Topological Map

The topological_map_ros package uses Networkx to create a topological map representation.

Services

• ~topological_path_plan (topological_map_ros/TopologicalPath)
  Get a list of nodes and directions to get from a source node to a goal node

• ~topological_position(topological_map_ros/TopologicalPosition)
  Get the topological position based on the pose of the robot

Testing

Topological Path Plan

You can do so with the following instructions:

1. Launch the topological_server: roslaunch topological_map_ros topological_map.launch
2. Make a service call from the terminal, e.g. rosservice call /topological_path_plan "source: 'kitchen' goal: 'bar'"

Topological robot pose

When using the real robot (or at least the bringup), it's possible to test the TopologicalPosition service with the following instructions:

1. Launch the topological_server: roslaunch topological_map_ros topological_map.launch
2. Run the map server. In mdr_environments, there is a handy launch file if you are testing this on your laptop: roslaunch mdr_environments rviz.launch
3. Launch the roslaunch topological_map_ros robot_pose_test.launch
4. Move the robot to the new area where you want to test or, if you are using your laptop, use the 2D Pose Estimate button in rviz to move the robot to a different place.
5. Publish from the terminal rostopic pub /robot_pose_test/event_in std_msgs/String "data: ''"