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ViPlanner ROS Node

Overview

ROS Node to run ViPlanner on the LeggedRobot Platform ANYmal. The implementation consists of

  • the planner itself, running a semantic segmentation network and ViPlanner in parallel
  • a visualizer to project the path in the RGB and depth camera stream of the robot
  • a pathFollower to translate the path into twist commands that can be executed by the robot
  • an RViz plugin to set the waypoints for the planner

Installation

Please refer to Installation Instructions where details about the included docker and a manual install is given.

Usage

For the legged platform ANYmal, we provide configuration files for the C and D version as well as a more robot independent configuration based on a mounted RGB-D camera. The configuration files are located in the config folder. Before running the planner, make sure to adjust the configuration file to your needs and select the correct one in the viplanner.launch file.

After launching the ANYmal software stack, run the VIPlanner without visualization:

roslaunch viplanner_node viplanner.launch

By enabling the WaypointTool in RViz, you can set waypoints for the planner. The planner will track these waypoints. It is recommended to visualize the path and the waypoints in RViz to verify the correct behavior.

SmartJoystick

Press the LB button on the joystick, when seeing the output on the screen:

Switch to Smart Joystick mode ...

Now the smartjoystick feature is enabled. It takes the joy stick command as motion intention and runs the VIPlanner in the background for low-level obstacle avoidance.