OutdoorNav Software User Manual

OutdoorNav Software User Manual

Safety Notices

• Safety
  • Important Safety Information
  • Safety Notice Levels
  • General Hazard Labels
  • Safety Awareness

Overview

• Introduction
  • Summary
  • Compatible Platforms
  • Key Features
• Scope
• Hardware Requirements
  • Requirements
  • Typical Hardware
• Operating Conditions
  • Operating Conditions
    • Terrain
    • Environment
  • Performance
  • Limitations
    • Obstacle Detection Limitations

Getting Started

• Getting Started
  • Connecting to Web UI
  • Loading Map Tiles
  • Survey Base Station
  • Set Datum
  • Set Dock Location
  • Set the Magnetic Declination of the IMU
  • Checking GPS RTK Fix
  • Subsequent Sections

Web User Interface

• Web UI Overview
  • Main Components
  • Map View
  • Camera Views
    • Pan-Tilt-Zoom (PTZ) View
    • Front and Back Views
  • 3D View
• Web UI Manual Mode (Teleoperation)
  • Monitor Wireless Strength
• Web UI Autonomous Mode
  • Definitions
  • Map Settings
  • Goal Creation
    • Waypoint Mode
    • Route Mode
    • Goal Panel
    • Rearrange List of Goals
    • Rename Goal
    • Add Task to Goal
    • Advanced Settings
      • Goal Heading
      • Goal Tolerance
    • Save Mission
  • Mission Execution
    • Start Mission
    • Pause Mission
    • Cancel Mission/Task
  • Autonomous Docking
    • Docking The UGV
    • Undocking The UGV
    • Recover from Failed (Un)Docking

Application Programming Interface

• API Overview
• API Details
  • Platform API
    • Topics Published by UGV
      • tf
      • tf_static
      • <platform>_velocity_controller/odom
      • extra_imu/imu/data
      • navsat/upgrade/fix
      • rtk_heading
      • clock
      • front/scan
      • rear/scan
      • velodyne_points
      • rear/velodyne_points
      • microhard_snmp
    • Topics Subscribed to by UGV
      • cmd_vel
  • Autonomy API
    • Topics Published by OutdoorNav
      • cmd_vel
      • odometry/filtered_map
      • estop_status
      • robot/desiredAction
      • mission_server/desired_path
      • mission_server/global_path
      • current_goal
      • missionplan/feedback
      • missionplan/result
      • move_base_flex/PathTracker/current_max_velocity
      • move_base_flex/PathTracker/lidar_safety
      • move_base_flex/PathTracker/mpc_local_plan
      • move_base_flex/PathTracker/path_progress
      • move_base_flex/PathTracker/plan_spline
      • move_base_flex/SBPLLatticePlanner/plan
      • move_base_flex/global_costmap/costmap
      • move_base_flex/global_costmap/footprint
      • move_base_flex/globalplanner/plan
      • move_base_flex/local_costmap/costmap
    • Topics Subscribed to by OutdoorNav
      • missionplan/cancel
      • missionplan/goal
      • move_base_flex/exe_path/goal
      • move_base_flex/exe_path/cancel
      • move_base_flex/move_base/goal
      • move_base_flex/move_base/cancel
      • robot/desiredAction
    • Services Exported by OutdoorNav
      • set_datum
      • set_pose
      • move_base_flex/clear_costmaps
  • Definitions
    • Message Definitions
      • cpr_gps_navigation_msgs/AutonomySync
      • cpr_gps_navigation_msgs/Mission
      • cpr_gps_navigation_msgs/MissionAction
      • cpr_gps_navigation_msgs/Safety
      • cpr_gps_navigation_msgs/Task
      • cpr_gps_navigation_msgs/Waypoints
      • microhard_msg
      • Standard ROS Messages
    • Service Definitions
      • TaskSrv.srv
      • SetPose.srv
      • Standard ROS Services
  • Advanced Usage
    • Tasks
    • Examples
      • Mission Client to Run Navigation

Navigation

• Navigation
  • Features
  • Command Line Operation
    • Connecting to the OutdoorNav Computer
    • Starting the Navigation Software
    • Stopping the Navigation Software
    • Restarting the Navigation Software
    • Accessing the Shell in Docker Container
    • Accessing the Navigation Software Logs
    • Validating TF Setup

Simulation

• Simulation

Frequently Asked Questions

• FAQ
  • Autonomous Missions
  • Autonomous Docking

Contact Us

• Contact Us

Appendix A: UGV Integration

• UGV Integration Requirements
  • Integration Overview
  • Hardware Integration Requirements
  • Network Requirements
  • ROS Software Integration Requirements
  • Odometry Performance Requirements

Appendix B: CPR Hardware

• Clearpath Robotics Hardware
  • Calibrating the IMU
    • Microstrain IMU
    • UM6/7 IMU
  • RTK Positioning GPS Setup
    • Base Station GPS Configuration
    • UGV Position GPS Configuration
  • RTK Survey Positioning
    • Base Station Survey: Web UI
    • Base Station Survey: Piksi Console
    • Base Station Survey: ROS Geodetic Survey
  • RTK Heading Setup
  • Wireless E-Stop