srpb_move_base

This package is closely related to the main package of the SRPB - a benchmark for the quantitative evaluation of social robot navigation.

srpb_move_base package allows logging data while the robot is navigating (using ROS1 navigation stack). The move_base package was extracted from the original ros-planning/navigation metapackage with a whole history preserved. Reference branches will be updated to upstream changes and <reference branch>-benchmark branches will be rebased.

Currently, only the version for ROS melodic is supported.

Usage

1. In your typical setup, switch from the classical move_base node to srpb_move_base node from the srpb_move_base package. This node has all functionalities of the classical move_base, plus some extensions to provide logging of the robot's and its environment state. Additional parameters are:
   • log_filename - path to the file with the data logged during the robot's run to the goal pose; note that any directory in which the output file is placed must be created beforehand; also note that the path will contain only the basename of the log file, as it will contain the date too.
   • log_frame_id - the name of the coordinate frame that logged data will be transformed into; map is recommended when recordings are meant to be visualized later.
2. Run your navigation just as usual.

TBD...

Acknowledgments

The foundations of this package are:

• ROS1 navigation stack metapackage. The move_base package was extracted from the metapackage as stated in the [Upstream updates](#Upstream updates) section.
• MRPB: Mobile Robot Local Planning Benchmark. There might be some shared sections of code, but overall, the original package has undergone a major overhaul.

Upstream updates

Upstream updates to ros-planning/navigation (note that NKU-MobFly-Robotics/local-planning-benchmark does not seem to be supported anymore) must be handled by hand. The procedure is as follows (based on stackoverflow:47084338):

git clone <REPO>
cd <REPO>
for i in $(git branch -r | sed "s/.*origin\///"); do git branch -t $i origin/$i; done
git filter-branch --prune-empty --subdirectory-filter move_base -- --all
git remote remove origin
git remote add origin git@github.com:rayvburn/srpb_move_base.git
git push origin '*:*'
git push origin --all
git push origin --tags

Last upstream update 2022.07.11.