README

potential_fields ROS Package Overview

This package hosts the pfield_manager node, which orchestrates the core library usage to interface with ROS:

  • Maintains instances of PotentialField, MotionPlugin, and the plugin-provided IKSolver.

  • Optionally initializes PF kinematics from a URDF path (parameter urdf_file_path) to estimate robot extent and populate obstacles.

  • Publishes RViz markers (goal/query triads, obstacles, influence volumes, velocity vectors) and a planned EE path.

  • Exposes a path-planning service and a convenience service for a local autonomy vector.

Topics and services

Publishers

  • pfield/markers (visualization_msgs/MarkerArray): goal, query pose, obstacles, influence zones, velocity vectors.

  • pfield/planned_path (nav_msgs/Path): end-effector path from the last planning request.

Subscribers

  • pfield/planning_goal_pose (geometry_msgs/PoseStamped): sets the PF goal pose.

  • pfield/obstacles (potential_fields_interfaces/ObstacleArray): external obstacles; any node may publish here.

  • pfield/query_pose (geometry_msgs/Pose): live “query pose” to visualize field flow.

Services

  • pfield/plan_path (potential_fields_interfaces/srv/PlanPath): plan a path from a start pose to the current goal.

  • pfield/compute_autonomy_vector (potential_fields_interfaces/srv/ComputeAutonomyVector): compute the limited twist at a pose.

Notes on robot geometry

  • You can supply obstacles directly via pfield/obstacles from any node.

  • Alternatively, provide a URDF path to the node via urdf_file_path; the PF library will initialize PFKinematics, estimate robot extent (for influence distance), and can update geometry-derived obstacles as planning progresses.

Copyright Notice Sharwin Patil 2025