cpr-indoornav-navigation

ROS action interface for programatically commanding an IndoorNav robot

This package contains a single ROS 1 node that is intended to wrap the Indoor Nav ROS 2 API's send_move_goal example into a ROS 1 actionlib interface to make it easier to use IndoorNav with ROS 1 Noetic.

Services

The indoornav_move_goal_node provides 3 services for accessing waypoint & mission data defined in the IndoorNav GUI:

• get_markers: get the list of all Marker objects defined in the map. Marker objects can be sent to the move_to_marker action, defined below
• get_places: an intermediate service used internally. Place objects contain a primary_marker (Marker type) object, and are used to store the list of Task objects executed by a Mission.
• get_missions: get the list of defined Mission objects ("Workflows") created in the GUI. Mission objects can be executed using the execute_mission action, defined below.

Actions

The indoornav_move_goal_node provides 3 actions for driving autonomously:

• move_to_location accepts an arbitrary (x, y, yaw) position in meters (x, y) and radians (yaw) relative to the map frame. This action is a loose wrapper for the ROS 2 API's send_move_goal example, and uses the ROS 2 implementation internally.
• move_to_marker accepts a Marker object, and will drive the robot to the specified Marker on the map. Use this action if you want to manually step through a Mission to perform custom actions at a given location (e.g. drive to the Pickup marker and then execute a manipulation action using an arm and MoveIt)
• execute_mission takes a Mission object and executes it, exactly as if it were selected from the "Workflow" menu in the GUI. The robot will drive to each Marker defined in the Mission, one after the other.

Installation & Launching

The cpr_indoornav_navigation and cpr_indoornav_navigation_msgs packages must be installed on your Clearpath robot's primary computer. (Jackal, Dingo-D, Dingo-O, Ridgeback, and Husky are all supported).

To launch the node manually, run

roslaunch cpr_indoornav_navigation move_goal_node.launch

You may, if necessary, specify the hostname & TCP port of the IndoorNav computer if your configuration requires this, e.g.:

roslaunch cpr_indoornav_navigation move_goal_node.launch hostname:=10.252.252.1 port:=5000

To start the node as part of IndoorNav, run

rosrun robot_upstart install --job cpr-indoornav --augment cpr_indoornav_navigation/launch/move_goal_node.launch
sudo systemctl daemon-reload
sudo systemctl restart cpr-indoornav

To access the actions and services from a remote workstation, install the cpr_indoornav_navigation_msgs package. Make sure to set the ROS_MASTER_URI environment variable to the Clearpath robot's ROS master as described in your robot's manual.