ROS Index
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]
Messages
Services
Plugins
Recent questions tagged topological_navigation at Robotics Stack Exchange
|
|
topological_navigation package from topological_navigation repotopological_navigation topological_navigation_msgs topological_rviz_tools topological_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.5 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | The topological navigation framework |
| Checkout URI | https://github.com/lcas/topological_navigation.git |
| VCS Type | git |
| VCS Version | humble-dev |
| Last Updated | 2025-05-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robot navigation ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Marc Hanheide
- James R Heselden
Authors
- Jaime Pulido Fentanes
- Adam Binch
- Francesco Del Duchetto
Topological Navigation
These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.
This node provides support for topological navigation in the STRANDS system.
This module requires:
- move_base
- strands_datacentre
- monitored_navigation
You will also need to create a topological map
Launching Topological Localisation and Navigation
- Once your map is inserted in the DB you can launch your topological navigation nodes using:
roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false
note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.
note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling
note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using:
rosrun ramp_climb ramp_climb
Navigate
-
You can test the topological navigation using:
rosrun topological_navigation nav_client.py DestinationWhere destination is the name of the node you want to reach. -
You can also run RViz
rosrun rviz rvizand subscribe to the interactive markers/name_of_map_go_to/updateand clicking on the Green Arrows to move the robot around.
#Create Topological Maps
There are different ways of creating topological maps:
*. [Using Localise by Topic] (#Using-Localise-by-Topic)
Simultaneous Metric and Topological Mapping
@To improve
To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:
roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'
Once this is done undock the robot using the Visual_charging_server.
When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.
To edit the topological map you can use the following methods
Creation of the Topological map From WayPoint File
-
(Modified) The first step is to create the waypoint file by running:
rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv -
Next create a topological map file from the waypoint file using:
rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmapthis will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,
From a normal waypoint file like this:
-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
It will create a topological map file like this:
```JSON node: ChargingPoint waypoint: -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859 edges: WayPoint1, move_base WayPoint2, move_base WayPoint3, move_base vertices: 1.380000,0.574000 0.574000,1.380000 -0.574000,1.380000 -1.380000,0.574000 -1.380000,-0.574000 -0.574000,-1.380000
File truncated at 100 lines see the full file
Changelog for package topological_navigation
3.0.5 (2024-01-15)
3.0.4 (2023-12-06)
- Merge pull request #176 from GPrathap/humble-dev adding server config for each action
- adding server config for each action
- Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
- Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
- adding default config files
- extending the functionality of bt trees to all action types
- Contributors: GPrathap, James Heselden
3.0.3 (2023-11-24)
3.0.2 (2023-11-24)
- Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
- removal of pip dependency
- Contributors: James R Heselden, Marc Hanheide
3.0.1 (2023-11-23)
- Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
- adding row_traversal action type
- adding different bt tree for row navigation
- Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
- sending correct respond code
- adding traverse through poses
- Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
- updating qos level
- adding interactive marker server impl
- Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
- scaling added to legend
- adding rviz vis tools init
- Merge pull request #166 from GPrathap/humble-dev adding simple policy server
- Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
- adding simple policy server
- Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
- Forgot another launch_pytest to fix
- Corrected launch_pytest key
- adding test dependency
- adding testng dependency
- adding integration test script for testing navigation core components
- adding feedback messages
- removing synchronous service call
- code refactoring
- adding policy action server
- adding stopping goal action
- changing action and action types
- adding action server related changes
- fixing localisation node
- Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
- fixing colcon build issue
- Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
- inclusion of topomap_marker2.py with functional rescaling
- Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
- incorrect tab removed
- updates to scalling for floats
- topovis scaling included for larger map visualsing from a distance
- topological transform publisher
- topological map visualiser and policy mode visualisers updated to ros2
- test script renamed to prevent crashing when using colcon test
- map_manager_2 up and running
- updates to fix imports when launching map_manager_2
- Merge pull request #160
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Package Dependencies
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
Launch files
- launch/minimal_topological_navigation.launch
-
- file [default: ]
- base_frame [default: base_link]
- move_base_name [default: move_base]
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/reconf_at_edges_server.launch
-
- config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
- launch/topo_nav_global.launch
-
- map
- launch/topo_nav_local.launch
-
- robot_id
- move_base_planner [default: move_base/DWAPlannerROS]
- launch/topological_map_visualise.launch
-
- map
- pointset
- machine [default: localhost]
- user [default: ]
- launch/topological_navigation.launch
-
- machine [default: localhost]
- user [default: ]
- file [default: ]
- cache_topological_maps [default: true]
- auto_write_topological_maps [default: true]
- pointset [default: ]
- legacy [default: false]
- convert_to_legacy [default: true]
- load_map_from_file [default: false]
- base_frame [default: base_link]
- N [default: 3]
- only_latched [default: true]
- localisation_with_tags [default: true]
- move_base_name [default: move_base]
- move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
- move_base_planner [default: move_base/DWAPlannerROS]
- move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
- max_dist_to_closest_edge [default: 1.0]
- reconfigure_edges [default: false]
- reconfigure_edges_srv [default: false]
- edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
- use_restrictions [default: false]
- launch_extras [default: false]
- launch/topological_navigation_empty_map.launch
-
- map
- machine [default: localhost]
- user [default: ]
- launch/topological_restrictions_multirobot.launch
-
- robot_name
- machine [default: localhost]
- user [default: ]
- config_file [default: ]