mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
update: added npm
This commit is contained in:
parent
ca6ca88ace
commit
b6d09fe73a
4
.gitignore
vendored
4
.gitignore
vendored
@ -1 +1,3 @@
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|||||||
.vscode
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.vscode
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config/npm/keys.json
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config/npm/logs
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27
config/box_filter.yaml
Normal file
27
config/box_filter.yaml
Normal file
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|||||||
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scan_to_scan_filter_chain:
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|
ros__parameters:
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||||||
|
filter1:
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||||||
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name: box_filter
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||||||
|
type: laser_filters/LaserScanBoxFilter
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params:
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box_frame: laser_frame
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|
max_x: 0.80 #was 0.16
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|
max_y: 0.18 #was 0.17
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|
max_z: 0.1
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|
min_x: -0.41 #was -0.41
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|
min_y: -0.18 # was -0.17
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|
min_z: -0.2
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||||||
|
invert: false # activate to remove all points outside of the box
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||||||
|
name: shadows
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||||||
|
type: laser_filters/ScanShadowsFilter
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||||||
|
params:
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||||||
|
min_angle: 10
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||||||
|
max_angle: 170
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||||||
|
neighbors: 20
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||||||
|
window: 1
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||||||
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name: dark_shadows
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||||||
|
type: laser_filters/LaserScanIntensityFilter
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||||||
|
params:
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||||||
|
lower_threshold: 100
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upper_threshold: 10000
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disp_histogram: 0
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||||||
169
config/foxglove/index.html
Normal file
169
config/foxglove/index.html
Normal file
@ -0,0 +1,169 @@
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|
<!doctype html><html><head><meta charset="utf-8"><meta name="apple-mobile-web-app-capable" content="yes"><title>Foxglove Studio</title><link rel="apple-touch-icon" sizes="180x180" href="apple-touch-icon.png"/><link rel="icon" type="image/png" sizes="32x32" href="favicon-32x32.png"/><link rel="icon" type="image/png" sizes="16x16" href="favicon-16x16.png"/><style id="loading-styles">body {
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||||||
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margin: 0;
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||||||
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}
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||||||
|
#root {
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||||||
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height: 100vh;
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background-color: #f4f4f5;
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color: #393939;
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||||||
|
}
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||||||
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@media (prefers-color-scheme: dark) {
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||||||
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#root {
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||||||
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background-color: #15151a};
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color: #e1e1e4;
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||||||
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}
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||||||
|
}</style><script defer="defer" src="main.c33a35baf28db3973be7.js"></script></head><script>global = globalThis;
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||||||
