mirror of
https://github.com/bjoernellens1/cps_loki.git
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bjoernellens1
GitHub
commit
ef103d289d
1
.github/workflows/buildx-bake.yml
vendored
1
.github/workflows/buildx-bake.yml
vendored
@ -4,6 +4,7 @@ on:
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push:
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branches:
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- master # Change this to your main branch name
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#- tuning
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jobs:
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build:
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4
.gitignore
vendored
4
.gitignore
vendored
@ -1 +1,5 @@
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.vscode
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config/npm/keys.json
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config/npm/logs
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maps/
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27
config/box_filter.yaml
Normal file
27
config/box_filter.yaml
Normal file
@ -0,0 +1,27 @@
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scan_to_scan_filter_chain:
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ros__parameters:
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filter1:
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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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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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34
config/caddy/Caddyfile
Normal file
34
config/caddy/Caddyfile
Normal file
@ -0,0 +1,34 @@
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# {
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# debug
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# }
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http://loki {
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root * /usr/share/caddy
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file_server browse
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handle_path /config* {
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reverse_proxy http://olivetin:1337
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}
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handle_path /viz* {
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reverse_proxy http://foxglove:8080
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}
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# this is not working right now
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handle_path /joy* {
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reverse_proxy http://host.docker.internal:8000
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}
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}
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http://loki.local {
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root * /usr/share/caddy
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file_server browse
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handle_path /config {
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reverse_proxy http://olivetin:1337
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}
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handle_path /viz* {
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reverse_proxy http://foxglove:8080
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}
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}
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BIN
config/caddy/content/overview/CPS_Logo_White_square_TRANSP.png
Normal file
BIN
config/caddy/content/overview/CPS_Logo_White_square_TRANSP.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
1
config/caddy/content/overview/blueprint.svg
Normal file
1
config/caddy/content/overview/blueprint.svg
Normal file
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 5.8 KiB |
95
config/caddy/content/overview/index.html
Normal file
95
config/caddy/content/overview/index.html
Normal file
@ -0,0 +1,95 @@
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<!DOCTYPE html>
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<html>
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<!-- ersetze die Links + QR Codes unter den Kommentaren -->
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<head>
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<title>CPS Bot Overview</title>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<link rel="stylesheet" href="style.css">
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</head>
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<header>
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<h1 id="HEADLINE">Loki Overview<img src="CPS_Logo_White_square_TRANSP.png" id="LOGO"></h1>
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</header>
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<body>
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<div class="box" id="RIGHT">
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<div id="BLOCK_ONE">
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<p class="mini-heads">Teleop:</p>
