SBPL with TEB_LOCAL_PLANNER with Turtlebot

[kardee]

Hello,

I am using sbpl_lattice_planner and teb_local_planner for my project. How should I add this teb_local_planner to sbpl_lattice_planner,and I use gazebo simulation environment. Which launch file should I use ?

[mstuettgen]

Hi!
I think we can provide such a file. I send this mail also to our specialist Nic,  I think he can help you very quickly setting this up.
Best regards Marcel Stüttgen

Von meinem Samsung Gerät gesendet.

-------- Ursprüngliche Nachricht --------
Von: Karthikeyan Deenadayalan [email protected]
Datum: 26.08.16 5:57 PM (GMT+01:00)
An: MASKOR/maskor_navigation [email protected]
Betreff: [MASKOR/maskor_navigation] SBPL with TEB_LOCAL_PLANNER with Turtlebot
(#7)

Hello,

I am using sbpl_lattice_planner and teb_local_planner for my project. How should I add this teb_local_planner to sbpl_lattice_planner. Which launch file should I use ?

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[nlimpert]

Hi,
with commit 59390f2 we published a launch-file "move_base_sbpl_teb_local_planner.launch" which makes use of both.
Keep in mind that you will have to tweak settings in the configuration files still.

Best regards

[kardee]

Hello again,

I am trying to find the global path length and computational time for the sbpl_lattice_planner (for ARA* and AD*). What necessary steps to be followed. I added the following code snippet

    geometry_msgs::PoseStamped last_pose;
    last_pose = *it;
    it++;
    for (; it!=plan.end(); ++it) {
       path_length += hypot(  (*it).pose.position.x - last_pose.pose.position.x, 
                         (*it).pose.position.y - last_pose.pose.position.y );
       last_pose = *it;
    }
    printf("Path length\n");
    file << "Path Lenth is : " << path_length << endl; 

at the end of the makeplan() in the sbpl_lattice_planner.cpp but i can't find any statement printed on the terminal except. Kindly help me out with this concern.

[mstuettgen]

Try starting your rosnode via launchfile and add "output="screen"" as a
parameter.

If that doesnt help, try to use ROS_INFO instead of printf.

Hope that helps!

Mit freundlichen Grüßen / Best regards
Marcel Stüttgen

---

Marcel Stüttgen, M.Eng.
Mobile Autonomous Systems & Cognitive Robotics Institute
Robotics and Foundations of Computer Science

FH Aachen - University of Applied Sciences
Department of Electrical Engineering and Information Technology
Eupener Strasse 70 | 52066 Aachen | Germany
T: +49 241 6009 52206
E: [email protected]

W: http://www.maskor.fh-aachen.de/

Am 15.09.2016 um 18:09 schrieb Karthikeyan Deenadayalan:

Hello again,

I am trying to find the global path length and computational time for
the sbpl_lattice_planner (for ARA* and AD*). What necessary steps to be
followed. I added the following code snippet

|geometry_msgs::PoseStamped last_pose; last_pose = _it; it++; for (;
it!=plan.end(); ++it) { path_length += hypot( (_it).pose.position.x -
last_pose.pose.position.x, (*it).pose.position.y -
last_pose.pose.position.y ); last_pose = *it; } printf("Path length\n");
file << "Path Lenth is : " << path_length << endl; |

at the end of the makeplan() in the sbpl_lattice_planner.cpp but i can't
find and statement printed on the terminal. Kindly help me out with this
concern.

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[kardee]

Yes works fine. But how to find the computational time for the algorithm. Is there any specific method for that.

[nlimpert]

As http://wiki.ros.org/sbpl_lattice_planner says there is a topic called ~/SBPLLatticePlanner/sbpl_lattice_planner_stats which serves a set of useful information about the planning process.
Otherwise feel free to modify the source of sbpl_lattice_planner to gather further info.

[kardee]

Hello,

I have been trying to simulate the teb local planner and
sbpl_lattice_planner, combination of both in Gazebo simulator but, I
couldn't do it. I have also asked a question about this in ROS answer forum

http://answers.ros.org/question/242636/sbpl_lattice_planner-
with-teb_local_planner-in-gazebo-simulation/
http://answers.ros.org/question/242636/sbpl_lattice_planner-with-teb_local_planner-in-gazebo-simulation/

​I don't know what I am missing there, it would be a immense help if you
could help me out with problem.​

On Fri, Sep 16, 2016 at 7:36 AM, nlimpert [email protected] wrote:

As http://wiki.ros.org/sbpl_lattice_planner says there is a topic called
~/SBPLLatticePlanner/sbpl_lattice_planner_stats which serves a set of
useful information about the planning process.
Otherwise feel free to modify the source of sbpl_lattice_planner to gather
further info.

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Thank You,
Regards,
KARTHIKEYAN DEENADAYALAN