|
globalThis.FOXGLOVE_STUDIO_DEFAULT_LAYOUT = [{
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||||||
|
"configById": {
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||||||
|
"virtual-joystick.Virtual Joystick!26sdvuh": {
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||||||
|
"topic": "/cmd_vel",
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||||||
|
"publishRate": 60,
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||||||
|
"maxLinearSpeed": 0.5,
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||||||
|
"maxAngularSpeed": 2
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||||||
|
},
|
||||||
|
"3D!18i6zy7": {
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||||||
|
"layers": {
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"845139cb-26bc-40b3-8161-8ab60af4baf5": {
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||||||
|
"visible": true,
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||||||
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"frameLocked": true,
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||||||
|
"label": "Grid",
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||||||
|
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
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||||||
|
"layerId": "foxglove.Grid",
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|
"size": 10,
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|
"divisions": 10,
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|
"lineWidth": 1,
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||||||
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"color": "#248eff",
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"position": [
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0,
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||||||
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0,
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||||||
|
0
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||||||
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],
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|
"rotation": [
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0,
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0,
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||||||
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0
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],
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"order": 1
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||||||
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}
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},
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|
"cameraState": {
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|
"distance": 20,
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|
"perspective": true,
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|
"phi": 60,
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|
"target": [
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0,
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0,
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||||||
|
0
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||||||
|
],
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||||||
|
"targetOffset": [
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0,
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||||||
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0,
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||||||
|
0
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||||||
|
],
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|
"targetOrientation": [
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0,
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0,
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0,
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||||||
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1
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|
],
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|
"thetaOffset": 45,
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"fovy": 45,
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|
"near": 0.5,
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||||||
|
"far": 5000
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|
},
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|
"followMode": "follow-pose",
|
||||||
|
"scene": {},
|
||||||
|
"transforms": {},
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|
"topics": {},
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||||||
|
"publish": {
|
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|
"type": "point",
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|
"poseTopic": "/move_base_simple/goal",
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|
"pointTopic": "/clicked_point",
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|