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<!-- again -->
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<!-- Replace link at href -->
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<!-- hier Link zu Joystick -->
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<a href="http://loki:8000/">
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<img src="joystick.png" class="qr qr_2"></a>
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<br>
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</div>
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<div id="BLOCK_ONE">
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<p class="mini-heads">Robot Configuration:</p>
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<!-- again -->
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<!-- Replace link at href -->
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<!-- hier Link zu WebGui -->
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<a href="http://loki/config/">
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<img src="wrench.svg" class="qr qr_2"></a>
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<br>
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</div>
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<p id="SPACE"> </p>
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<div id="BLOCK_TWO">
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<p class="mini-heads">Data View:</p>
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<!-- again -->
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<!-- hier Link zu Manual -->
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<a href="http://loki/viz/">
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<img src="safety-glasses.svg" class="qr qr_2">
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</a>
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<br>
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</div>
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<p id="SPACE"> </p>
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<div id="BLOCK_THREE">
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<p class="mini-heads">Manual:</p>
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<!-- again -->
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<!-- hier Link zu Manual -->
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<a href="https://cps.unileoben.ac.at">
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<img src="blueprint.svg" class="qr qr_2">
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</a>
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<br>
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</div>
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</div>
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<div class="box" id="LEFT">
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<p class="mini-heads">Connect to Wi-Fi:</p>
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<!-- replace mit relativen Link!!!, bei mir spinnts und es wird das gebrochene Bild symbol angezeigt. Anders geht
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es allerdings, falls nicht bei dir sags mir -->
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<img src="qr-loki.wifi.svg" class="qr">
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<div id="NORM_SET">
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<table>
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<tr>
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<td>SSID:</td>
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<td>cps-loki</td>
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</tr>
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<tr>
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<td>Password: </td>
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<td>cps-loki</td>
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</tr>
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</table>
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</div>
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</div>
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<div class="info">
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<!-- Link zum Lehrstuhl, einfach den ganzen Div Block rausnehmen falls du das nicht willst -->
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<a href="https://cps.unileoben.ac.at/">Check us out!</a>
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</div>
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</body>
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</html>
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BIN
config/caddy/content/overview/joystick.png
Normal file
BIN
config/caddy/content/overview/joystick.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 21 KiB |
508
config/caddy/content/overview/qr-loki-config.svg
Normal file
508
config/caddy/content/overview/qr-loki-config.svg
Normal file
@ -0,0 +1,508 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
|
||||
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
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||||
width="1160px" height="1160px" viewBox="0 0 1160 1160" enable-background="new 0 0 1160 1160" xml:space="preserve">
