Only released in EOL distros:   electric fuerte

Cart local planner provides a single ros plugin, cart_local_planner, that implements the base_local_planner interface expected by move_base. It simply tries to follow the given base path exactly. It also provides an additional interface for controlling the cart.

Advertised topics

articulate_cart_server/command_twist (geometry_msgs/TwistStamped)

• Commanded twist for the cart reference point

Subscribed topics

/move_base_node/SBPLCartPlanner/sbcl_robot_cart_plan (cart_pushing_msgs/RobotCartPath)

• The planner is expected to publish the full plan (with both base and cart poses) on this topic. When the plugin receives a global plan from move_base, it is compared with the recent plans on this topic to find the corresponding one, and the arm positions are looked up from there.

TF frames needed

base_footprint

• The base pose

cart

• The pose of the cart reference point

Main ROS parameters

cart_pushing/max_vel_{base,cart}_{x,y,theta}

• Max velocities for the base and cart

HolonomicCartPlanner/k_{trans,rot}_{base_cart}

• Gains for the cart and base velocities

cart_pushing/{length,width}

• Cart dimensions

cart_pushing/footprint_{x,y}_offset

• The offset of the reference point of the cart from the corner