"poseEstimateTopic": "/initialpose",
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|
"poseEstimateXDeviation": 0.5,
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||||||
|
"poseEstimateYDeviation": 0.5,
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||||||
|
"poseEstimateThetaDeviation": 0.26179939
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||||||
|
},
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||||||
|
"imageMode": {}
|
||||||
|
},
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|
"Image!3mnp456": {
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|
"cameraState": {
|
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|
"distance": 20,
|
||||||
|
"perspective": true,
|
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|
"phi": 60,
|
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|
"target": [
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|
0,
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|
0,
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|
0
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||||||
|
],
|
||||||
|
"targetOffset": [
|
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|
0,
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||||||
|
0,
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||||||
|
0
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||||||
|
],
|
||||||
|
"targetOrientation": [
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|
0,
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||||||
|
0,
|
||||||
|
0,
|
||||||
|
1
|
||||||
|
],
|
||||||
|
"thetaOffset": 45,
|
||||||
|
"fovy": 45,
|
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|
"near": 0.5,
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||||||
|
"far": 5000
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||||||
|
},
|
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|
"followMode": "follow-pose",
|
||||||
|
"scene": {},
|
||||||
|
"transforms": {},
|
||||||
|
"topics": {},
|
||||||
|
"layers": {},
|
||||||
|
"publish": {
|
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|
"type": "point",
|
||||||
|
"poseTopic": "/move_base_simple/goal",
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|
"pointTopic": "/clicked_point",
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||||||
|
"poseEstimateTopic": "/initialpose",
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|
"poseEstimateXDeviation": 0.5,
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|
"poseEstimateYDeviation": 0.5,
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||||||
|
"poseEstimateThetaDeviation": 0.26179939
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||||||
|
},
|
||||||
|
"imageMode": {}
|
||||||
|
},
|
||||||
|
"RawMessages!os6rgs": {
|
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|
"diffEnabled": false,
|
||||||
|
"diffMethod": "custom",
|
||||||
|
"diffTopicPath": "",
|
||||||
|
"showFullMessageForDiff": false,
|
||||||
|
"topicPath": ""
|
||||||
|
},
|
||||||
|
"Battery Indicator.Battery display!3gjrnnu": {
|
||||||
|
"batteryTopic": "",
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||||||
|
"topic": {
|
||||||
|
"batteryTopic": ""
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||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"globalVariables": {},
|
||||||
|
"userNodes": {},
|
||||||
|
"playbackConfig": {
|
||||||
|
"speed": 1
|
||||||
|
},
|
||||||
|
"layout": {
|
||||||
|
"direction": "row",
|
||||||
|
"first": "virtual-joystick.Virtual Joystick!26sdvuh",
|
||||||
|
"second": {
|
||||||
|
"first": "3D!18i6zy7",
|
||||||
|
"second": {
|
||||||
|
"first": "Image!3mnp456",
|
||||||
|
"second": {
|
||||||
|
"first": "RawMessages!os6rgs",
|
||||||
|
"second": "Battery Indicator.Battery display!3gjrnnu",
|
||||||
|
"direction": "column",
|
||||||
|
"splitPercentage": 79.02494331065759
|
||||||
|
},
|
||||||
|
"direction": "column",
|
||||||
|
"splitPercentage": 30
|
||||||
|
},
|
||||||
|
"direction": "row",
|
||||||
|
"splitPercentage": 70
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}][0];</script><body><div id="root"></div></body></html>
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504
config/nav2_params.yaml
Normal file
504
config/nav2_params.yaml
Normal file
@ -0,0 +1,504 @@
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|
slam_toolbox:
|
||||||
|
ros__parameters:
|
||||||
|
|
||||||
|
# Plugin params
|
||||||
|
solver_plugin: solver_plugins::CeresSolver
|
||||||
|
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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||||||
|
ceres_preconditioner: SCHUR_JACOBI
|
||||||
|
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
||||||
|
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
||||||
|
ceres_loss_function: None
|
||||||
|
|
||||||
|
# ROS Parameters
|
||||||
|
odom_frame: odom
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||||||
|
map_frame: map
