OpenMORA

Module: NavigatorTopological

Module info:

Module name	Short description	Publishes	Subscribes
NavigatorTopological	Module to perform topological navigation	CANCEL_NAVIGATION , NAVIGATE_TARGET , ROBOT_TOPOLOGICAL_PLACE	CANCEL_NAVIGATION , GRAPH , LOCALIZATION , NAV_EVENT_END , NAV_EVENT_ERROR , PATH , SHUTDOWN

MOOS commands accepted by the module:

(None)

Parameters accepted in the MOOS mission file:

(None)

Detailed description:
Module to perform topological navigationThis module implements the functionality to allow a robot to navigate through a topological representation of the world (see WorldModel module)Functionality include:- Obtain the Robot topological place (node on the topology) based on its geometric localization in the map (x,y)- Processing of complex PATHS of nodes, generating step-by-step commands to the reactive navigation module (see NavigatorReactivePTG module)- Handling of navigation errors and problems.

Module graph:

TODO list:
(None)

Changes log:
(None)

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