ugv_nav4d_ROS2 Wrapper

This repository provides a ROS2 wrapper for the ugv_nav4d library, which is a path planning library designed for autonomous vehicle navigation. The ugv_nav4d_ros2 package enables easy integration of ugv_nav4d into ROS2 environments and provides visualizations for MLS (Multilayered Surface Maps) and TravMap3D (Traversability Map 3D).

Features

• ROS2 integration of the ugv_nav4d library.
• Visualization tools for MLS and TravMap3D in RViz.

Installation

Dependencies

1. ROS2: Ensure you have ROS2 Humble installed on your system.
2. ugv_nav4d: You will need the original ugv_nav4d library. Install it using the instructions here. Source the env.sh after installation to make ugv_nav4d library visible for ROS2. See details in documentation of ugv_nav4d.
3. Build: Build the ROS2 workspace

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   

4. Launch:

   ros2 launch ugv_nav4d_ros2 ugv_nav4d.launch.py
   

   Hint: Adjust the arguments pointcloud_topic and goal_topic. The pointcloud_topic expects a pointcloud map generated and corrected based on a SLAM algorithm. Alternatively, one could also use a PLY file to generate a MLS. See example files here. Most of the parameters in the params.yaml are explained in the original documentation of ugv_nav4d.

Services / Actions

Services:

Publish the MLS Map

ros2 service call /ugv_nav4d_ros2/map_publish std_srvs/srv/Trigger

Actions:

Save MLS Map as a file

ros2 action send_goal /ugv_nav4d_ros2/save_mls_map ugv_nav4d_ros2/action/SaveMLSMap filename:\ \'\'\

Bug Reports

To search for bugs or report them, please use GitHubs [Issue-Tracker](https://github.com/dfki-ric/ugv_nav4d_ros2/issues