GoalPlanner
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX, Windows]

Plans a path from where you are now to a goal. More...

Plans a path from where you are now to a goal.

The goalplanner plans a path from the current position of a robot to a global world coordinate (or a series of coordinates - a coarse path). It currently uses PathPlanner for planning. It sends the resulting fine path to a local navigator, e.g. LocalNav.

Provides

• orca_interface_home
• orca_interface_status
• orca_interface_pathfollower2d [GoalPlanner.Provides.PathFollower2d]

Requires

• orca_interface_localise2d [GoalPlanner.Requires.Localise2d]
• orca_interface_pathfollower2d [GoalPlanner.Requires.PathFollower2d]
• orca_interface_pathplanner2d [GoalPlanner.Requires.PathPlanner2d]
• orca_interface_ogmap [GoalPlanner.Requires.OgMap]

Operation

GoalPlanner acts as a proxy for another PathFollower2d interface.

You send it a path, it will consult with a PathPlanner2d interface to add intermediate waypoints so that a local path planner can follow it. The detailed path will then be forwarded to the lower-level PathFollower2d.

If you ask it what path was set, it'll give you the detailed path. If you subscribe() to the interface, it'll actually subscribe you directly to the low-level PathFollower2d interface.

The following happens in sequencential order in the mainloop:

• Wait for a "task" path which someone (e.g. OrcaView2d ) sends via the provided PathFollower2d interface.
• Work out how long it takes to get to the first waypoint based on a straight-line distance and adjust times of the task path accordingly.
• Prepend the current position of the robot to the task path.
• Send task path to the pathplanner and wait for an answer.
• Send out resulting, fine-grained path through the required PathFollower2d interface.

Configuration

• GoalPlanner.Config.VelocityToFirstWaypoint (double) [m/s]
  • Velocity to reach the first waypoint from the current pose.
  • Default: 1.0

• GoalPlanner.Config.PathPlanTimeout (double) [s]
  • Flag an error if it takes longer than this many seconds for the path planner to return a result.
  • Default: 10.0

• GoalPlanner.Config.CheckForStaleLocaliseData (bool)
  • Flag an error if the localiseData we're receiving is old compared to the system clock.
  • Default: 0

Authors

Tobias Kaupp, Alex Brooks