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||||||
|
base_frame: base_footprint
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||||||
|
scan_topic: /scan_filtered
|
||||||
|
mode: mapping #localization
|
||||||
|
|
||||||
|
# if you'd like to immediately start continuing a map at a given pose
|
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|
# or at the dock, but they are mutually exclusive, if pose is given
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||||||
|
# will use pose
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#map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
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|
# map_start_pose: [0.0, 0.0, 0.0]
|
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|
map_start_at_dock: true
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|
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|
debug_logging: false
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|
throttle_scans: 1
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|
transform_publish_period: 0.02 #if 0 never publishes odometry
|
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|
map_update_interval: 1.0 #was 5.0
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|
resolution: 0.05
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|
max_laser_range: 200.0 #for rastering images, standard was 20
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|
minimum_time_interval: 0.5
|
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|
transform_timeout: 0.2
|
||||||
|
tf_buffer_duration: 30.
|
||||||
|
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||||||
|
enable_interactive_mode: true
|
||||||
|
|
||||||
|
# General Parameters
|
||||||
|
use_scan_matching: true
|
||||||
|
use_scan_barycenter: true
|
||||||
|
minimum_travel_distance: 0.5
|
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|
minimum_travel_heading: 0.5
|
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|
scan_buffer_size: 10
|
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|
scan_buffer_maximum_scan_distance: 10.0
|
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|
link_match_minimum_response_fine: 0.1
|
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|
link_scan_maximum_distance: 1.5
|
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|
loop_search_maximum_distance: 3.0
|
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|
do_loop_closing: true
|
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|
loop_match_minimum_chain_size: 10
|
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|
loop_match_maximum_variance_coarse: 3.0
|
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|
loop_match_minimum_response_coarse: 0.35
|
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|
loop_match_minimum_response_fine: 0.45
|
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|
|
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|
# Correlation Parameters - Correlation Parameters
|
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|
correlation_search_space_dimension: 0.5
|
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|
correlation_search_space_resolution: 0.01
|
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|
correlation_search_space_smear_deviation: 0.1
|
||||||
|
|
||||||
|
# Correlation Parameters - Loop Closure Parameters
|
||||||
|
loop_search_space_dimension: 8.0
|
||||||
|
loop_search_space_resolution: 0.05
|
||||||
|
loop_search_space_smear_deviation: 0.03
|
||||||
|
|
||||||
|
# Scan Matcher Parameters
|
||||||
|
distance_variance_penalty: 0.5
|
||||||
|
angle_variance_penalty: 1.0
|
||||||
|
|
||||||
|
fine_search_angle_offset: 0.00349
|
||||||
|
coarse_search_angle_offset: 0.349
|
||||||
|
coarse_angle_resolution: 0.0349
|
||||||
|
minimum_angle_penalty: 0.9
|
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|
minimum_distance_penalty: 0.5
|
||||||
|
use_response_expansion: true
|
||||||
|
|
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|
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
|
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|
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: 7.0 #was 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: "nav2_amcl::DifferentialMotionModel"
|
||||||
|
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_filtered
|
||||||
|
|
||||||
|
bt_navigator:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
global_frame: map
|
||||||
|
robot_base_frame: base_link
|
||||||
|
odom_topic: /odometry/filtered
|
||||||
|
bt_loop_duration: 10
|
||||||
|
default_server_timeout: 20
|
||||||
|
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||||
|
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||||
|
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||||
|
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||||
|
plugin_lib_names:
|
||||||
|
- nav2_compute_path_to_pose_action_bt_node
|
||||||
|
- nav2_compute_path_through_poses_action_bt_node
|
||||||
|
