ROS Package for Risk-Aware Control under non-Gaussian Beliefs. This package can be used to avoid areas in a known map for robots that use particle filters as state estimator. We provide a package that can be easily used in combination with the ROS2 navigation stack.
- Eigen3
- OsqpEigen (https://github.com/robotology/osqp-eigen)
- /particle_cloud (nav2_msgs/ParticleCloud)
- /cmd_vel_ref (geometry_msgs/Twist)
- /cmd_vel (geometry_msgs/Twist)
Start gazebo simulation of turtlebot (https://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#navigation)
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Run navigation stack (requires map of the environment, also need to remap /cmd_vel topic to /cmd_vel_ref)
ros2 launch turtlebot3_navigation2 navigation2.launch.py
Run risk-aware controller
ros2 run pfcbf pfcbf_node
Once the pfcbf node is running, we need to publish 2 points in RVIZ which represent the center of a circle as well as a point on the boundary of the circle. This is the area that we want the robot to avoid. An exemplary video is shown subsequently.
