ugv_nav4d_ROS2 Wrapper

This repository provides a ROS2 wrapper for the ugv_nav4d library, which is a path planning library designed for autonomous vehicle navigation. The ugv_nav4d_ros2 package enables easy integration of ugv_nav4d into ROS2 environments and provides visualizations for MLS (Multilayered Surface Maps) and TravMap3D (Traversability Map 3D).

Features

• ROS2 integration of the ugv_nav4d library.
• Visualization tools for MLS and TravMap3D in RViz.

Installation

Dependencies

1. ROS2: Ensure you have ROS2 Humble installed on your system.
2. ugv_nav4d: You will need the original ugv_nav4d library. Install it using the instructions here. Source the env.sh after installation to make ugv_nav4d library visible for ROS2. See details in documentation of ugv_nav4d.
3. Build: Build the ROS2 workspace

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   

4. Launch:

   ros2 launch ugv_nav4d_ros2 ugv_nav4d.launch.py
   

   Hint: Adjust the arguments pointcloud_topic and goal_topic. The pointcloud_topic expects a pointcloud map generated and corrected based on a SLAM algorithm. Alternatively, one could also use a PLY file to generate a MLS. See example files here. Most of the parameters in the params.yaml are explained in the original documentation of ugv_nav4d.

Services / Actions

Services:

Publish the MLS Map

ros2 service call /ugv_nav4d_ros2/map_publish std_srvs/srv/Trigger

Actions:

Save MLS Map as a file

ros2 action send_goal /ugv_nav4d_ros2/save_mls_map ugv_nav4d_ros2/action/SaveMLSMap filename:\ \'\'\

Parameters

Parameter	Type	Default Value	Description
read_pose_from_topic	Boolean	true	If false, the pose is read using TF2 with robot_frame and world_frame.
load_mls_from_file	Boolean	false	If false, then a slam corrected pointcloud is expected on a topic.
mls_file_type	String	ply	Options: bin or ply.
mls_file_path	String	default_value	Full path to the MLS file.
mls_gap_size	Double	0.1	The gap size used to decide on whether stacked MLS patches can be merged into one patch
robot_frame	String	robot	Frame name of the robot in TF2. Use when read_pose_from_topic is false
world_frame	String	world	Frame name of the world in TF2. Use when read_pose_from_topic is false
grid_resolution	Double	0.3	Grid resolution of the MLS and Traversability3d Map
dist_max_x	Double	50	Maximum length of MLS along x-axis (in meters)
dist_max_y	Double	50	Maximum length of MLS along y-axis (in meters)
dist_max_z	Double	50	Maximum length of MLS along z-axis (in meters)
dist_min_x	Double	-50	Mininum length of MLS along x-axis (in meters)
dist_min_y	Double	-50	Mininum length of MLS along y-axis (in meters)
dist_min_z	Double	-50	Mininum length of MLS along z-axis (in meters)

Bug Reports

To search for bugs or report them, please use GitHubs [Issue-Tracker](https://github.com/dfki-ric/ugv_nav4d_ros2/issues