This is the navigation package. Requirements are a robotic pose (/pose), a map (/map) and laser range measurements (/scan).
roslaunch homer_navigation homer_navigation.launch
/homer_navigation/safe_path_weight:1.2 # factor weight for safer path in relation to shortest path/homer_navigation/waypoint_sampling_threshold:1.5 # factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint/homer_navigation/frontier_safeness_factor:1.4 # factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe
/homer_navigation/allowed_obstacle_distance/min:0.3 # m robot must stay further away than this from obstacles/homer_navigation/allowed_obstacle_distance/max:5.0 # m not used at the moment/homer_navigation/safe_obstacle_distance/min:0.7 # m if possible robot should move further away than this from obstacles/homer_navigation/safe_obstacle_distance/max:1.5 # m further away than this from obstacles doesn't give a lesser cost addition
/homer_navigation/collision_distance:0.3 # m distance to obstacle from robotFront in which the obstacle avoidance will be executed/homer_navigation/collision_distance_near_target:0.2 # m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target/homer_navigation/backward_collision_distance:0.5 # m distance behind robot in which the robot won't back up into while doing collision avoidance/homer_navigation/min_y:0.27 # m half robot width for max_move_distance calculation/homer_navigation/min_x:0.3 # m distance from base_link to robot front for max_move_distance calculation
/homer_navigation/check_path:true # bool toggles if the calculated path will be checked for obstacles while navigating/homer_navigation/check_path_max_distance:2 # m maximal distance from robot position in which the path is being checked for obstacles
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/homer_navigation/min_turn_angle:0.15 # rad values lower than this angle will let the navigation assume reaching the designated position -
/homer_navigation/max_turn_speed:0.6 # rad/s max turn velocity the navigation can send -
/homer_navigation/min_turn_speed:0.3 # rad/s min turn speed for Final Turn so the Robot doesn't stop turning -
/homer_navigation/max_drive_angle:0.6 # rad threshold for driving and turning - if above that value only turn -
/homer_navigation/max_move_speed:0.4 # m/s max move speed the navigation can send
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/homer_navigation/map_speed_factor:1.2 # factor for the max speed calculation of the obstacleDistancemap -
/homer_navigation/waypoint_speed_factor:1.2 # factor for the max speed calculation with the distance to the next waypoint -
/homer_navigation/obstacle_speed_factor:1.0 # factor for the max speed calculation with the last laser may movement distance -
/homer_navigation/callback_error_duration:0.3 # s max duration between pose and laser callbacks before error handling is executed -
/homer_navigation/use_ptu:false# bool toggles if the ptu is being used to look at the next Waypoint during navigation