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mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version humble
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version rolling
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version rolling
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version rolling
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from ur-mir-mobile-manipulator repo

ur_description ur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver mir_description mir_driver mir_gazebo mir_msgs mir_navigation mir_restapi mir_robot point_cloud_functions realsense2_description realsense_gazebo_plugin robotiq_description ros2_aruco ros2_aruco_interfaces hello_moveit_ur

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2 package for a Mobile Manipulator capable of Navigation and Manipulation functionality
Checkout URI https://github.com/spartan-velanjeri/ur-mir-mobile-manipulator.git
VCS Type git
VCS Version main
Last Updated 2024-12-08
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
mir_driver
rviz2
navigation2
slam_toolbox

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
galactic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/dfki-ric/mir_robot.git
VCS Type git
VCS Version galactic
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
iron

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version rolling
Last Updated 2021-06-11
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.8
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version melodic
Last Updated 2021-06-11
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.0.8 (2021-06-11)

  • Merge branch 'melodic-2.8' into melodic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.0.7 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Contributors: Christoph Krause, Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17 and hasn't changed through 2.6 at least.
  • Add genmprim_unicycle matlab + python script, fix mprim file
  • Adjust dwb params: split_path, finer trajectories (#43)
    • use split_path option to enforce following complex paths

    - more trajectory samples over a smaller simulated time. This fixes a problem where the robot would stop too far away from the goal, as all possible trajectories either overshot the goal, or were too short to reach into the next gridcell of the critics.

    • remove Oscillation critic (never helped)
  • added PathDistPrunedCritic for dwb (#42) which works exactly like the original PathDistCritic, except that it searches for a local minimum in the distance from the global path to the robots current position. It then prunes the global_path from the start up to this point, therefore approximately cutting of a segment of the path that the robot already followed.
  • Add default local_planner to move_base launch file This makes the hector_mapping Gazebo demo work with the instructions from the README (see #32).
  • Contributors: Martin Günther, Nils Niemann

1.0.4 (2019-05-06)

  • Rviz config: Add planned paths + costmap from real MiR
  • Contributors: Martin Günther

1.0.3 (2019-03-04)

  • fix frame_id for melodic (#18)
  • Tune dwb parameters
  • PathProgressCritic: Add heading score
  • Use dwb_local_planner in move_base config
  • Move footprint param to move_base root namespace This allows other move_base plugins, such as dwb_local_planner, to access this parameter.
  • Add hector_mapping
  • amcl.launch: Change default, remap service This is required if amcl.launch is started within a namespace.
  • teb_local_planner: Fix odom topic name
  • Merge pull request #16 from niniemann/add-prefix-argument-to-configs Add prefix argument to configs
  • adds $(arg prefix) to a lot of configs This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
  • mir_navigation: Adjust helper node topics
  • Add amcl launchfile (#11)
    • added amcl.launch
    • changed amcl params to default mir amcl parameters
  • Merge pull request #13 from niniemann/fix-virtual-walls The previous configuration of the local costmap didn't work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual_walls_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. Also, I added a [with_virtual_walls]{.title-ref} parameter to [start_maps.launch]{.title-ref} and [start_planner.launch]{.title-ref}.
  • added with_virtual_walls parameter to start_maps and start_planner

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: odom]
      • base_frame_id [default: base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange

Package symbol

mir_navigation package from mir_robot repo

mir_actions mir_description mir_driver mir_dwb_critics mir_gazebo mir_msgs mir_navigation mir_robot sdc21x0

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.8
License BSD-3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
Checkout URI https://github.com/DFKI-NI/mir_robot.git
VCS Type git
VCS Version noetic
Last Updated 2025-06-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files for move_base, localization etc. on the MiR robot.