|
||||
<rect x="0" y="0" width="1160" height="1160" fill="rgb(255,255,255)" /><g transform="translate(80,80)"><g transform="translate(320,0) scale(0.4,0.4)"><g transform="" style="fill: rgb(16, 64, 102);">
|
||||
<rect width="100" height="100"/>
|
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</g></g><g transform="translate(360,0) scale(0.4,0.4)"><g transform="" style="fill: rgb(16, 64, 102);">
|
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<rect width="100" height="100"/>
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<rect width="100" height="100"/>
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||||
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|
||||
c18.82,0,34.141-15.141,34.141-33.76V33.758C100,15.148,84.68,0.008,65.859,0.008z M85,66.229c0,10.344-8.586,18.76-19.145,18.76
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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<g>
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||||
c2.029-3.658,4.901-6.802,8.36-9.174C16.09,1.801,21.506,0,27.336,0h45.327c15.076,0,27.351,12.018,27.351,26.793v46.398
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||||
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</g></g><g transform="translate(800,80) scale(1.2, 1.2)"><g transform="" style="fill: rgb(16, 64, 102);">
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<g id="XMLID_1_">
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<g>
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<path d="M27.351,100c-15.09,0-27.365-12.032-27.365-26.808V26.794c0-4.616,1.2-8.96,3.301-12.761
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|
||||
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|
||||
<g>
|
||||
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|
||||
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|
||||
</g>
|
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</g></g><g transform="translate(80,800) scale(1.2, 1.2)"><g transform="" style="fill: rgb(16, 64, 102);">
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||||
<g>
|
||||
<g id="XMLID_1_">
|
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<g>
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<path d="M27.351,100c-15.09,0-27.365-12.032-27.365-26.808V26.794c0-4.616,1.2-8.96,3.301-12.761
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||||
c2.029-3.658,4.901-6.802,8.36-9.174C16.09,1.801,21.506,0,27.336,0h45.327c15.076,0,27.351,12.018,27.351,26.793v46.398
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||||
c0,14.775-12.274,26.808-27.351,26.808H50H27.351z"/>
|
||||
</g>
|
||||
<g>
|
||||
</g>
|
||||
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|
||||
</g>
|
||||
</g></g></g></svg>
|
||||
|
After Width: | Height: | Size: 37 KiB |
1043
config/caddy/content/overview/qr-loki.wifi.svg
Normal file
1043
config/caddy/content/overview/qr-loki.wifi.svg
Normal file
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 80 KiB |
1
config/caddy/content/overview/safety-glasses.svg
Normal file
1
config/caddy/content/overview/safety-glasses.svg
Normal file
@ -0,0 +1 @@
|
||||
<svg id="icons" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 128 128"><defs><style>.cls-1{fill:#b7e29c;}.cls-2{fill:#97cc83;}.cls-3{fill:#f4d647;}.cls-4{fill:#f4a742;}.cls-5{fill:#5282ef;}.cls-6{fill:#a2bdf4;}.cls-7{fill:none;stroke:#000;stroke-linecap:round;stroke-linejoin:round;stroke-width:2px;}</style></defs><title>safety-glasses</title><path class="cls-1" d="M48,37a33.319,33.319,0,0,1,8.56,1.083A27.63,27.63,0,0,0,64,39a27.643,27.643,0,0,0,7.44-.917A33.308,33.308,0,0,1,80,37h22.474a1,1,0,0,0,.85-1.536C96.759,24.828,84.651,18,64,18S31.241,24.828,24.675,35.464A1,1,0,0,0,25.526,37Z"/><path class="cls-1" d="M90,91c-15.884,0-19.965-7.631-22.665-12.681C65.561,75,64.656,75,64,75s-1.56,0-3.335,3.319C57.964,83.369,53.883,91,38,91c-5.978,0-10.526-1.4-13.985-3.723a1,1,0,0,0-1.487,1.229C28.428,101.418,40.846,110,64,110s35.572-8.582,41.473-21.495a1,1,0,0,0-1.487-1.229C100.526,89.6,95.978,91,90,91Z"/><path class="cls-2" d="M67.33,78.32a26.676,26.676,0,0,0,4.57,6.64,282.35,282.35,0,0,0-15.14,24.73C38.2,108.07,27.78,100,22.53,88.51a1,1,0,0,1,1.48-1.23C27.47,89.6,32.02,91,38,91c15.88,0,19.96-7.63,22.67-12.68C62.44,75,63.34,75,64,75S65.56,75,67.33,78.32Z"/><path class="cls-2" d="M102.47,37H80a33.7,33.7,0,0,0-8.56,1.08c-.89.21-1.73.41-2.67.57A170.727,170.727,0,0,1,91.95,24.34a32.506,32.506,0,0,1,11.37,11.12A1,1,0,0,1,102.47,37Z"/><g id="_Group_" data-name="<Group>"><path class="cls-3" d="M113,46v4a2.006,2.006,0,0,1-2,2h-4.33c-.23,0-.45-.01-.68-.02a11.881,11.881,0,0,1-2.59-.43l-7.39-2.1A12,12,0,0,0,92.74,49s-10.25,2.86-27.5,2.99h-.01c-.41.01-.82.01-1.23.01-5.4,0-10.14-.27-14.14-.65h-.01A91.913,91.913,0,0,1,35.26,49a12,12,0,0,0-3.27.45l-7.39,2.1a11.881,11.881,0,0,1-2.59.43c-.23.01-.45.02-.68.02H17a2.006,2.006,0,0,1-2-2V46a4,4,0,0,1,4-4H48c7,0,8,2,16,2s9-2,16-2h29A4,4,0,0,1,113,46Z"/><path class="cls-4" d="M106.67,52h3.32c0,17-1.04,34-19.99,34C68,86,75,70,64,70S60,86,38,86C19.05,86,18.01,69,18.01,52h3.32c.23,0,.45-.01.68-.02V52c0,7.02.29,12.77,1.22,17.29a21.68,21.68,0,0,0,2.42,6.75C28.03,80.04,31.88,82,38,82c10.49,0,12.45-3.67,14.73-7.92C54.55,70.67,57.05,66,64,66s9.45,4.67,11.27,8.08C77.55,78.33,79.51,82,90,82c13.6,0,15.99-9.67,15.99-30v-.02C106.22,51.99,106.44,52,106.67,52Z"/><path