Navifra ROS

1. Introduction

This manual provides guidance on the simple use of the autonomous driving system integrated into Moby.

Navicore is the software developed by Navifra, a company specializing in autonomous driving solutions. It offers Moby’s driving-related Web UI and ROS capabilities.

Navicore comes pre-installed on Moby, eliminating the need for additional installation. Even users without prior knowledge of autonomous driving can use it effortlessly.

ROS topics can be utilized like APIs by leveraging packages such as rospy and roscpp.

We recommend using it in conjunction with the Web UI. You can request the Web UI user manual from Navifra at the address below:

Note

technical-support@neuromeka.com

2. Setup

Navicore is pre-installed on the Navifra PC, which is included in the basic configuration of Moby. However, since there is a possibility of modifying existing settings, we recommend using a separate PC.

You can connect to Moby’s embedded driving PC as the ROS Master from a ROS Noetic environment PC on the same network to perform driving operations and read data.

The ROS Noetic package can be installed on Ubuntu 20.04. Follow the guide in this link for installation instructions.

Once the Noetic package installation is complete, you can configure the ROS connection by executing the following commands in the terminal:

export ROS_MASTER_URI=http://192.168.214.21:11311
export ROS_HOSTNAME=localhost

echo "export ROS_MASTER_URI=http://192.168.214.21:11311" >> ~/.bashrc
echo "export ROS_HOSTNAME=localhost" >> ~/.bashrc

3. ROS Topic List

Below is a list of commonly used ROS topics. Users can issue commands or read data by publishing to or subscribing to each topic. Most topics in the list are used to issue driving commands or read current status data. Therefore, it is recommended to configure mapping, driving nodes (target destination points), and links (paths between driving nodes) using the Web UI before proceeding. You can check more topics by entering the rostopic list command in the terminal.

Topic Name	Pub/Sub	Message Type	description
/scan_cloud	Subscribe	sensor_msgs/PointCloud	merged lidar data as pointcloud(z=0)
/scan_merge	Subscribe	sensor_msgs/LaserScan	merged lidar data as laserscan
/localization/robot_pos	Subscribe	geometry_msgs /PoseWithCovarianceStamped	current robot pose pose.pose.position, pose.pose.orientation
/navi/current_node	Subscribe	std_msgs/String	data: current node name
/navi/next_node	Subscribe	std_msgs/String	data: next node name
/navi/goal_node	Subscribe	std_msgs/String	data: goal node name
/navi/s_status	Subscribe	std_msgs/String	current robot status “loading”: Initializing “idle”: Waif for command “running”: Navigating “pause”: Pausing
/navi/on_path	Subscribe	std_msgs/Bool	check if robot is located on path true: on path, false: not on path
/navi/path_progress	Subscribe	std_msgs/Float32	progress of navigated path : 0 ~ 100
/navi/cur_pos	Subscribe	std_msgs/Float32MultiArray	current robot pose [x[m], y[m], yaw[rad]]
/navi/goal_pos	Subscribe	std_msgs/Float32MultiArray	goal node pose [x[m], y[m], yaw[rad]]
/cmd_vel	Publish	geometry_msgs/Twist	manual drive command linear.x, linear.y, angular.z
/navi/goal_name	Publish	std_msgs/String	set navigation goal data: target node name
/navifra/cmd	Publish	std_msgs/String	command for navigation data:"cancel", "pause", "resume"
/initialpose	Publish	geometry_msgs /PoseWithCovarianceStamped	set robot initial pose pose.pose.position, pose.pose.orientation

4. Local ROS Topic List

Navifra provides topics that utilize not only standard messages but also custom messages. These topics are named with the prefix /navifra. If a separate message file is not provided, they are only accessible within the Navifra PC. Below is a list of key topics that use custom messages.

Topic Name	Pub/Sub	Message Type	description
/navifra/info	Subscribe	core_msgs/NavicoreStatus	n_status:“loading” : 99, “idle” : 100, “running” : 101, “pause” : 102 s_status:“loading”, “idle”, “running”, “pause” s_next_node:string, node name s_current_node:string, node name s_goal_node:string, node name f_path_progress f_goal_pos_x_m f_goal_pos_y_m f_goal_pos_deg f_robot_pos_x_m f_robot_pos_y_m f_robot_pos_deg f_robot_current_linear_vel_x f_robot_current_angular_vel_w n_on_path:0:not on path, 1:on path
/navifra/goal_id	Publish	core_msgs/Goal	set navigation goal name[str]: target node name