vgraph_nav/actions/workflows/ci.yml) | ||
| ROS package for a simple navigation system utilizing the Visibility Graph algorithm. | ||
| It is compatible with occupancy grid maps generated by popular 2D SLAM such as [Cartographer](https://github.com/cartographer-project/cartographer_ros), [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox), and [slam_gmapping](https://github.com/ros-perception/slam_gmapping/blob/melodic-devel/gmapping/src/slam_gmapping.cpp) | ||
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| <img src="https://github.com/Alpaca-zip/vgraph_nav/assets/84959376/0660bebb-f53d-4791-8978-7e13569291fc" width="500px"> | ||
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| ## Setup ⚙ | ||
| ```bash | ||
| $ cd {ROS_WORKSPACE}/src | ||
| $ git clone -b noetic-devel https://github.com/Alpaca-zip/vgraph_nav.git | ||
| $ wstool merge vgraph_nav/.rosinstall | ||
| $ wstool update | ||
| $ python3 -m pip install -r vgraph_nav/requirements.txt | ||
| $ rosdep install -r -y -i --from-paths . | ||
| $ catkin build | ||
| ``` | ||
| ## Run 🚀 | ||
| Example of navigation using [TurtleBot3](https://github.com/ROBOTIS-GIT/turtlebot3). | ||
| ``` | ||
| $ roslaunch vgraph_nav turtlebot3_vgraph_navigation.launch | ||
| ``` | ||
| ### 1. 2D Pose Estimate | ||
| Before starting navigation, you can define the starting point of the robot. | ||
| This is achieved using the <kbd>2D Pose Estimate</kbd> button on the RViz. | ||
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| More info : [e-Manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/#estimate-initial-pose:~:text=Estimate%20Initial%20Pose) | ||
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| ### 2. 2D Nav Goal | ||
| After setting the initial pose, the next step is to specify the target position using <kbd>2D Nav Goal</kbd>. | ||
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| More info : [e-Manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/#:~:text=nodes%20during%20Navigation.-,Set%20Navigation%20Goal,-Click%20the%202D) | ||
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| **NOTE**: The first time after launch, optimization using the Visibility Graph algorithm takes few minutes. | ||
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| ## vgraph_planner_node 🤖 | ||
| ### Params | ||
| - `~map_file`: Path to the configuration file (yaml) for the occupancy grid map. | ||
| - `~test_folder`: A debug folder primarily used for debugging the Visibility Graph algorithm. | ||
| - `~down_scale_factor`: A factor for downscaling the occupancy grid map. Please reduce this value if optimization is taking too long. | ||
| - `~clearance`: The required clearance for the robot to navigate. It has to be at least half the maximum width of the robot. This is also used for obstacle detection. | ||
| - `~odom_topic`: The name of the odometry topic. | ||
| - `~scan_topic`: The name of the LaserScan topic. | ||
| - `~vel_linear`: Linear velocity. | ||
| - `~vel_theta`: Maximum angular velocity. | ||
| - `~angle_tolerance`: During navigation, the robot will attempt to align its direction with the goal if the angle difference exceeds this tolerance. | ||
| - `~goal_tolerance`: Distance to a waypoint at which it is considered reached. | ||
| - `~verbose`: If True, the results of the optimization are displayed. | ||
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| ### Topics | ||
| - Subscribed Topics: | ||
| - `/initialpose` ([geometry_msgs/PoseWithCovarianceStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html)) : Receives the robot's initial pose from RViz's <kbd>2D Pose Estimate</kbd> | ||
| - `/move_base_simple/goal` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) : Receives navigation goals from RViz's <kbd>2D Nav Goal</kbd> | ||
| - `/odom` ([nav_msgs/Odometry](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html)) : Provides the robot's odometry data. Can be remapped via `~odom_topic`. | ||
| - `/scan` ([sensor_msgs/LaserScan](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/LaserScan.html)) : Provides the 2D Lidar data of the robot. Can be remapped via `~scan_topic`. | ||
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| - Published Topics: | ||
| - `/cost_map` ([nav_msgs/OccupancyGrid](https://docs.ros.org/en/melodic/api/nav_msgs/html/msg/OccupancyGrid.html)) : Generates a path along the obstacles in this occupancy grid map. Mainly for visualization in RViz. | ||
| - `/path` ([nav_msgs/Path](https://docs.ros.org/en/melodic/api/nav_msgs/html/msg/Path.html)) : The path that the robot will follow. Mainly for visualization in RViz. | ||
| - `/cmd_vel` ([geometry_msgs/Twist](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html)) : Conveys the target velocity data of the robot. |