corner_homing

Summary

A component for aligning a robot close to a corner. The alignment is performed based on laser scan measurements and is a two-step procedure:

the robot is aligned with the wall on its lateral side (by minimising the angle between the robot's local x-axis and the line through the lateral scan points)
once the alignment is complete, the robot moves close to the corner so that its distance to both corner sides is reduced within a desired bound

The homing procedure is exposed as an action server.

Dependencies

numpy
rospy
tf
geometry_msgs
sensor_msgs
actionlib

Launch file parameters

laser_topic
cmd_vel_topic
base_link_frame_name
laser_frame_name
homing_server_name
max_linear_vel_ms
max_angular_vel_rads
x_scan_min
x_scan_max
y_scan_min
y_scan_max
x_desired_dist
y_desired_dist
rotational_alignment_threshold