Motion Predictor

Motion Predictor Node

USAGE

ros2 launch kompass_ros motion_predictor_launch.py params_file:=PATH_TO_PARAMS_FILE

PARAMETERS

parameter name	type	default value	description

SUBSCRIBED TOPICS

message type	default topic name	description
kompass_interfaces/obstacles	/obstacles	current obstacles list around the robot

PUBLISHED TOPICS

message type	default topic name	description
kompass_interfaces/PredictedTrajectories	predicted_trajectories	predicted trajectory for each obstacles
kompass_interfaces/PredictedOccupancies	predicted_occupancies	predicted occupancies for the obstacles

SERVICES PROVIDED

service type	service name	request	response
kompass_interfaces/GetPredictedTrajectories	/get_predicted_trajectories	start_time, horizon, time_step, prediction_model_type	prediction_completed_status, prediction_topic_name
kompass_interfaces/GetPredictedOccupancies	/get_predicted_occupancies	start_time, horizon, time_step, prediction_model_type	prediction_completed_status, prediction_topic_name