Directories | |
| include | |
| src | |
| tests | |
Detailed Description
easynav_simple_controller
Description
Simple path-following controller that uses PID controllers and a look-ahead reference pose to follow a planned path. It produces velocity commands (cmd_vel) based on the reference pose sampled at a look-ahead distance and limits linear/angular speeds and accelerations.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmric.nosp@m.o@gm.nosp@m.ail.c.nosp@m.om
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| rolling |  |
Plugin (pluginlib)
- Plugin Name: easynav_simple_controller/SimpleController
- Type: easynav::SimpleController
- Base Class: easynav::ControllerMethodBase
- Library: easynav_simple_controller
- Description: Path-following controller using PID (linear and angular) and a look-ahead strategy.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_simple_controller/SimpleController/....
This plugin derives from easynav::ControllerMethodBase. \ See that section for shared collision-checking parameters and debug markers common to all controllers.
| Name | Type | Default | Description |
|---|---|---|---|
| max_linear_speed | double | 1.0 | Maximum linear speed (m/s). |
| max_angular_speed | double | 1.0 | Maximum angular speed (rad/s). |
| max_linear_acc | double | 0.3 | Maximum linear acceleration (m/s²). |
| max_angular_acc | double | 0.3 | Maximum angular acceleration (rad/s²). |
| look_ahead_dist | double | 1.0 | Look-ahead distance to sample the reference pose on the path (m). |
| tolerance_dist | double | 0.05 | Distance threshold to switch to pure orientation tracking (m). |
| final_goal_angle_tolerance | double | 0.1 | Angular tolerance (rad) used to decide final-goal arrival. |
| k_rot | double | 0.5 | Gain used to reduce linear speed based on angular velocity (higher: stronger reduction while turning). |
| linear_kp | double | 0.95 | Proportional gain for the linear PID controller. |
| linear_ki | double | 0.03 | Integral gain for the linear PID controller. |
| linear_kd | double | 0.08 | Derivative gain for the linear PID controller. |
| angular_kp | double | 1.5 | Proportional gain for the angular PID controller. |
| angular_ki | double | 0.03 | Integral gain for the angular PID controller. |
| angular_kd | double | 0.08 | Derivative gain for the angular PID controller. |
Interfaces (NavState, Topics and Services)
NavState
This controller uses the shared NavState bag provided by the easynav_core framework. The following keys are used at runtime by SimpleController:
| Key | Type | Access | Notes |
|---|---|---|---|
| robot_pose | nav_msgs::msg::Odometry | Read | Current robot odometry used to compute the robot pose and yaw. |
| path | nav_msgs::msg::Path | Read | Planned path to follow. The controller samples a reference pose at look_ahead_dist along this path. |
| cmd_vel | geometry_msgs::msg::TwistStamped | Write | Output velocity command. Header.frame_id is set to path.header.frame_id when available and stamp to the controller node clock. |
Topics / Services
The controller itself does not create ROS publishers/subscribers or service servers. It interacts via the NavState abstraction; how NavState is exposed (topics or other IPC mechanisms) depends on the integrating node.
TF Frames
This controller reads pose from nav_msgs/Odometry (NavState key robot_pose). TF is not directly used in this plugin.
License
Apache-2.0
Generated by
1.16.1