README.md

waypoint_follower

This package provides waypoint following in ROS. Sends target waypoints to move_base and displays the waypoints in RVIZ.

1. Nodes

1.1 waypoint_follower2_node

1.1.1 Subscribed Topics

set_waypoints (waypoint_follower_msgs/WaypointArray)

Clears the waypoint list, then sets this as new waypoints.

1.1.2 Published Topics

jackal_velocity_controller/cmd_vel (geometry_msgs/Twist)

The command velocity to be sent to the robot.

waypoint_paths (nav_msgs/Path)

The incomplete waypoints.

1.1.3 Parameters

~baselink_frame (string, default: "base_link")

The base_link frame of the robot. This is only used if include_robot_path is true.

~odom_frame (string, default: "odom")

The odom frame of the robot.

~map_frame (string, default: "map")

The map frame of the robot.

~launch_frame (string, default: odom_frame)

The frame of waypoints specified in the launch file.

~include_start_pose ('bool, default: true`)

Whether to include the current position of the robot as part of the waypoint path.

~waypoints (array, default: [])

Sets waypoints. In the form position(x, y, z) followed by orientation (x, y, z, w).

~waypoint_order (array, default: [1,2,...])

The order to complete waypoints given by the parameter waypoints.

~gps_waypoints (array, default: [])

Sets waypoints. In the form position(lat, long). Requires the UTM transform provided by robot_localization's navsat_transform_node.

~gps_waypoint_order (array, default: [1,2,...])

The order to complete waypoints given by the parameter gps_waypoints.

~lin_vel (double, default: 0.5)

The linear velocity of the robot.

~ang_vel (double, default: 0.5)

The maximum angular velocity of the robot.

~dist_req (double, default: 1)

The distance in metres required for waypoint to be deemed completed.

~start_delay (double, default: 0)

The time in seconds to wait before moving.