class="cls-5" d="M105.99,51.98V52c0,20.33-2.39,30-15.99,30-10.49,0-12.45-3.67-14.73-7.92C73.45,70.67,70.95,66,64,66s-9.45,4.67-11.27,8.08C50.45,78.33,48.49,82,38,82c-6.12,0-9.97-1.96-12.35-5.96,6.37-7.39,18.66-18.12,39.58-24.05h.01C82.49,51.86,92.74,49,92.74,49a12,12,0,0,1,3.27.45l7.39,2.1A11.881,11.881,0,0,0,105.99,51.98Z"/><path class="cls-6" d="M64,52c.41,0,.82,0,1.23-.01C44.31,57.92,32.02,68.65,25.65,76.04a21.68,21.68,0,0,1-2.42-6.75A60.754,60.754,0,0,1,49.85,51.35h.01C53.86,51.73,58.6,52,64,52Z"/><path class="cls-5" d="M35.26,49a91.913,91.913,0,0,0,14.59,2.35A60.754,60.754,0,0,0,23.23,69.29C22.3,64.77,22.01,59.02,22.01,52v-.02a11.881,11.881,0,0,0,2.59-.43l7.39-2.1A12,12,0,0,1,35.26,49Z"/><path class="cls-7" d="M18.01,52c0,17,1.04,34,19.99,34,22,0,15-16,26-16s4,16,26,16c18.95,0,19.99-17,19.99-34"/><path class="cls-7" d="M65.24,51.99C82.49,51.86,92.74,49,92.74,49a12,12,0,0,1,3.27.45l7.39,2.1a11.881,11.881,0,0,0,2.59.43c.23.01.45.02.68.02H111a2.006,2.006,0,0,0,2-2V46a4,4,0,0,0-4-4H80c-7,0-8,2-16,2s-9-2-16-2H19a4,4,0,0,0-4,4v4a2.006,2.006,0,0,0,2,2h4.33c.23,0,.45-.01.68-.02a11.881,11.881,0,0,0,2.59-.43l7.39-2.1A12,12,0,0,1,35.26,49a91.913,91.913,0,0,0,14.59,2.35"/><path class="cls-7" d="M49.86,51.35c4,.38,8.74.65,14.14.65.41,0,.82,0,1.23-.01"/><path class="cls-7" d="M105.99,51.98V52c0,20.33-2.39,30-15.99,30-10.49,0-12.45-3.67-14.73-7.92C73.45,70.67,70.95,66,64,66s-9.45,4.67-11.27,8.08C50.45,78.33,48.49,82,38,82c-6.12,0-9.97-1.96-12.35-5.96a21.68,21.68,0,0,1-2.42-6.75C22.3,64.77,22.01,59.02,22.01,52v-.02"/><path class="cls-7" d="M23.23,69.29A60.754,60.754,0,0,1,49.85,51.35h.01"/><path class="cls-7" d="M25.65,76.04c6.37-7.39,18.66-18.12,39.58-24.05h.01"/></g></svg>
|
||||
|
After Width: | Height: | Size: 3.8 KiB |
247
config/caddy/content/overview/style.css
Normal file
247
config/caddy/content/overview/style.css
Normal file
@ -0,0 +1,247 @@
|
||||
html
|
||||
{
|
||||
background-color: rgb(51, 51, 51);
|
||||
font-family: sans-serif;
|
||||
padding-bottom: 50px;
|
||||
}
|
||||
|
||||
#HEADLINE
|
||||
{
|
||||
font-family:'Gill Sans', 'Gill Sans MT', Calibri, 'Trebuchet MS', sans-serif;
|
||||
text-align: center;
|
||||
color: white;
|
||||
background-color: rgb(1, 115, 126);
|
||||
box-shadow: 0px 15px 0px -5px rgb(1, 89, 97);
|
||||
|
||||
margin-top: 2px;
|
||||
}
|
||||
|
||||
#LOGO
|
||||
{
|
||||
height: 1em;
|
||||
width: auto;
|
||||
|
||||
float: right;
|
||||
margin-top: 2px;
|
||||
padding-left: 12px;
|
||||
padding-right: 12px;
|
||||
background-color: inherit;
|
||||
}
|
||||
|
||||
.mini-heads
|
||||
{
|
||||
color: white;
|
||||
font-weight: 700;
|
||||
}
|
||||
|
||||
#LEFT
|
||||
{
|
||||
float: left;
|
||||
max-width: 49.5%;
|
||||
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
#RIGHT
|
||||
{
|
||||
float: right;
|
||||
max-width: 49.5%;
|
||||
flex-direction: row;
|
||||
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.qr
|
||||
{
|
||||
max-width: 59.5%;
|
||||
height: auto;
|
||||
|
||||
object-fit: cover;
|
||||
|
||||
border-color: black;
|
||||
border: 3px solid;
|
||||
border-radius: 10%;
|
||||
|
||||
}
|
||||
|
||||
.qr_2
|
||||
{
|
||||
width: 35%;
|
||||
height: auto;
|
||||
}
|
||||
|
||||
table, td
|
||||
{
|
||||
color: white;
|
||||
|
||||
width: 70%;
|
||||
line-height: 190%;
|
||||
border: 1px solid rgb(76, 76, 76);
|
||||
background-color: rgb(34, 34, 34);
|
||||
border-collapse: collapse;
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
#SPACE
|
||||
{
|
||||
padding: 3px;
|
||||
}
|
||||
|
||||
#NORM_SET
|
||||
{
|
||||
padding-top: 6px;
|
||||
}
|
||||
|
||||
.link
|
||||
{
|
||||
color: white;
|
||||
background-color: rgb(1, 115, 126);
|
||||
padding-left: 10px;
|
||||
padding-right: 10px;
|
||||
border-radius: 3px;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.link:hover
|
||||
{
|
||||
color: rgb(206, 206, 206);
|
||||
}
|
||||
|
||||
.link:visited
|
||||
{
|
||||
color: rgb(75, 75, 75);
|
||||
background-color: rgb(1, 89, 97);
|
||||
}
|
||||
|
||||
.info
|
||||
{
|
||||
color: white;
|
||||
|
||||
background-color: rgb(34, 34, 34);
|
||||
|
||||
padding-top: 3px;
|
||||
padding-right: 6px;
|
||||
text-indent: 6px;
|
||||
|
||||
position: fixed;
|
||||
bottom: 0px;
|
||||
right: 6px;
|
||||
|
||||
border: 1px solid rgb(76, 76, 76);
|
||||
}
|
||||
|
||||
.info:hover
|
||||
{
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.info:visited
|
||||
{
|
||||
color: rgb(206, 206, 206);
|
||||
}
|
||||
|
||||
a, a:visited, a:hover, a:active {
|
||||
text-decoration: none;
|
||||
color: inherit;
|
||||
}
|
||||
|
||||
/* Phone */ /* pract. ab 400% zoom (inludkiert) am pc */
|
||||
@media only screen and (max-width : 480px)
|
||||
{
|
||||
#LEFT
|
||||
{
|
||||
width: 100%;
|
||||
max-width: none;
|
||||
clear: both;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
#RIGHT
|
||||
{
|
||||
max-width: none;
|
||||
padding-top: 10px;
|
||||
}
|
||||
|
||||
.qr
|
||||
{
|
||||
max-width: 43.9%;
|
||||
}
|
||||
|
||||
.qr_2
|
||||
{
|
||||
width: 29%;
|
||||
}
|
||||
}
|
||||
|
||||
/* Tablet / Ipad */ /* pract. ab 200% Zoom (nicht inkludiert) am pc */
|
||||
@media only screen and (max-width : 767px) and (min-width: 481px)
|
||||
{
|
||||
#LEFT
|
||||
{
|
||||
max-width: none;
|
||||
width: 100%;
|
||||
clear: both;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.qr
