Config : Mission ExecutiveΒΆ

Below is a brief of the parameters in the Mission Executive Config file.

Parameter Description
map_frame This parameter stores the map/global frame id.
robot_frame This parameter stores the robot frame id.
loop_frequency The frequency at which the mission_executive node runs.
max_time_lag Maximum time in which the feedback should be recieved by the controller action server during the controlling state.
decay The factor by which the velocity of the robot is decreased if the feedback lag from the controller action server passes the set threshhold (max_time_lag).
planner The planner name. User can chose between NavfnPlanner and genroute.
controller The controller name. User can chose between mw_maxl_planner, trajectory_planner ( open source local planner).
plan_topic The topic name at which the path consisting of waypoints is published.
cmd_vel_topic The topic name at which the command velocity of the robot is published.
route_topic The topic name at which the route markers for visualizing the route in Rviz are published.
goal_queue_topic The topic name at which the goal queue markers for vizualizing the goals in Rviz are published.
tf_timeout The time threshold in which the current robot pose should be updated.
max_retries The maximum amount of times the controller is allowed to reset before aborting the mission.
min_distance_tolerance If the robot traverses a distance lesser than the this tolerance for a time greater than the recovery_timeouts, recovery will be triggered. The greater the value the more sensitive the robot is to triggering recovery.
min_angular_tolerance If the robot traverses an angular distance lesser than the this tolerance for a time greater than the recovery_timeouts, recovery will be triggered. The greater the value the more sensitive the robot is to triggering recovery.
controller_reset_timeout The time threshold after which the controller is reset.
recovery_timeouts i.e. recoveries The timeouts for differnt types of recoveries are set in this field. The increasing order of timeouts decides the order in which recoveries will be executed. Recovery with the least timeout will be executed first and so on.
goal_queue_mode If true, the executive will add new goals to a queue and pursue them on a one-by-one basis. If false, the new goals will replace the old goal and only the latest goal will be pursued.