OpenMowerROS2

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Map management ​

Overview ​

The map management is a ROS package responsible for managing map. It is a drop-in replacement for nav2 map server.

Map provides a static 2D environment representation used for robot navigation. The main concept is to have a map that consists of a set of areas. Map is created by combining multiple areas together. Obstacle areas are decoupled from navigation areas and can be added or removed at any time.

The second concept is a pose of docking station. It consists of a position and orientation. Position is a middle of the charging connectors. Orientation heading towards the robot's connectors.

ROS message definition ​

msg
std_msgs/Header header
Area[] areas
DockingStation[] docking_stations
std_msgs/Header header
Area[] areas
DockingStation[] docking_stations

Area ​

Each area is a polygon that can be either free to navigate or occupied by an obstacle. It's uniquely identified by an ID. Area can be added, removed or updated at any time.

Area name is used to identify the area. It's not required to be unique, but it's recommended to use unique names to avoid confusion.

Types ​

  • Exclusion area is an area that is not allowed to be occupied by the robot. It is used to exclude areas that are not safe for the robot to drive on. For example, a pond or a flower bed.
  • Navigation area is an area that is allowed to be occupied by the robot. It is used to define the area where the robot is allowed to drive on. For example, a driveway.
  • Lawn area is an area that is allowed to be occupied by the robot. It is used to define the area where the robot is allowed to drive on and execute mowing pattern.

ROS message definition ​

msg
uint8 TYPE_EXCLUSION = 0
uint8 TYPE_NAVIGATION = 1
uint8 TYPE_LAWN = 2

string id # id of the zone
string name # name of the zone
uint8 type # type of the area. 0 = obstacle, 1 = navigation, 1 = lawn
geometry_msgs/PolygonStamped area # area of the zone
uint8 TYPE_EXCLUSION = 0
uint8 TYPE_NAVIGATION = 1
uint8 TYPE_LAWN = 2

string id # id of the zone
string name # name of the zone
uint8 type # type of the area. 0 = obstacle, 1 = navigation, 1 = lawn
geometry_msgs/PolygonStamped area # area of the zone

Docking station ​

Docking station is a position where the robot can charge its batteries. It's uniquely identified by an ID. Docking station can be added, removed or updated at any time.

Pose is a position and orientation of the docking station. Position is a middle of the charging connectors. Orientation heading towards the robot's connectors.

ROS message definition ​

msg
string id # id of the docking station
string name # name of the docking station
geometry_msgs/PoseStamped pose # Usually a middle of the charging connectors. Orientation heading towards the robot's connectors.
string id # id of the docking station
string name # name of the docking station
geometry_msgs/PoseStamped pose # Usually a middle of the charging connectors. Orientation heading towards the robot's connectors.