ellensohn/bot_mini_bringup
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add nav2

Browse Source
This commit is contained in:
Björn Ellensohn 2023-06-14 08:59:22 +02:00
parent 0e9fc74898
commit a5be768b2b
4 changed files with 447 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
config/mapper_params_online_async.yaml
View File

@ -26,7 +26,7 @@ slam_toolbox:
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 5.0
map_update_interval: 1.0 #was 5.0
resolution: 0.05
max_laser_range: 200.0 #for rastering images, standard was 20
minimum_time_interval: 0.5

289
config/nav2_params.yaml Normal file
View File

@ -0,0 +1,289 @@
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "differential"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugin: "progress_checker"
goal_checker_plugin: "goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "turtlebot3_world.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: False
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "back_up", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
back_up:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True

14
launch/joy_teleop.launch.py
View File

@ -79,7 +79,8 @@ def generate_launch_description():
teleop_spawner = Node(
package="rmp220_teleop",
executable="rmp220_teleop"
executable="rmp220_teleop",
remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_out')]
)
cam_node = Node(
@ -98,6 +99,14 @@ def generate_launch_description():
parameters=[lidar_dir],
)
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
twist_mux = Node(
package="twist_mux",
executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}],
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
)
return LaunchDescription([
#control_node,
#robot_state_pub_node,
@ -106,5 +115,6 @@ def generate_launch_description():
joystick_spawner,
teleop_spawner,
#cam_node,
#lidar_node
#lidar_node,
twist_mux
])

145
launch/nav2.launch.py Normal file
View File

@ -0,0 +1,145 @@
# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('bot_mini_bringup')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
lifecycle_nodes = ['controller_server',
'planner_server',
'recoveries_server',
'bt_navigator',
'waypoint_follower']
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
# https://github.com/ros/geometry2/issues/32
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'default_bt_xml_filename': default_bt_xml_filename,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_recoveries',
executable='recoveries_server',
name='recoveries_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
])