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Only released in EOL distros:  

tuw_multi_robot: tuw_multi_robot_ctrl | tuw_multi_robot_demo | tuw_multi_robot_goal_generator | tuw_multi_robot_local_behavior_controller | tuw_multi_robot_msgs | tuw_multi_robot_router | tuw_multi_robot_rviz | tuw_voronoi_graph

Package Summary

This package presents a node, which converts synchronized robot routes to path segments published sequentially to maintain synchronization

  • Maintainer status: maintained
  • Maintainer: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>, Markus Bader <markus.bader AT tuwien.ac DOT at>
  • Author: Benjamin Binder <benjamin.binder AT tuwien.ac DOT at>
  • License: BSD
  • Source: git https://github.com/tuw-robotics/tuw_multi_robot.git (branch: master)


This package contains a node, which receives the tuw_segment_path msg for a robot and publishes a nav_msgs::path up to the point a robot is allowed to move.

In detail: A tuw_segment_path contains a set of segments, where each of them has preconditions to tell when a robot is allowed to enter a certain segment. The tuw_multi_robot_route_to_path_node subscribes to these messages and checks how many of these preconditions are met and publishes a path from start to the least segment, for which the preconditions are met. This node subscribes to all robots as one node for performance reasons while testing with a large number of robots.

Subscribed Topics

[robot_name]/seg_path (tuw_multi_robot_msgs::SegmentPath)

[robot_name]/odom (nav_msgs::odom)

Published Topics

[robot_name]/path_synced (nav_msgs::Path)

/robot_info (tuw_multi_robot::RobotInfo)


~robot_names (string[] default: "[robot_0]")

~robot_names_str (string default: "")

~robot_radius (float[] default: "[]")

~robot_default_radius (float default: "0.3")

~odom_topic (string default: "odom")

~path_topic (string default: "path_synced")

~seg_path_topic (string default: "seg_path")

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2024-04-20 13:19