SBPL with TEB_LOCAL_PLANNER with Turtlebot

[kardee]

Hello,

I am using sbpl_lattice_planner and teb_local_planner for my project. How should I add this teb_local_planner to sbpl_lattice_planner,and I use gazebo simulation environment. Which launch file should I use ?

[mstuettgen]

Hi! I think we can provide such a file. I send this mail also to our specialist Nic,  I think he can help you very quickly setting this up. Best regards Marcel Stüttgen

Von meinem Samsung Gerät gesendet.

-------- Ursprüngliche Nachricht -------- Von: Karthikeyan Deenadayalan notifications@github.com Datum: 26.08.16 5:57 PM (GMT+01:00) An: MASKOR/maskor_navigation maskor_navigation@noreply.github.com Betreff: [MASKOR/maskor_navigation] SBPL with TEB_LOCAL_PLANNER with Turtlebot (#7)

Hello,

I am using sbpl_lattice_planner and teb_local_planner for my project. How should I add this teb_local_planner to sbpl_lattice_planner. Which launch file should I use ?

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

{"api_version":"1.0","publisher":{"api_key":"05dde50f1d1a384dd78767c55493e4bb","name":"GitHub"},"entity":{"external_key":"github/MASKOR/maskor_navigation","title":"MASKOR/maskor_navigation","subtitle":"GitHub repository","main_image_url":"https://cloud.githubusercontent.com/assets/143418/17495839/a5054eac-5d88-11e6-95fc-7290892c7bb5.png","avatar_image_url":"https://cloud.githubusercontent.com/assets/143418/15842166/7c72db34-2c0b-11e6-9aed-b52498112777.png","action":{"name":"Open in GitHub","url":"https://github.com/MASKOR/maskor_navigation"}},"updates":{"snippets":[{"icon":"DESCRIPTION","message":"SBPL with TEB_LOCAL_PLANNER with Turtlebot (#7)"}],"action":{"name":"View Issue","url":"https://github.com/MASKOR/maskor_navigation/issues/7"}}}

[nlimpert]

Hi, with commit 59390f2 we published a launch-file "move_base_sbpl_teb_local_planner.launch" which makes use of both. Keep in mind that you will have to tweak settings in the configuration files still.

Best regards

[kardee]

Hello again,

I am trying to find the global path length and computational time for the sbpl_lattice_planner (for ARA* and AD*). What necessary steps to be followed. I added the following code snippet

    geometry_msgs::PoseStamped last_pose;
    last_pose = *it;
    it++;
    for (; it!=plan.end(); ++it) {
       path_length += hypot(  (*it).pose.position.x - last_pose.pose.position.x, 
                         (*it).pose.position.y - last_pose.pose.position.y );
       last_pose = *it;
    }
    printf("Path length\n");
    file << "Path Lenth is : " << path_length << endl; 

at the end of the makeplan() in the sbpl_lattice_planner.cpp but i can't find any statement printed on the terminal except. Kindly help me out with this concern.

[mstuettgen]

Try starting your rosnode via launchfile and add "output="screen"" as a parameter.

If that doesnt help, try to use ROS_INFO instead of printf.

Hope that helps!

Mit freundlichen Grüßen / Best regards Marcel Stüttgen

---

Marcel Stüttgen, M.Eng. Mobile Autonomous Systems & Cognitive Robotics Institute Robotics and Foundations of Computer Science

FH Aachen - University of Applied Sciences Department of Electrical Engineering and Information Technology Eupener Strasse 70 | 52066 Aachen | Germany T: +49 241 6009 52206 E: stuettgen@fh-aachen.de

W: http://www.maskor.fh-aachen.de/

Am 15.09.2016 um 18:09 schrieb Karthikeyan Deenadayalan:

Hello again,

I am trying to find the global path length and computational time for the sbpl_lattice_planner (for ARA* and AD*). What necessary steps to be followed. I added the following code snippet

|geometry_msgs::PoseStamped last_pose; last_pose = _it; it++; for (; it!=plan.end(); ++it) { path_length += hypot( (_it).pose.position.x - last_pose.pose.position.x, (it).pose.position.y - last_pose.pose.position.y ); last_pose = it; } printf("Path length\n"); file << "Path Lenth is : " << path_length << endl; |

at the end of the makeplan() in the sbpl_lattice_planner.cpp but i can't find and statement printed on the terminal. Kindly help me out with this concern.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/MASKOR/maskor_navigation/issues/7#issuecomment-247373885, or mute the thread https://github.com/notifications/unsubscribe-auth/AKa-8j3RSLO27Cigm9NIDkGVyQ1V1VWNks5qqW27gaJpZM4JuOAR.

[kardee]

Yes works fine. But how to find the computational time for the algorithm. Is there any specific method for that.

[nlimpert]

As http://wiki.ros.org/sbpl_lattice_planner says there is a topic called ~/SBPLLatticePlanner/sbpl_lattice_planner_stats which serves a set of useful information about the planning process. Otherwise feel free to modify the source of sbpl_lattice_planner to gather further info.

[kardee]

Hello,

I have been trying to simulate the teb local planner and sbpl_lattice_planner, combination of both in Gazebo simulator but, I couldn't do it. I have also asked a question about this in ROS answer forum

http://answers.ros.org/question/242636/sbpl_lattice_planner- with-teb_local_planner-in-gazebo-simulation/ http://answers.ros.org/question/242636/sbpl_lattice_planner-with-teb_local_planner-in-gazebo-simulation/

​I don't know what I am missing there, it would be a immense help if you could help me out with problem.​

On Fri, Sep 16, 2016 at 7:36 AM, nlimpert notifications@github.com wrote:

As http://wiki.ros.org/sbpl_lattice_planner says there is a topic called ~/SBPLLatticePlanner/sbpl_lattice_planner_stats which serves a set of useful information about the planning process. Otherwise feel free to modify the source of sbpl_lattice_planner to gather further info.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/MASKOR/maskor_navigation/issues/7#issuecomment-247522003, or mute the thread https://github.com/notifications/unsubscribe-auth/ARg3sjQBJgPsPlylway5cM8K9RoShRI1ks5qqirKgaJpZM4JuOAR .

Thank You, Regards, KARTHIKEYAN DEENADAYALAN