|
||||
{
|
||||
max-width: 35%;
|
||||
}
|
||||
|
||||
table td
|
||||
{
|
||||
font-size: large;
|
||||
}
|
||||
|
||||
.mini-heads
|
||||
{
|
||||
font-size: x-large;
|
||||
}
|
||||
|
||||
#RIGHT
|
||||
{
|
||||
max-width: none;
|
||||
}
|
||||
|
||||
#SPACE
|
||||
{
|
||||
padding: none;
|
||||
display: none;
|
||||
}
|
||||
|
||||
#BLOCK_ONE
|
||||
{
|
||||
max-width: 49.5%;
|
||||
float: left;
|
||||
}
|
||||
|
||||
#BLOCK_TWO
|
||||
{
|
||||
max-width: 49.5%;
|
||||
float: right;
|
||||
}
|
||||
|
||||
#BLOCK_THREE
|
||||
{
|
||||
max-width: 49.5%;
|
||||
float: right;
|
||||
}
|
||||
|
||||
.qr_2
|
||||
{
|
||||
max-width: 80%;
|
||||
width: 50%;
|
||||
}
|
||||
|
||||
.link
|
||||
{
|
||||
font-size: larger;
|
||||
}
|
||||
|
||||
.info
|
||||
{
|
||||
font-size: larger;
|
||||
}
|
||||
}
|
||||
1
config/caddy/content/overview/wrench.svg
Normal file
1
config/caddy/content/overview/wrench.svg
Normal file
@ -0,0 +1 @@
|
||||
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config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe
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config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe
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155
config/foxglove/foxglove-layout.json
Normal file
155
config/foxglove/foxglove-layout.json
Normal file
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|
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||||
169
config/foxglove/index.html
Normal file
169
config/foxglove/index.html
Normal file
@ -0,0 +1,169 @@
|
||||
<!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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504
config/nav2_params.yaml
Normal file
504
config/nav2_params.yaml
Normal file
@ -0,0 +1,504 @@
|
||||
slam_toolbox:
|
||||
ros__parameters:
|
||||
|
||||
# Plugin params
|
||||
solver_plugin: solver_plugins::CeresSolver
|
||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
||||
ceres_preconditioner: SCHUR_JACOBI
|
||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
||||
ceres_loss_function: None
|
||||
|
||||
# ROS Parameters
|
||||
odom_frame: odom
|
||||
map_frame: map
|
||||
base_frame: base_footprint
|
||||
scan_topic: /scan_filtered
|
||||
mode: mapping #localization
|
||||
|
||||
# if you'd like to immediately start continuing a map at a given pose
|
||||
# or at the dock, but they are mutually exclusive, if pose is given
|
||||
# will use pose
|
||||
#map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
|
||||
# map_start_pose: [0.0, 0.0, 0.0]
|
||||
map_start_at_dock: true
|
||||
|
||||
debug_logging: false
|
||||
throttle_scans: 1
|
||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||||
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
|
||||
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
|
||||
minimum_travel_heading: 0.5
|
||||
scan_buffer_size: 10
|
||||
scan_buffer_maximum_scan_distance: 10.0
|
||||
link_match_minimum_response_fine: 0.1
|
||||
link_scan_maximum_distance: 1.5
|
||||
loop_search_maximum_distance: 3.0
|
||||
do_loop_closing: true
|
||||
loop_match_minimum_chain_size: 10
|
||||
loop_match_maximum_variance_coarse: 3.0
|
||||
loop_match_minimum_response_coarse: 0.35
|
||||
loop_match_minimum_response_fine: 0.45
|
||||
|
||||
# Correlation Parameters - Correlation Parameters
|
||||
correlation_search_space_dimension: 0.5
|
||||
correlation_search_space_resolution: 0.01
|
||||
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
|
||||
minimum_distance_penalty: 0.5
|
||||
use_response_expansion: true
|
||||
|
||||
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: 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.
18
config/npm/nginx/default_host/site.conf
Normal file
18
config/npm/nginx/default_host/site.conf
Normal file
@ -0,0 +1,18 @@
|
||||
# ------------------------------------------------------------
|
||||
# Default Site
|
||||
# ------------------------------------------------------------
|
||||
|
||||
server {
|
||||
listen 80 default;
|
||||
listen [::]:80 default;
|
||||
|
||||
server_name default-host.localhost;
|
||||
access_log /data/logs/default-host_access.log combined;
|
||||
error_log /data/logs/default-host_error.log warn;
|
||||
|
||||
|
||||
include conf.d/include/letsencrypt-acme-challenge.conf;
|
||||
location / {
|
||||
return 301 http://192.168.20.10:1337/;
|
||||
}
|
||||
}
|
||||
58
config/npm/nginx/proxy_host/3.conf
Normal file
58
config/npm/nginx/proxy_host/3.conf
Normal file
@ -0,0 +1,58 @@
|
||||
# ------------------------------------------------------------
|
||||
# overview.loki
|
||||
# ------------------------------------------------------------
|
||||
|
||||
|
||||
|
||||
map $scheme $hsts_header {
|
||||
https "max-age=63072000; preload";
|
||||
}
|
||||
|
||||
server {
|
||||
set $forward_scheme http;
|
||||
set $server "host.docker.internal";
|
||||
set $port 1337;
|
||||
|
||||
listen 80;
|
||||
listen [::]:80;
|
||||
|
||||
|
||||
server_name overview.loki;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
access_log /data/logs/proxy-host-3_access.log proxy;
|
||||
error_log /data/logs/proxy-host-3_error.log warn;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
location / {
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# Proxy!
|
||||