- nav2_smooth_path_action_bt_node
|
||||||
|
- nav2_follow_path_action_bt_node
|
||||||
|
- nav2_spin_action_bt_node
|
||||||
|
- nav2_wait_action_bt_node
|
||||||
|
- nav2_assisted_teleop_action_bt_node
|
||||||
|
- nav2_back_up_action_bt_node
|
||||||
|
- nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
|
||||||
|
- nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition
|
||||||
|
- nav2_distance_traveled_condition_bt_node
|
||||||
|
- nav2_single_trigger_bt_node
|
||||||
|
- nav2_goal_updated_controller_bt_node
|
||||||
|
- nav2_is_battery_low_condition_bt_node
|
||||||
|
- nav2_navigate_through_poses_action_bt_node
|
||||||
|
- nav2_navigate_to_pose_action_bt_node
|
||||||
|
- nav2_remove_passed_goals_action_bt_node
|
||||||
|
- nav2_planner_selector_bt_node
|
||||||
|
- nav2_controller_selector_bt_node
|
||||||
|
- nav2_goal_checker_selector_bt_node
|
||||||
|
- nav2_controller_cancel_bt_node
|
||||||
|
- nav2_path_longer_on_approach_bt_node
|
||||||
|
- nav2_wait_cancel_bt_node
|
||||||
|
- nav2_spin_cancel_bt_node
|
||||||
|
- nav2_back_up_cancel_bt_node
|
||||||
|
- nav2_assisted_teleop_cancel_bt_node
|
||||||
|
- nav2_drive_on_heading_cancel_bt_node
|
||||||
|
- nav2_is_battery_charging_condition_bt_node
|
||||||
|
|
||||||
|
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
|
||||||
|
bt_navigator_navigate_to_pose_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
|
||||||
|
# failure_tolerance: 0.3
|
||||||
|
# progress_checker_plugin: "progress_checker"
|
||||||
|
# goal_checker_plugins: ["general_goal_checker"] # "precise_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
|
||||||
|
# #precise_goal_checker:
|
||||||
|
# # plugin: "nav2_controller::SimpleGoalChecker"
|
||||||
|
# # xy_goal_tolerance: 0.25
|
||||||
|
# # yaw_goal_tolerance: 0.25
|
||||||
|
# # stateful: True
|
||||||
|
# general_goal_checker:
|
||||||
|
# stateful: True
|
||||||
|
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||||
|
# xy_goal_tolerance: 0.25
|
||||||
|
# yaw_goal_tolerance: 0.25
|
||||||
|
# # DWB parameters
|
||||||
|
# FollowPath:
|
||||||
|
# plugin: "dwb_core::DWBLocalPlanner"
|
||||||
|
# debug_trajectory_details: True
|
||||||
|
# min_vel_x: -0.1
|
||||||
|
# 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", "ObstacleFootprint", "PreferForward"]
|
||||||
|
# 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:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
controller_frequency: 100.0 # was 20.0
|
||||||
|
min_x_velocity_threshold: 0.001
|
||||||
|
min_y_velocity_threshold: 0.5
|
||||||
|
min_theta_velocity_threshold: 0.001
|
||||||
|
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
||||||
|
goal_checker_plugins: ["goal_checker"]
|
||||||
|
controller_plugins: ["FollowPath"]
|
||||||
|
|
||||||
|
progress_checker:
|
||||||
|
plugin: "nav2_controller::SimpleProgressChecker"
|
||||||
|
required_movement_radius: 0.5
|
||||||
|
movement_time_allowance: 10.0
|
||||||
|
goal_checker:
|
||||||
|
plugin: "nav2_controller::SimpleGoalChecker"
|
||||||
|
xy_goal_tolerance: 0.25 # was 0.25
|
||||||
|
yaw_goal_tolerance: 0.25 # was 0.25
|
||||||
|
stateful: True
|
||||||
|
FollowPath:
|
||||||
|
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
||||||
|
desired_linear_vel: 0.5
|
||||||
|
lookahead_dist: 0.6
|
||||||
|
min_lookahead_dist: 0.3
|
||||||
|
max_lookahead_dist: 0.9
|
||||||
|
lookahead_time: 1.5
|
||||||
|
rotate_to_heading_angular_vel: 1.8
|
||||||
|
transform_tolerance: 0.1
|
||||||
|
use_velocity_scaled_lookahead_dist: false
|
||||||
|
min_approach_linear_velocity: 0.007 # was 0.05
|
||||||
|
approach_velocity_scaling_dist: 0.6
|
||||||
|
use_collision_detection: true
|
||||||
|
max_allowed_time_to_collision_up_to_carrot: 1.0
|
||||||
|
use_regulated_linear_velocity_scaling: true
|
||||||
|
use_fixed_curvature_lookahead: false
|
||||||
|
curvature_lookahead_dist: 0.25
|
||||||
|
use_cost_regulated_linear_velocity_scaling: false
|
||||||
|
regulated_linear_scaling_min_radius: 0.9
|
||||||
|
regulated_linear_scaling_min_speed: 0.25
|
||||||
|
use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
|
||||||
|
allow_reversing: true # was false
|
||||||
|
rotate_to_heading_min_angle: 0.785
|
||||||
|
max_angular_accel: 3.2
|
||||||
|
max_robot_pose_search_dist: 10.0
|
||||||
|
use_interpolation: true # was false
|
||||||
|
|
||||||
|
|
||||||
|
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
|
||||||
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]" # gave another points for the polygon "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
|
||||||
|
plugins: ["voxel_layer", "inflation_layer"]
|
||||||
|
inflation_layer:
|
||||||
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
|
cost_scaling_factor: 10.0 # was 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: rplidar oakd
|
||||||
|
rplidar:
|
||||||
|
topic: /scan_filtered
|
||||||
|
max_obstacle_height: 2.0
|
||||||
|
clearing: True
|
||||||
|
marking: True
|
||||||
|
