Nearness Diagram - Final Project, Autnomous Robots Course

Implementation of the Nearness Diagram local planner [1] in ROS Melodic. The results can be seen in this video.

Authors

• Ignacio Herrera Seara, 756920
• Juan García-Lechuz Sierra, 736161

Compilation

The package has only been tested on ROS Melodic.

Make sure you have the tf2 package installed.

catkin build nd

After compiling make sure that "nd" appears in the nav_core plugin list.

rospack plugins --attrib=plugin nav_core

If you get a tf2::doTransform not found error (or something similar) during execution, try install the tf2_geometry_msgs package.

Execution

roslaunch nd navigation_rviz.launch map:=<map>

• <map>: name of a subfolder of /world containing a stage map. By default the empty map is launched. The folder must contain a sample.world file and a sample.yaml file.
• ND parameters can be configured in /config/move_base/planners/nd_local_planner_params.yaml

Make sure that the initial position of the robot in the .launch file matches the position of the robot in the sample.world file.

References

[1] Javier Minguez, Luis Montano. (2004). Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios. IEEE Transactions on Robotics and Automation.