Coverage Server

Source code on Github.

The Coverage Server in opennav_coverage implements the server for handling the complete-coverage planning requests of a given field or zone set in cartesian or GPS coordinates using the Fields2Cover library. It can also compute coverage route and plans using a precomputed set of rows using the opennav_row_coverage server. It is within the opennav_coverage project, not within Nav2 directly, but is planned for a longer-term integration once a few key features are available in Fields2Cover. If you wish to contribute to this effort, please let a maintainer know!

Note

All default_ prefixed parameters can be overwritten in the action request field. When modes are not set in the Action goal, the defaults are utilized.

Parameters

`coordinates_in_cartesian_frame`

Type: bool Default: true: Whether or not requests coming into the server will be in cartesian (e.g. meters) or GPS coordinates. If GPS, they are automatically converted into UTM frame (for meters) to compute the coverage paths, then converted back into GPS for the client.

`robot_width`

Type: double Default: 2.1: The robot's width in meters.

`operation_width`

Type: double Default: 2.5: The robot's operational width (cleaning, planting, etc) for computing coverage swath distances

`min_turning_radius`

Type: double Default: 0.4: The robot's minimum turning radius for computing paths connecting route swaths (m)

`linear_curv_change`

Type: double Default: 2.0: The robot's maximum linear curvature change for computing paths connecting route swaths (1/m^2)

`default_allow_overlap`

Type: bool Default: false: Whether, by default, to allow overlapping of the last row in the coverage plan to obtain coverage at the far edge. Only for opennav_coverage.

`default_headland_type`

Type: string Default: "CONSTANT": The default headland generation method. Constant is the only valid method currently. Only for opennav_coverage.

`default_headland_width`

Type: double Default: 2.0: The default headland width to remove from the field or zone from coverage planning. Only for opennav_coverage.

`default_swath_type`

Type: string Default: "LENGTH": Objective to use to score swath generation candidates at different angles when using "BRUTE_FORCE" swath angle type. Options: "LENGTH", "COVERAGE", "NUMBER" for opennav_coverage. Option: "OFFSET", "CENTER", "ROWSARESWATHS" for opennav_row_coverage. Note that "COVERAGE" takes 10x longer than others.

`default_swath_angle_type`

Type: string Default: "BRUTE_FORCE": Mode to use for generating swaths. Need to find optimal angle by the swath generator objectives, if not given. Options: "BRUTE_FORCE", "SET_ANGLE". Only for opennav_coverage.

`default_step_angle`

Type: double Default: 1.7e-2: The angular step size to try to find the optimal angle for route objective, when using "BRUTE_FORCE" swath angle type. Default is 1 deg in rad units. Only for opennav_coverage.

`default_swath_angle`

Type: double Default: N/A: The optimal angle for route objective, when using "SET_ANGLE" swath angle type. Default is 1 deg in rad units. Only for opennav_coverage.

`default_route_type`

Type: string Default: "BOUSTROPHEDON": Default order when computing routes to order swaths. Options: "BOUSTROPHEDON", "SNAKE", "SPIRAL", "CUSTOM"

`default_custom_order`

Type: vector<int> Default: N/A: The default custom swath order for the route planner in the "CUSTOM" mode. The length of this custom order must be >= swaths.size(). Only relevant when using the "CUSTOM" Route Type.

`default_spiral_n`

Type: int Default: 4: Default number of swaths to skip and double back on to create a spiral pattern in the route. Only relevant when using the "SPIRAL" Route Type. "SNAKE" is a special case when Spiral N = 2.

`default_path_continuity_type`

Type: string Default: "CONTINUOUS": Default continuity type when computing paths to connect routes together. Options "DISCONTINUOUS", "CONTINUOUS".

`default_path_type`

Type: string Default: "DUBIN": Default type when computing paths to connect routes together using curves. Options: "DUBIN", "REEDS_SHEPP".

`default_turn_point_distance`

Type: double Default: 0.1: Distance between points on the plan and route for sending back in paths (e.g. 0.1m). This impacts the density of the output turn paths and the overall nav paths.

`default_offset`

Type: double Default: 0.0: Offset to use for computing swaths from annotated rows. Only for opennav_row_coverage.

`order_ids`

Type: bool Default: false: For opennav_row_coverage, whether to reorder the parsed rows in the order of their id s.

Example

coverage_server:
  ros__parameters:
    coordinates_in_cartesian_frame: true
    robot_width: 2.1
    operation_width: 2.5
    min_turning_radius: 0.4
    linear_curv_change: 2.0
    default_allow_overlap: true
    default_headland_width: 0.5
    default_path_continuity_type: "CONTINUOUS"
    default_path_type: "DUBINS"
    default_route_type: "BOUSTROPHEDON"
    default_swath_angle_type: "BRUTE_FORCE"
    default_swath_type: "LENGTH"
    default_turn_point_distance: 0.1