Application: holonomic-navigator-demo

holonomic-navigator-demo

An interactive simulator of the holonomic reactive navigation methods of mrpt-nav (mrpt::nav::CHolonomicVFF and mrpt::nav::CHolonomicND) for a circular robot with a 360-degree range sensor, in a 2D occupancy grid map.

holonomic-navigator-demo [--start]

--start starts navigating at once, with the default settings.

User interface

The world (map, robot, its sensor range and path, and the target) is the background of the main window. Dockable panels:

  • Local view : the normalized sensor readings around the robot, the relative target, the direction and speed chosen by the method, and the gaps detected by ND.

  • Configuration : the holonomic method, and the parameters of the simulator and of both methods, as INI text (editable while stopped).

  • Stats : robot and target positions, distance to the target, chosen speed and direction, ND situation and gaps, and the cursor position.

Toolbar: Place robot (R) and Set target (T), then left-click on the map (Esc cancels); START / STOP (Space). The “File” menu loads another map, either a binary .gridmap(.gz) file or an image (its resolution and center are asked for). The “View” menu shows or hides the sensor range and the robot path.