path_smoothing_ros

Overview

A cubic spline interpolator for path smoothing. Compatible with ROS.

License

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:Wrybill-Robotics/path_smoothing_ros.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

roslaunch path_smoothing_ros path_smoothing.launch

Launch files

• path_smoothing.launch: generates a smooth path from input waypoints
• marker_path.launch: generates a smooth path from input visualization markers

Nodes

path_from_waypoints

Loads a geometry_msgs/PoseWithCovarianceStamped and appends to path.

Subscribed Topics

• /input ([geometry_msgs/PoseWithCovarianceStamped]) input topic to generate path points

Published Topics

• /initial_path ([nav_msgs/Path]) simple straight line path between input poses

Parameters

N/A

path_from_markers

Loads a list of Points from visualization_msg/Marker, calculates the centre points between markers, appends to Path.

Subscribed Topics

• /marker ([visualization_msg/Marker]) input topic to generate path points

Published Topics

• /initial_path ([nav_msgs/Path]) simple straight line path between input poses

Parameters

N/A

path_smoother

Loads a nav_msgs/Path and performes cubic spline interpolation to smooth the path

Subscribed Topics

• /initial_path ([nav_msgs/Path]) Simple straight line path to perform smoothing in

Published Topics

• /smoothed_path ([nav_msgs/Path]) Smoothed path

• /initial_pose ([geometry_msgs/PoseStamped]) pose for start of smoothed path

• /final_pose ([geometry_msgs/PoseStamped]) pose for end of smoothed path

Parameters

• points_per_unit ([Double]) number of points to generate between input points

• skip_points ([Int])

• use_end_conditions ([Boolean])

• use_middle_conditions ([Boolean])

References

• J. Hilgert, K. Hirsch, T. Bertram and M. Hiller, "Emergency path planning for autonomous vehicles using elastic band theory," Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2003, pp. 1390-1395 vol.2. doi: 10.1109/AIM.2003.1225546