As one of the further baselines in RobMoSys, the SmartSoft navigation components can be used with the PAL Robotics Tiago platform within the Gazebo simulation. It features PAL Robotics Tiago: see SmartGazeboBaseServer as virtual robot base. This example is available “ready-to-go” in the virtual machine image. A screenshot of the SmartMDSD Toolchain displaying the flexible navigation stack:
The five ready-to-use navigation components of the navigation stack can be downloaded from the SmartSoft Github component repository. The following list of references provides documentation for the fife navigation components:
The SmartCdlServer component (see figure below) deserves some further explanations. In a nutshell, this component receives laser-scans and next goals (which can be either a position, velocity, orientation or even undefined). Based on these inputs, the internal CDL algorithm calculates a set of collision-free navigation-commands. Each of these navigation-commands is equally valid, the selection of one “appropriate” one is performed upon a configurable navigation-strategy. For example, one strategy might try to maximize the overall velocity, another might try to stay in the middle of a hallway, yet another strategy might try reaching the next goal closest possible (often the default strategy). This separation between the general obstacle-avoidance and the definition of different strategies adds flexibility with respect to applicability of this component in different scenarios.
There is a list of further components related to different sensor types and robot platforms as alternatives to the above list of components: More precisely, the following two to use robot platforms are supported directly:
The following sensor component provides updated laser-scans using the SICK LMS200 laser scanner:
Note: all components and links in this section refer to the v2-generation of the SmartMDSD Toolchain: