eband_local_planner lack of documentation

[rlefevre1]

Hello ! I didn't find anywhere a documentation about the list of available parameters for the eband_local_planner. It would be nice if anyone can provide it. Thanks.

[jack-oquin]

+1

[piyushk]

@raflef11: I'll see what I can do, but it might be a couple of weeks before I can get this documentation up. The most important parameters are in eband_trajectory_controller_ros.cpp.

[jack-oquin]

@piyushk: maybe one of the summer students could write something up from reading the code.

This is something we'd like to have documented.

[piyushk]

@jack-oquin: I've tried getting students to read through that code over the years, but it's a tough piece. I've never seen progress.

[rlefevre1]

@piyushk Thank you for your help. I found parameters I needed in eband_trajectory_controller.cpp.

I think that the list of parameters could be displayed in the ros web page for the eband_local_planner (like the others planners). It is more convenient.

Thanks again

[jack-oquin]

@raflef11: please let us know if differential_drive=false works for you.

[jack-oquin]

I made a start at listing some of the ROS parameters. Many of the others would require guess-work on my part.

@piyushk: Please verify or correct my guess that the parameter namespace would be: ~/eband_local_planner.

[rlefevre1]

@jack-oquin Yes, for me differential_drive=false works properly.

But I have a problem: the parameters does not appear in the parameter server (when I type rosparam list there is no result for the eband_local_planner).

[jack-oquin]

But I have a problem: the parameters does not appear in the parameter server (when I type rosparam list there is no result for the eband_local_planner).

How did you set them?

[rlefevre1]

How did you set them?

I created a YAML file which contains the following lines:

EBandPlannerROS:

  differential_drive: false
  rotation_correction_threshold: 1.0

Then, I load it through a launch file as follows:

<launch>

  <arg name="base_global_planner" default="navfn/NavfnROS"/>
  <arg name="base_local_planner" default="eband_local_planner/EBandPlannerROS"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="$(arg base_global_planner)"/>
    <param name="base_local_planner" value="$(arg base_local_planner)"/>
    <rosparam file="$(find my_package)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_package)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_package)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_package)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_package)/config/eb_planner.yaml" command="load" /> <!-- HERE I LOAD THE PARAMETERS INSIDE THE YAML FILE -->
  </node>

</launch>

[jack-oquin]

What does this command print?

rosparam list | grep differential

[rlefevre1]

I already tried this command but it return nothing

[rlefevre1]

Oh, it's good, I don't know what I changed but it works now, thank you

[jack-oquin]

@raflef11: What was the full name of your parameter?

I am wondering whether the documentation I wrote is correct.

[rlefevre1]

The full names of the parameters I use are:

/move_base/EBandPlannerROS/differential_drive
/move_base/EBandPlannerROS/rotation_correction_threshold

These are the values in the parameter server.

[jack-oquin]

So, EBandPlannerROS is the name under which you configured the base_local_planner?

That means my documentation is wrong. I thought it would be eband_local_planner.

[rlefevre1]

Yes, I used EBandPlannerROS as you can see above (where I wrote the YAML file content). The documentation is effectively wrong ;)

[jack-oquin]

I think it's better now. Please check, and comment here if it's still wrong.

[rlefevre1]

It seems to be good

[jack-oquin]

Thanks for your help.

[rlefevre1]

You likewise.