ROS Navigation-----rotate_recovery机制简介

  这个包给导航功能包集提供了一种修复机制，它尝试让机器人执行360度旋转来完成清理空间。

1 Overview

 rotate_recovery::RotateRecovery是一种简单的修复机制，通过机器人执行360度旋转完成代价地图中空间清理，继承了接口nav_core::RecoveryBehavior ，以插件方式用于move_base node。

2 RotateRecovery

 rotate_recovery::RotateRecovery将功能以 C++ ROS Wrapper导出，在初始化时指定的ROS命名空间中使用。

以下是创建rotate_recovery::RotateRecovery对象的一个示例:

#include <tf/transform_listener.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <rotate_recovery/rotate_recovery.h>

...
tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS global_costmap("global_costmap", tf);
costmap_2d::Costmap2DROS local_costmap("local_costmap", tf);

rotate_recovery::RotateRecovery rr;
rr.initialize("my_rotate_recovery", &tf, &global_costmap, &local_costmap);

rr.runBehavior();

2.1 API Stability

• The C++ API is stable.
• The ROS API is stable.

2.2 ROS Parameters

  rotate_recovery::RotateRecovery对象假定move_base node使用的局部规划器是base_local_planner::TrajectoryPlannerROS。

2.2.1 RotateRecovery Parameters

~<name>/sim_granularity (double, default: 0.017)

• The distance in radians between checks for obstacles when checking if an in-place rotation is safe. Defaults to 1 degree.

~<name>/frequency ( double, default: 20.0)

• The frequency in HZ at which to send velocity commands to the mobile base.

2.2.2 TrajectoryPlannerROS Parameters

  这些参数在base_local_planner::TrajectoryPlannerROS局部规划器已经配置过， 只有当导航功能包集中的其它局部规划器被rotate_recovery::RotateRecovery使用时才有必要设置。

~TrajectoryPlannerROS/yaw_goal_tolerance (double, default: 0.05)

• The tolerance in radians for the controller in yaw/rotation when achieving its goal

~TrajectoryPlannerROS/acc_lim_th ( double, default: 3.2)

• The rotational acceleration limit of the robot in radians/sec^2

~TrajectoryPlannerROS/max_rotational_vel ( double, default: 1.0)

• The maximum rotational velocity allowed for the base in radians/sec

~TrajectoryPlannerROS/min_in_place_rotational_vel ( double, default: 0.4)

• The minimum rotational velocity allowed for the base while performing in-place rotations in radians/sec

2.2.3 C++ API

The C++ rotate_recovery::RotateRecovery class adheres to the nav_core::RecoveryBehavior interface found in the nav_core package. For detailed documentation, please see RotateRecovery documentation.