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This is the documentation of ROS 2 PAL OS 24.9. For ROS 1, please visit the PAL OS 23.12 documentation.
PAL OS 24.9 documentation
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PAL OS 24.9 documentation

PAL robots

  • TIAGo Pro
  • Kangaroo
  • TIAGo
  • ARI
  • PAL Mobile bases

Activities

  • πŸ“ Developing robot apps
  • πŸ›  Robot management

Capabilities and API

  • 🏁 Getting started
  • πŸ“œ Developing applications
  • βš™οΈ Robots hardware
  • πŸ‘‹ Gestures and motions
  • 🧭 Navigation
    • πŸ₯… Goal Navigation
    • 🚩 Waypoint Navigation
    • πŸ“ Localization
    • πŸ—ΊοΈ Mapping
    • 🎯 Target Navigation
    • 🌐 Costmap Filters
    • πŸ›οΈ Environmental Annotations
    • πŸ“” Navigation Configuration Guide
    • Navigation skills
  • 🦾 Manipulation
  • πŸ‘₯ Social perception
  • πŸ’¬ Communication
  • πŸ˜„ Expressive interactions
  • πŸ’‘ Knowledge and reasoning
  • πŸ–₯️ Touchscreen
  • πŸ›  Robot management

Reference

  • PAL OS 24.9 Highlights
  • Frequently Asked Questions
  • Glossary
  • Index
  • List of ROS Topics
  • List of ROS Actions
  • List of ROS Services
  • List of ROS Nodes
  • List of ROS Parameters
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Navigation skills#

This page lists system skills (ie, installed by default) related to 🧭 Navigation. You can directly use these skills in your tasks and mission controller.

  • /backup (documentation) Nav2 Behavior Plugin implementing a configurable Back up behavior. It allows backward movements to recover the robot when is stuck.

    For more information on this Behavior, check the Nav2 BackUp Behavior documentation.

  • /compute_path_through_poses (documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path through a series of poses.

  • /compute_path_to_pose (documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path to reach a certain pose.

  • /detect_target (documentation) Action Server responsible for detecting and localizing a Target with respect to the robot. It can load multiple plugins for the detection of different Targets using different sensors.

    For more information, check the πŸ“‘ Target Detection.

  • /drive_on_heading (documentation) Nav2 Behavior Plugin which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance.

    For more information on this Behavior, check the Nav2 DriveOnHeading Behavior documentation.

  • /follow_path (documentation) Nav2 Action Server implemented by the nav2_controller package. Executes a given Path using the Controller (Local Planner).

  • /follow_waypoints (documentation) Nav2 Action Server implemented by the nav2_waypoint_follower package. Reaches a list of Waypoints, eventually performing a custom Waypoint Action upon the Waypoint arrival.

    For more information on this server, check the Nav2 Waypoint Follower documentation.

  • /joy_priority_action (documentation) Joystick Relay functionality implemented in the twist_mux package. Toggles the priority of the joystick control over the robot’s movement.

    For more information, check the twist_mux documentation.

  • /joy_turbo_angular_decrease (documentation) Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum angular velocity that the joystick can send to the robot.

    For more information, check the twist_mux documentation.

  • /joy_turbo_angular_increase (documentation) Joystick Relay functionality implemented in the twist_mux package. Increases the maximum angular velocity that the joystick can send to the robot.

    For more information, check the twist_mux documentation.

  • /joy_turbo_decrease (documentation) Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum linear velocity that the joystick can send to the robot.

    For more information, check the twist_mux documentation.

  • /joy_turbo_increase (documentation) Joystick Relay functionality implemented in the twist_mux package. Increases the maximum linear velocity that the joystick can send to the robot.

    For more information, check the twist_mux documentation.

  • /joy_turbo_reset (documentation) Joystick Relay functionality implemented in the twist_mux package. Reset to default the maximum linear and angular velocity that the joystick can send to the robot.

    For more information, check the twist_mux documentation.

  • /navigate_through_poses (documentation) Nav2 BT Navigator implemented by the nav2_bt_navigator package. Implements a navigation behavior from a starting point, through many intermediary hard pose constraints, to a final goal, using a specified Behavior Tree.

    For more information on this Navigator, check the Nav2 NavigateThroughPoses documentation.

  • /navigate_through_waypoints (documentation) Nav2 BT Navigator implemented for PAL robots. It integrates the functionalities of the Nav2 Navigate Through Poses documentation (see /navigate_through_poses) with the ones of the Nav2 Waypoint Follower documentation (see /follow_waypoints). It uses a Behavior Tree to navigate from a starting point, through a series of waypoints, eventually executing a list of Waypoint Actions upon each Waypoint arrival.

    For more information, check the 🚩 Waypoint Navigation.

  • /navigate_to_pose (documentation) Nav2 BT Navigator implemented by the nav2_bt_navigator package. It navigates from a starting point to a single point goal using a specified Behavior Tree.

    For more information on this Navigator, check the Nav2 NavigateToPose documentation.

  • /navigate_to_target (documentation) Nav2 BT Navigator implemented for PAL robots. It uses the /detect_target action to detect and localize a Target with respect to the robot. Once a Target has been detected, it loads a Behavior Tree to navigate the robot to the detected Target.

    For more information, check the 🎯 Target Navigation.

  • /set_configuration (documentation) PAL Nav2 Behavior Plugin that allows to dynamically change the configuration of any Navigation node.

  • /set_parameter (documentation) PAL Nav2 Behavior Plugin that allows to dynamically change a parameter for any Navigation node.

  • /spin (documentation) Nav2 Behavior Plugin implementing a configurable spin behavior. It makes the robot rotate by a certaing angle.

    For more information on this Behavior, check the Nav2 Spin Behavior documentation.

  • /wait (documentation) Nav2 Behavior Plugin implementing a configurable wait behavior. It makes the robot wait a certain amount of time.

    For more information on this Behavior, check the Nav2 Wait Behavior documentation.

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