usv_navigation
Navigation pkg for USVs and under-actuated mobile robot in plane based on ros navigation stack
- Modify the global base planner interface for advanced A* which considers the orientation limitation of under-actuated mobile robot and this navigation stack is available without kinetic model.
- In origin navigation stack, the global path planned by global planner is only used as a reference for local planner. However, in this navigation stack, global path should be followed by robot.
- USV will avoid obstacle when followed path is blocked by dynamic or unknown obstacle in environment. After the space is free for USV, a new global path will be planned.
Origin navigation stack: https://github.com/ros-planning/navigation
Address of simulation package: https://github.com/wangzhao9562/my_nav_test
Simulation with turtlebot:
Find responding ros package from https://github.com/turtlebot and compile it in catkin space
or sudo apt-get install ros-ros_version-turtlebot*
Notice:
- For using existed simulation tools and third-part libraries, package name is not modifed to satiesfy with the demand of interface(name is still move_base), please don't mix this package with origin navigation stack in one catkin space.
- Programe is developed based on origin navigation stack in version of kinetic devel, the recommended system version is ubuntu 16.04LTS.
Frame of new navigation stack:
Inner infrastructure of local planner:
State transform of move_base node:
Screenshot of simulation:
