~lwheel_desired_rate (std_msgs/Int32)

Desired left wheel rotation rate, in encoder ticks per second.

~rwheel_desired_rate (std_msgs/Int32)

Desired right wheel rotation rate, in encoder ticks per second.

~cmd_vel (geometry_msgs/Twist)

Desired linear and angular velocity.

~ticks_per_meter (double)

Number of encoder ticks per meter of travel.

~wheel_separation (double)

Distance between the two wheels (meters).

~rate (int, default: 50)

The rate that the output velocity target messages will be published (Hz).

~timeout (int, default: 0.2)

The maximum number of seconds expected between cmd_vel messages. If cmd_vel is not received before this limit, the controller will assume the commanding node has died and will set the desired wheel rates to zero, to stop the robot.

~odom — (nav_msgs/Odometry)

The robot odometry — the current robot pose.

~tf

The transform between the odometry frame and the robot frame.

~lwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the left wheel.

~rwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the right wheel.

~lwheel_rate (std_msgs/Float32)

Left wheel rotation rate, in encoder ticks per second.

~rwheel_rate (std_msgs/Float32)

Right wheel rotation rate, in encoder ticks per second.

~ticks_per_meter (double)

Number of encoder ticks per meter of travel.

~wheel_separation (double)

Distance between the two wheels (m).

~rate (double, default 10.0)

The rate at which the tf and odom topics are published (Hz).

~timeout (double, default 0.2)

The amount of time to continue publishing desired wheel rates after receiving a twist message (seconds). If set to zero, wheel velocities will be sent only when a new twist message is received.

~base_frame_id (string, default: "base_link")

The name of the base frame of the robot.

~odom_frame_id (string, default: "odom")

The name of the odometry reference frame.

~encoder_min (int, default: -32768)

~encoder_max (int, default: 32768)

The min and max value the encoder should output. Used to calculate odometry when the values wrap around.

~wheel_low_wrap (int, default: 0.3 * (encoder_max - encoder_min + 1) + encoder_min)

~wheel_high_wrap (int, default: 0.7 * (encoder_max - encoder_min + 1) + encoder_min)

If a reading is greater than wheel_high_wrap and the next reading is less than wheel_low_wrap, then the reading has wrapped around in the positive direction, and the odometry will be calculated appropriately. The same concept applies for the negative direction.

~distance_to_goal (std_msgs/Float32)

Distance to the goal position (meters).

~cmd_vel (geometry_msgs/Twist)

Desired linear and angular velocity to move toward the goal pose.

~goal (geometry_msgs/Pose)

Desired goal pose.

~rate (float, default: 10)

Rate at which to publish desired velocities (Hz).

~goal_linear_tolerance (float, default: 0.1)

The distance from the goal at which the robot is assumed to have accomplished the goal position (meters).

~goal_angular_tolerance (float, default: 0.087)

The difference between robot angle and goal pose angle at which the robot is assumed to have accomplished the goal attitude (radians). Default value is approximately 5 degrees.

~max_linear_velocity (float, default: 0.2)

The maximum linear velocity toward the goal (meters/second).

~max_angular_velocity (float, default: 1.5)

The maximum angular velocity (radians/second).

~max_linear_acceleration (float, default: 4.0)

The maximum linear acceleration (meters/second^2).

~forwardMovementOnly (boolean, default: true)

If true, only forward movement is allowed to achieve the goal position. If false, the robot will move backward to the goal if that is the most direct path.

~Kp (float, default: 3.0)

Linear distance proportionality constant. Higher values make the robot accelerate more quickly toward the goal and decelerate less quickly.

~Ka (float: default: 8.0)

Proportionality constant for angle to goal position. Higher values make the robot turn more quickly toward the goal.

~Kb (float: default: -1.5)

Proportionality constant for angle to goal pose direction. Higher values make the robot turn more quickly toward the goal pose direction. This value should be negative, per Autonomous Mobile Robots.

The control law for determining the linear and angular velocity to move toward the goal works as follows. Let d be the distance to the goal. Let a be the angle between the robot heading and the goal position, where left is positive. Let b be the angle between the goal direction and the final pose angle, where left is positive. Then the robot linear and angular velocities are calculated like this:

See Autonomous Mobile Robots, Second Edition by Siegwart et. al., section 3.6.2.4. In this code, when the robot is near enough to the goal, v is set to zero, and w is simply Kb*b.

To ensure convergence toward the goal, K_p and K_a must be positive, K_b must be negative, and K_a must be greater than K_p. To ensure robust convergence, so that the robot never changes direction, K_a - 5/3*K_b - 2/pi*K_p must be greater than zero.

~lwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the left wheel.

~rwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the right wheel.

~lwheel_rate (std_msgs/Float32)

Left wheel rotation rate, in encoder ticks per second.

~rwheel_rate (std_msgs/Float32)

Right wheel rotation rate, in encoder ticks per second.

~lwheel_desired_rate (std_msgs/Int32)

Desired left wheel rotation rate, in encoder ticks per second.

~rwheel_desired_rate (std_msgs/Int32)

Desired right wheel rotation rate, in encoder ticks per second.

~cmd_timeout (float, default: 0.2)

The amount of time after the last wheel rate message when the robot should stop automatically (seconds).

~rate (float, default 10.0)

The rate at which the simulated wheel encoder values and rates should be published (Hz).