Additional Links

Maintainers

  • Martin Günther

Authors

  • Martin Günther
README
No README found. See repository README.
CHANGELOG

Changelog for package mir_navigation

1.1.8 (2025-05-13)

1.1.7 (2023-01-20)

  • Don't set cmake_policy CMP0048
  • Add license headers
  • Fix flake8 warnings
  • Contributors: Martin Günther

1.1.6 (2022-06-02)

  • navigation: Reduce footprint to actual size This reduces the footprint:

    • 18 mm in front
    • 42 mm in the back

    * 27 mm at the sides Now the footprint exactly matches the bounding box of the mesh, with no padding. This should make navigation in tight spaces easier; let's hope it doesn't lead to collisions.

  • navigation: Move footprint_padding to proper namespace The footprint_padding parameter in the upper namespace was ignored, needed to be moved into local_costmap/global_costmap to take effect.

  • genmprim: Remove obsolete plt.hold() This fixes the following error: AttributeError: module 'matplotlib.pyplot' has no attribute 'hold'

  • mir_navigation: Remove static_map parameter This fixes the following warning: [ WARN] local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided

  • Contributors: Martin Günther

1.1.5 (2022-02-11)

1.1.4 (2021-12-10)

1.1.3 (2021-06-11)

  • Merge branch 'melodic-2.8' into noetic
  • Rename tf frame and topic 'odom_comb' -> 'odom' This is how they are called on the real MiR since MiR software 2.0.
  • Reformat python code using black
  • Contributors: Martin Günther

1.1.2 (2021-05-12)

  • Uncomment available dependencies in noetic (#79)
  • Contributors: Oscar Lima

1.1.1 (2021-02-11)

  • Add optional namespace to launch files
  • Add prefix to start_planner.launch (#67)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.1.0 (2020-06-30)

  • Initial release into noetic
  • Remove hector_mapping dependency (not released in noetic)
  • Update scripts to Python3 (Noetic)
  • Contributors: Martin Günther

1.0.6 (2020-06-30)

  • Add missing matplotlib dependency
  • plot_mprim: Fix color display
  • Fix bug in genmprim_unicycle_highcost_5cm In Python3, np.arange doesn't accept floats.
  • Fix some catkin_lint warnings
  • Set cmake_policy CMP0048 to fix warning
  • Contributors: Martin Günther

1.0.5 (2020-05-01)

  • Rename hector_mapping.launch, add dependency
  • genmprim.py: Improve plotting
  • genmprim.py: Make executable
  • SBPL: Reduce allocated_time + initial_epsilon params This leads to shorter planning times, but will perhaps fail on larger maps.
  • Update mprim file to mir-software 2.0.17 This was updated in 2.0.17

File truncated at 100 lines see the full file

Launch files

  • launch/amcl.launch
      • tf_prefix [default: ]
      • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
      • use_map_topic [default: true]
      • scan_topic [default: scan]
      • map_topic [default: /map]
      • map_service [default: /static_map]
      • initial_pose_x [default: 0.0]
      • initial_pose_y [default: 0.0]
      • initial_pose_a [default: 0.0]
      • odom_frame_id [default: $(arg tf_prefix)/odom]
      • base_frame_id [default: $(arg tf_prefix)/base_footprint]
      • global_frame_id [default: /map]
  • launch/hector_mapping.launch
      • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
      • base_frame [default: base_footprint]
      • odom_frame [default: odom]
      • pub_map_odom_transform [default: true]
      • scan_subscriber_queue_size [default: 5]
      • scan_topic [default: scan]
      • map_size [default: 2048]
      • disable_localization [default: false]
  • launch/start_maps.launch
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
  • launch/start_planner.launch
      • local_planner [default: dwb] — Local planner can be either dwa, dwb, eband, base, teb or pose
      • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
      • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
      • with_virtual_walls [default: true]
      • prefix [default: ]
      • namespace [default: $(arg prefix)] — Namespace to push all topics into.
  • launch/move_base.xml
      • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
      • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
      • prefix [default: ] — Prefix used for robot tf frames

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mir_navigation at Robotics Stack Exchange