data_type: "LaserScan"
|
||||||
|
raytrace_max_range: 3.0
|
||||||
|
raytrace_min_range: 0.0
|
||||||
|
obstacle_max_range: 2.5
|
||||||
|
obstacle_min_range: 0.0
|
||||||
|
oak-d: # no frame set, uses frame from message
|
||||||
|
topic: /stereo/points
|
||||||
|
max_obstacle_height: 1.5
|
||||||
|
min_obstacle_height: 0.02
|
||||||
|
obstacle_max_range: 3.0
|
||||||
|
obstacle_min_range: 0.0
|
||||||
|
raytrace_max_range: 3.2
|
||||||
|
raytrace_min_range: 0.0
|
||||||
|
clearing: True
|
||||||
|
marking: True
|
||||||
|
data_type: "PointCloud2"
|
||||||
|
static_layer:
|
||||||
|
plugin: "nav2_costmap_2d::StaticLayer"
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
always_send_full_costmap: 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
|
||||||
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]" # gave another points for the polygon
|
||||||
|
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_filtered
|
||||||
|
max_obstacle_height: 2.0
|
||||||
|
clearing: True
|
||||||
|
marking: True
|
||||||
|
data_type: "LaserScan"
|
||||||
|
raytrace_max_range: 3.0
|
||||||
|
raytrace_min_range: 0.0
|
||||||
|
obstacle_max_range: 2.5
|
||||||
|
obstacle_min_range: 0.0
|
||||||
|
static_layer:
|
||||||
|
plugin: "nav2_costmap_2d::StaticLayer"
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
inflation_layer:
|
||||||
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
|
cost_scaling_factor: 10.0 # was 3.0
|
||||||
|
inflation_radius: 0.55
|
||||||
|
always_send_full_costmap: True
|
||||||
|
|
||||||
|
map_server:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||||
|
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
||||||
|
yaml_filename: ""
|
||||||
|
|
||||||
|
map_saver:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
save_map_timeout: 5.0
|
||||||
|
free_thresh_default: 0.25
|
||||||
|
occupied_thresh_default: 0.65
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
|
||||||
|
# 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:
|
||||||
|
ros__parameters:
|
||||||
|
planner_plugins: ["GridBased"]
|
||||||
|
use_sim_time: True
|
||||||
|
|
||||||
|
GridBased:
|
||||||
|
plugin: "nav2_smac_planner/SmacPlanner2D"
|
||||||
|
tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
|
||||||
|
downsample_costmap: false # whether or not to downsample the map
|
||||||
|
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
||||||
|
allow_unknown: true # allow traveling in unknown space
|
||||||
|
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
||||||
|
max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
|
||||||
|
max_planning_time: 2.0 # max time in s for planner to plan, smooth
|
||||||
|
cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
|
||||||
|
use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
|
||||||
|
smoother:
|
||||||
|
max_iterations: 1000
|
||||||
|
w_smooth: 0.3
|
||||||
|
w_data: 0.2
|
||||||
|
tolerance: 0.1
|
||||||
|
|
||||||
|
smoother_server:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
smoother_plugins: ["simple_smoother"]
|
||||||
|
simple_smoother:
|
||||||
|
plugin: "nav2_smoother::SimpleSmoother"
|
||||||
|
tolerance: 1.0e-10
|
||||||
|
max_its: 1000
|
||||||
|
do_refinement: True
|
||||||
|
|
||||||
|
behavior_server:
|
||||||
|
ros__parameters:
|
||||||
|
costmap_topic: local_costmap/costmap_raw
|
||||||
|
footprint_topic: local_costmap/published_footprint
|
||||||
|
cycle_frequency: 10.0
|
||||||
|
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
||||||
|
spin:
|
||||||
|
plugin: "nav2_behaviors/Spin"
|
||||||
|
backup:
|
||||||
|
plugin: "nav2_behaviors/BackUp"
|
||||||
|
drive_on_heading:
|
||||||
|
plugin: "nav2_behaviors/DriveOnHeading"
|
||||||
|
wait:
|
||||||
|
plugin: "nav2_behaviors/Wait"
|
||||||
|
assisted_teleop:
|
||||||
|
plugin: "nav2_behaviors/AssistedTeleop"
|
||||||
|
global_frame: odom
|
||||||
|
robot_base_frame: base_link
|
||||||
|
transform_tolerance: 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
|
||||||
|
|
||||||
|
waypoint_follower:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
loop_rate: 20
|
||||||
|
stop_on_failure: false
|
||||||
|
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||||
|
wait_at_waypoint:
|
||||||
|
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||||
|
enabled: True
|
||||||
|
waypoint_pause_duration: 200
|
||||||
|
|
||||||
|
velocity_smoother:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
smoothing_frequency: 20.0
|
||||||
|
scale_velocities: False
|
||||||
|
feedback: "CLOSED_LOOP" # was OPEN_LOOP
|
||||||
|
max_velocity: [0.26, 0.0, 1.0]
|
||||||
|
min_velocity: [-0.26, 0.0, -1.0]
|
||||||
|
max_accel: [2.5, 0.0, 3.2]
|
||||||
|
max_decel: [-2.5, 0.0, -3.2]
|
||||||
|
odom_topic: "/odometry/filtered"
|
||||||
|
odom_duration: 0.1 # was 0.1
|
||||||
|
deadband_velocity: [0.0, 0.0, 0.0]
|
||||||
|
velocity_timeout: 1.0
|
||||||
BIN
config/npm/database.sqlite
Normal file
BIN
config/npm/database.sqlite
Normal file
Binary file not shown.
