update

README.md

@@ -1,7 +1,7 @@
 # cps_bot_mini_ws
-temporary ws for developming ros2 control on robot mini with odrive
+temporary ws for developing ros2 control on robot mini with odrive
 
-nedded repos are:
+needed repos are:
 - https://github.com/bjoernellens1/odrive_ros2_control on branch humble-fw-v0.5.1
 - https://github.com/bjoernellens1/rmp220_teleop on branch bot_mini
 - https://github.com/bjoernellens1/ros2_cam_openCV
@@ -9,4 +9,12 @@ nedded repos are:
 
 For initialization, just call "python3 initialize.py"
 
-TODO: extend bot_mini_bringup
+TODO: extend bot_mini_bringup, python scripts for simplyfiyng startup process.
+
+## Useful commands:
+
+### Localization using predefined map and navigation
+don't forget to set transient_local in rviz to see the map
+ros2 launch bot_mini_bringup nav2.launch.py map_subscribe_transient_local:=true
+ros2 launch nav2_bringup localization_launch.py map:=/home/bjorn/Documents/ros_projects/cps_bot_mini_ws/src/bot_mini_bringup/maps/cps_save_map.yaml 
+

office1_map_save.yaml

@@ -0,0 +1,7 @@
+image: office1_map_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [1.87, -8.61, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

run_localization.py

@@ -0,0 +1,63 @@
+import subprocess
+import signal
+import os
+import time
+
+processes = []
+current_directory = os.getcwd()
+
+def source_setup_files():
+    subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
+    subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
+    print("Setup files sourced")
+
+def start_process(command):
+    process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
+    processes.append(process)
+    print(f"Started process with command: {command}")
+
+def stop_processes():
+    for process in processes:
+        os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+    print("Stopped all processes")
+
+def handle_interrupt(signal, frame):
+    print("Keyboard interrupt detected")
+    stop_processes()
+    exit(0)
+
+# Define the base command
+base_command = "ros2 launch bot_mini_bringup"
+
+# Define the commands to launch
+launch_commands = [
+    "rsp.launch.py",
+    "robot_controller.launch.py",
+    "robot_joy_teleop.launch.py",
+    "robot_twist_mux.launch.py",
+    "robot_lidar.launch.py"
+]
+
+# Add the base directory to the commands
+commands = [os.path.join(base_command, command) for command in launch_commands]
+
+# Add the path to the map file
+map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_save_map.yaml")
+map_command = f"ros2 launch nav2_bringup localization_launch.py map:={map_file}"
+commands.append(map_command)
+
+# Register the signal handler
+signal.signal(signal.SIGINT, handle_interrupt)
+
+# Source the setup files
+source_setup_files()
+
+# Start the processes
+for command in commands:
+    start_process(command)
+
+# Wait for user input to stop the processes
+input("Press Enter to stop all processes...")
+
+# Stop all processes
+stop_processes()

run_mapping.py

@@ -27,11 +27,12 @@ def handle_interrupt(signal, frame):
 
 # Add your commands here
 commands = [
-    "ros2 launch bot_mini_bringup rsp.launch.py",
+    #"ros2 launch bot_mini_bringup rsp.launch.py",
-    "ros2 launch bot_mini_bringup controller.launch.py",
+    "ros2 launch bot_mini_bringup robot_controller.launch.py",
-    "ros2 launch bot_mini_bringup joy_teleop.launch.py",
+    "ros2 launch bot_mini_bringup robot_joy_teleop.launch.py",
-    "ros2 launch bot_mini_bringup lidar.launch.py",
+    "ros2 launch bot_mini_bringup robot_twist_mux.launch.py",
-    "ros2 launch bot_mini_bringup mapper.launch.py"
+    "ros2 launch bot_mini_bringup robot_lidar.launch.py",
+    "ros2 launch bot_mini_bringup robot_mapper.launch.py"
 ]
 
 # Register the signal handler