include conf.d/include/proxy.conf;
|
||||
}
|
||||
|
||||
|
||||
# Custom
|
||||
include /data/nginx/custom/server_proxy[.]conf;
|
||||
}
|
||||
@ -1,11 +0,0 @@
|
||||
actions:
|
||||
- title: "Start Navigation Stack"
|
||||
shell: docker compose -f /repo/docker-compose.yaml up -d navigation
|
||||
- title: "Stop Navigation Stack"
|
||||
shell: docker compose -f /repo/docker-compose.yaml down navigation
|
||||
- title: "Start Mapping"
|
||||
shell: docker compose -f /repo/docker-compose.yaml up -d mapping
|
||||
- title: "Stop Mapping"
|
||||
shell: docker compose -f /repo/docker-compose.yaml down mapping
|
||||
- title: "Restart Teleop"
|
||||
shell: docker compose -f /repo/docker-compose.yaml restart teleop
|
||||
35
config/olivetin/config.yaml
Normal file
35
config/olivetin/config.yaml
Normal file
@ -0,0 +1,35 @@
|
||||
showNavigation: false
|
||||
logLevel: "INFO"
|
||||
showNewVersions: false
|
||||
showFooter: false
|
||||
|
||||
actions:
|
||||
- title: "Start Navigation Stack"
|
||||
shell: docker start cps_loki-navigation-1
|
||||
icon: '<img src = "customIcons/nav2_start.png" width = "48px"/>'
|
||||
- title: "Stop Navigation Stack"
|
||||
shell: docker stop cps_loki-navigation-1
|
||||
icon: '<img src = "customIcons/nav2_stop.png" width = "48px"/>'
|
||||
- title: "Start Mapping"
|
||||
shell: docker start cps_loki-mapping-1
|
||||
icon: '<img src = "customIcons/mapping_start.gif" width = "48px"/>'
|
||||
- title: "Stop Mapping"
|
||||
shell: docker stop cps_loki-mapping-1
|
||||
icon: '<img src = "customIcons/mapping_stop.gif" width = "48px"/>'
|
||||
- title: "Restart Teleop"
|
||||
icon: '<img src = "customIcons/gamepad.png" width = "48px"/>'
|
||||
shell: docker restart cps_loki-teleop-1
|
||||
- title: Restart or Shutdown System
|
||||
icon: restart
|
||||
shell: systemctl {{ choice }}
|
||||
arguments:
|
||||
- name: choice
|
||||
title: Pick one
|
||||
choices:
|
||||
- value: reboot
|
||||
- value: shutdown
|
||||
# This will SSH into a server an run the command 'service httpd restart'
|
||||
# - title: Restart httpd on Server 1
|
||||
# shell: ssh bjorn@loki.local 'echo "it works"'
|
||||
# icon: ping
|
||||
# timeout: 5
|
||||
BIN
config/olivetin/icons/gamepad.png
Normal file
BIN
config/olivetin/icons/gamepad.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 23 KiB |
BIN
config/olivetin/icons/mapping_start.gif
Normal file
BIN
config/olivetin/icons/mapping_start.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 13 MiB |
BIN
config/olivetin/icons/mapping_stop.gif
Normal file
BIN
config/olivetin/icons/mapping_stop.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 137 KiB |
BIN
config/olivetin/icons/nav2_start.png
Normal file
BIN
config/olivetin/icons/nav2_start.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 34 KiB |
BIN
config/olivetin/icons/nav2_stop.gif
Normal file
BIN
config/olivetin/icons/nav2_stop.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 10 KiB |
BIN
config/olivetin/icons/nav2_stop.png
Normal file
BIN
config/olivetin/icons/nav2_stop.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
BIN
config/olivetin/icons/qr-code.png
Normal file
BIN
config/olivetin/icons/qr-code.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 78 KiB |
1
config/olivetin/installation-id.txt
Normal file
1
config/olivetin/installation-id.txt
Normal file
@ -0,0 +1 @@
|
||||
ba1fa920-2863-4600-994f-23559acfcab2
|
||||
@ -36,6 +36,7 @@ services:
|
||||
# Allows graphical programs in the container.
|
||||
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
|
||||
restart: unless-stopped
|
||||
# Overlay image containing the project specific source code.
|
||||
overlay:
|
||||
extends: base
|
||||
@ -82,7 +83,7 @@ services:
|
||||
devices:
|
||||
- /dev/ttyUSB0:/dev/ttyUSB0
|
||||
- /dev/ttyACM0:/dev/ttyACM0
|
||||
restart: unless-stopped
|
||||
restart: always
|
||||
# teleop
|
||||
teleop:
|
||||
extends: overlay
|
||||
@ -90,7 +91,7 @@ services:
|
||||
ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
|
||||
devices:
|
||||
- /dev/input:/dev/input
|
||||
restart: unless-stopped
|
||||
restart: always
|
||||
# scan filter node
|
||||
lidar_filter:
|
||||
extends: overlay
|
||||
@ -120,7 +121,7 @@ services:
|
||||
command: >
|
||||
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
|
||||
use_sim_time:=False use_composition:=True
|
||||
params_file:=/overlay_ws/src/cps_loki_bringup/config/nav2_params.yaml
|
||||
params_file:=/repo/config/nav2_params.yaml
|
||||
depends_on:
|
||||
- lidar
|
||||
- controller
|
||||
@ -137,61 +138,85 @@ services:
|
||||
###################################################################################################################################
|
||||
# Webgui Supervision via Foxglove Studio #
|
||||
###################################################################################################################################
|
||||
olivetin:
|
||||
container_name: olivetin
|
||||
image: jamesread/olivetin
|
||||
#image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
build:
|
||||
context: .
|
||||
dockerfile: docker/Dockerfile
|
||||
tags:
|
||||
- ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
target: olivetin
|
||||
x-bake:
|
||||
platforms:
|
||||
#- linux/arm64
|
||||
- linux/amd64
|
||||
user: root
|
||||
privileged: true
|
||||
volumes:
|
||||
- ./config/olivetin/:/config/ # here is config.yaml and icons located
|
||||
- ./config/olivetin/icons:/var/www/olivetin/customIcons
|
||||
- .:/repo
|
||||
- /var/run/docker.sock:/var/run/docker.sock
|
||||
|
||||
|
||||
|
||||
# config:
|
||||
# container_name: olivetin
|
||||
# image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
# build:
|
||||
# context: .
|
||||
# dockerfile: docker/Dockerfile
|
||||
# tags:
|
||||
# - ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
# target: olivetin
|
||||
# x-bake:
|
||||
# platforms:
|
||||
# #- linux/arm64
|
||||
# - linux/amd64
|
||||
# #user: root
|
||||
# privileged: true
|
||||
# volumes:
|
||||
# - ./config/olivetin.yaml:/config/config.yaml # replace host path or volume as needed
|
||||
# - .:/repo
|
||||
# - /var/run/docker.sock:/var/run/docker.sock
|
||||
# - /var/lib/docker:/var/lib/docker
|
||||
# ports:
|
||||
# - "88:1337"
|
||||
# restart: unless-stopped
|
||||
- ~/.ssh/id_rsa:/root/.ssh/id_rsa
|
||||
networks:
|
||||
- caddy_network
|
||||
ports:
|
||||
- "1337:1337"
|
||||
restart: always
|
||||
|
||||
portainer:
|
||||
container_name: portainer
|
||||
#image: jamesread/olivetin
|
||||
image: portainer/portainer-ce:latest
|
||||
volumes:
|
||||
- ./config/olivetin/:/config/ # here is config.yaml and icons located
|
||||
- ./config/olivetin/icons:/var/www/olivetin/customIcons
|
||||
- .:/repo
|
||||
- /var/run/docker.sock:/var/run/docker.sock
|
||||
- portainer_data:/data
|
||||
|
||||
# - /var/lib/docker:/var/lib/docker
|
||||
- ~/.ssh/id_rsa:/root/.ssh/id_rsa
|
||||
ports:
|
||||
- "8000:8000"
|
||||
- "9443:9443"
|
||||
restart: unless-stopped
|
||||
|
||||
################################################################################################################################
|
||||
# This section is mostly for supervision from PC #
|
||||
################################################################################################################################
|
||||
|
||||
foxglove-bridge:
|
||||
image: husarion/foxglove-bridge:humble
|
||||
# Interactive shell
|
||||
# Foxglove Studio Bridge
|
||||
foxglove_bridge:
|
||||
extends: overlay
|
||||
command: >
|
||||
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
|
||||
stdin_open: true
|
||||
tty: true
|
||||
# Networking and IPC for ROS 2
|
||||
network_mode: host
|
||||
#network_mode: host
|
||||
ipc: host
|
||||
# Needed to display graphical applications
|
||||
#privileged: true
|
||||
environment:
|
||||
# Allows graphical programs in the container.
|
||||
- DISPLAY=${DISPLAY}
|
||||
- QT_X11_NO_MITSHM=1
|
||||
- NVIDIA_DRIVER_CAPABILITIES=all
|
||||
- ROS_DOMAIN_ID=5
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
|
||||
foxglove:
|
||||
image: husarion/foxglove
|
||||
#image: husarion/foxglove
|
||||
image: ghcr.io/foxglove/studio:latest
|
||||
restart: always
|
||||
depends_on:
|
||||
- foxglove-bridge
|
||||
- foxglove_bridge
|
||||
networks:
|
||||
- caddy_network
|
||||
ports:
|
||||
- 8080:8080
|
||||
volumes:
|
||||
- ./config/foxglove/extensions:/src/extensions
|
||||
- ./config/foxglove/foxglove-layout.json:/foxglove/default-layout.json
|
||||
|
||||
# rviz2
|
||||
rviz2:
|
||||
@ -200,4 +225,66 @@ services:
|
||||
rviz2
|
||||
# Needed to display graphical applications
|
||||
privileged: true
|
||||
networks: {}
|
||||
|
||||
################################################################################################################################
|
||||
# Core Services for Web Management #
|
||||
################################################################################################################################
|
||||
caddy:
|
||||
image: caddy:latest
|
||||
networks:
|
||||
- caddy_network
|
||||
extra_hosts:
|
||||
- "host.docker.internal:host-gateway"
|
||||
ports:
|
||||
- "80:80"
|
||||
- "443:443"
|
||||
volumes:
|
||||
- ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
|
||||
- ./config/caddy/content:/usr/share/caddy/
|
||||
restart: always
|
||||
depends_on:
|
||||
- foxglove
|
||||
- olivetin
|
||||
roscore:
|
||||
image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
|
||||
command: |
|
||||
bash -c "source /opt/ros/noetic/setup.bash && roscore"
|
||||
network_mode: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
restart: always
|
||||
ros1bridge:
|
||||
image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
|
||||
command: |
|
||||
ros2 run ros1_bridge dynamic_bridge
|
||||
network_mode: host
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
restart: always
|
||||
webui-joystick:
|
||||
image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
|
||||
network_mode: host
|
||||
# networks:
|
||||
# - caddy_network
|
||||
# ports:
|
||||
# - 8000:8000
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
restart: always
|
||||
depends_on:
|
||||
- ros1bridge
|
||||
command: roslaunch webui-ros-joystick webui.launch
|
||||
|
||||
################################################################################################################################
|
||||
# Docker related extra stuff #
|
||||
################################################################################################################################
|
||||