@ -120,7 +120,7 @@ services:
|
|||||||
command: >
|
command: >
|
||||||
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
|
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
|
||||||
use_sim_time:=False use_composition:=True
|
use_sim_time:=False use_composition:=True
|
||||||
params_file:=/overlay_ws/src/cps_loki_bringup/config/nav2.yaml
|
params_file:=/repo/config/nav2_params.yaml
|
||||||
depends_on:
|
depends_on:
|
||||||
- lidar
|
- lidar
|
||||||
- controller
|
- controller
|
||||||
@ -137,9 +137,6 @@ services:
|
|||||||
###################################################################################################################################
|
###################################################################################################################################
|
||||||
# Webgui Supervision via Foxglove Studio #
|
# Webgui Supervision via Foxglove Studio #
|
||||||
###################################################################################################################################
|
###################################################################################################################################
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
# config:
|
# config:
|
||||||
# container_name: olivetin
|
# container_name: olivetin
|
||||||
# image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
# image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||||
@ -233,7 +230,7 @@ services:
|
|||||||
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||||
|
|
||||||
# Foxglove Studio Bridge
|
# Foxglove Studio Bridge
|
||||||
foxglove-bridge:
|
foxglove_bridge:
|
||||||
extends: overlay
|
extends: overlay
|
||||||
command: >
|
command: >
|
||||||
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
|
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
|
||||||
@ -250,7 +247,7 @@ services:
|
|||||||
#image: husarion/foxglove
|
#image: husarion/foxglove
|
||||||
image: ghcr.io/foxglove/studio:latest
|
image: ghcr.io/foxglove/studio:latest
|
||||||
depends_on:
|
depends_on:
|
||||||
- foxglove-bridge
|
- foxglove_bridge
|
||||||
ports:
|
ports:
|
||||||
- 8080:8080
|
- 8080:8080
|
||||||
volumes:
|
volumes:
|
||||||
@ -264,6 +261,29 @@ services:
|
|||||||
rviz2
|
rviz2
|
||||||
# Needed to display graphical applications
|
# Needed to display graphical applications
|
||||||
privileged: true
|
privileged: true
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
################################################################################################################################
|
||||||
|
# Core Services for Web Management #
|
||||||
|
################################################################################################################################
|
||||||
|
|
||||||
|
npm: # nginx proxy manager for reverse proxying the webservices
|
||||||
|
#user "bjoern.ellensohn@unileoben.ac.at"
|
||||||
|
#password "cpsloki_npm"
|
||||||
|
image: 'jc21/nginx-proxy-manager:latest'
|
||||||
|
restart: always #unless-stopped
|
||||||
|
ports:
|
||||||
|
- '80:80'
|
||||||
|
- '81:81'
|
||||||
|
- '443:443'
|
||||||
|
volumes:
|
||||||
|
- ./config/npm:/data
|
||||||
|
- ./letsencrypt:/etc/letsencrypt
|
||||||
|
|
||||||
|
################################################################################################################################
|
||||||
|
# Docker related extra stuff #
|
||||||
|
################################################################################################################################
|
||||||
networks: {}
|
networks: {}
|
||||||
volumes:
|
volumes:
|
||||||
portainer_data:
|
portainer_data:
|
||||||
Loading…
Reference in New Issue
Block a user