art_nav Documentation

art_nav: ART vehicle navigation

Navigation nodes for controlling the ART autonomous vehicle. This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

Homepage: http://www.ros.org/wiki/art_nav

Navigation nodes for controlling the ART autonomous vehicle.

This is a port to ROS of some of the Player 2D navigation code used on the vehicle for the 2007 DARPA Urban Challenge competition.

Commander Node

Global path planning for the ART autonomous vehicle.

Commander ROS API

Node name: commander

Subscribes:

• navigator/state navigator node state

Publishes:

• navigator/cmd way-point orders for the navigator node

ROS parameters

Reads and maintains the following parameters on the ROS server

• "~mdf" : [string] Mission Definition File name
• "~rndf" : [string] Road Network Definition File name

Navigator Node

Local path planning for the ART autonomous vehicle.

Navigator ROS API

Node name: navigator

Subscribes:

• navigator/cmd way-point orders from the commander node

Publishes:

• navigator/state current navigator state
• pilot/cmd velocity and steering angle for the pilot node

E-stop Control Client

Graphical client for E-stop control.

Examples

Run Qt script for sending speeds and steering angles to the pilot.

  rosrun art_nav estop.py

ROS API

• Node name: estop
• Publishes: navigator/cmd: navigator E-stop commands.