networks:
|
||||
caddy_network:
|
||||
driver: bridge
|
||||
volumes:
|
||||
portainer_data:
|
||||
npm-data:
|
||||
npm-letsencrypt:
|
||||
@ -43,6 +43,11 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
ros-${ROS_DISTRO}-xacro \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# Install Foxglove Bridge
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
ros-${ROS_DISTRO}-foxglove-bridge \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
|
||||
###########################################
|
||||
@ -93,45 +98,45 @@ LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/cps_loki
|
||||
#############################################
|
||||
# OliveTin Build #
|
||||
#############################################
|
||||
# FROM registry.fedoraproject.org/fedora:39 AS olivetin
|
||||
FROM registry.fedoraproject.org/fedora:39 AS olivetin
|
||||
|
||||
# LABEL org.opencontainers.image.source https://ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
# LABEL org.opencontainers.image.title=OliveTin
|
||||
LABEL org.opencontainers.image.source https://ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
LABEL org.opencontainers.image.title=OliveTin
|
||||
|
||||
# # Making sure there is newest docker version installed
|
||||
# RUN dnf -y install dnf-plugins-core \
|
||||
# && dnf -y install 'dnf-command(config-manager)' \
|
||||
# && dnf config-manager --add-repo https://download.docker.com/linux/fedora/docker-ce.repo \
|
||||
# && dnf -y install docker-ce-cli docker-compose-plugin --setopt=install_weak_deps=False
|
||||
# Making sure there is newest docker version installed
|
||||
RUN dnf -y install dnf-plugins-core \
|
||||
&& dnf -y install 'dnf-command(config-manager)' \
|
||||
&& dnf config-manager --add-repo https://download.docker.com/linux/fedora/docker-ce.repo \
|
||||
&& dnf -y install docker-ce-cli docker-compose-plugin --setopt=install_weak_deps=False
|
||||
|
||||
# # Install OliveTin and dependencies
|
||||
# RUN mkdir -p /config /var/www/olivetin \
|
||||
# && dnf install -y --nodocs --noplugins --setopt=keepcache=0 --setopt=install_weak_deps=0 \
|
||||
# iputils \
|
||||
# openssh-clients \
|
||||
# shadow-utils \
|
||||
# OliveTin \
|
||||
# && dnf clean all
|
||||
# Install OliveTin and dependencies
|
||||
RUN mkdir -p /config /var/www/olivetin \
|
||||
&& dnf install -y --nodocs --noplugins --setopt=keepcache=0 --setopt=install_weak_deps=0 \
|
||||
iputils \
|
||||
openssh-clients \
|
||||
shadow-utils \
|
||||
OliveTin \
|
||||
&& dnf clean all
|
||||
|
||||
# RUN useradd --system --create-home olivetin -u 1000
|
||||
RUN useradd --system --create-home olivetin -u 1000
|
||||
|
||||
# EXPOSE 1337/tcp
|
||||
EXPOSE 1337/tcp
|
||||
|
||||
# VOLUME /config
|
||||
VOLUME /config
|
||||
|
||||
# USER olivetin
|
||||
USER olivetin
|
||||
|
||||
# ENTRYPOINT [ "/usr/bin/OliveTin" ]
|
||||
ENTRYPOINT [ "/usr/bin/OliveTin" ]
|
||||
|
||||
# FROM alpine AS olivetin
|
||||
FROM docker AS olivetin
|
||||
|
||||
RUN wget https://github.com/OliveTin/OliveTin/releases/latest/download/OliveTin_linux_amd64.apk
|
||||
RUN apk add --allow-untrusted OliveTin_linux_amd64.apk
|
||||
# RUN wget https://github.com/OliveTin/OliveTin/releases/download/2023.12.21/OliveTin_linux_amd64.deb
|
||||
# RUN apt install ./OliveTin_linux_amd64.deb
|
||||
|
||||
# Expose the default OliveTin port
|
||||
EXPOSE 1337
|
||||
|
||||
# RUN wget https://github.com/OliveTin/OliveTin/releases/latest/download/OliveTin_linux_amd64.apk
|
||||
# RUN apk add --allow-untrusted OliveTin_linux_amd64.apk docker-cli-compose
|
||||
|
||||
# # Expose the default OliveTin port
|
||||
# EXPOSE 1337
|
||||
|
||||
# # Set the default command to run OliveTin
|
||||
# CMD ["OliveTin"]
|
||||
# Set the default command to run OliveTin
|
||||
CMD ["OliveTin"]
|
||||
BIN
docs/loki_overview.odg
Normal file
BIN
docs/loki_overview.odg
Normal file
Binary file not shown.
@ -17,4 +17,4 @@ repositories:
|
||||
cps_loki_bringup:
|
||||
type: git
|
||||
url: https://github.com/bjoernellens1/cps_loki_bringup
|
||||
version: main
|
||||
version: tuning
|
||||
|
||||
7
scripts/ps4_controller_script.sh
Executable file
7
scripts/ps4_controller_script.sh
Executable file
@ -0,0 +1,7 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Change directory to where docker-compose.yml is located
|
||||
cd /home/bjorn/git/cps_loki
|
||||
|
||||
# Restart the teleop service using docker-compose
|
||||
docker compose restart teleop
|
||||
16
scripts/setup.sh
Executable file
16
scripts/setup.sh
Executable file
@ -0,0 +1,16 @@
|
||||
#!/bin/bash
|
||||
|
||||
# copy script to a system directory
|
||||
sudo cp ps4_controller_script.sh /etc/udev/rules.d
|
||||
|
||||
# Set execute permissions for the script
|
||||
sudo chmod +x /etc/udev/rules.d/ps4_controller_script.sh
|
||||
|
||||
# Create or append the udev rule
|
||||
echo 'ACTION=="add", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", RUN+="/etc/udev/rules.d/ps4_controller_script.sh"' | sudo tee /etc/udev/rules.d/99-ps4-controller.rules
|
||||
|
||||
# Reload udev rules
|
||||
sudo udevadm control --reload-rules
|
||||
|
||||
# Provide user feedback
|
||||
echo "Setup completed. PS4 controller udev rule installed."
|
||||
Loading…
Reference in New Issue
Block a user