mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 15:43:48 +00:00
bjoernellens1
GitHub
commit
361ba73e71
@ -1,6 +1,6 @@
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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update_rate: 30 # Hz was 100 vefore
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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@ -24,7 +24,7 @@ diffbot_base_controller:
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left_wheel_radius_multiplier: -1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 100.0
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publish_rate: 50.0 # was 100 before
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odom_frame_id: odom
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base_frame_id: base_link
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# pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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@ -26,7 +26,7 @@ slam_toolbox:
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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: 5.0
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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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348
config/nav2_params.yaml
Normal file
348
config/nav2_params.yaml
Normal file
@ -0,0 +1,348 @@
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amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_footprint"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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# Goal checker parameters
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: 0.0
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min_vel_y: 0.0
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max_vel_x: 0.26
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max_vel_y: 0.0
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max_vel_theta: 1.0
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min_speed_xy: 0.0
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max_speed_xy: 0.26
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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GoalDist.scale: 24.0
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
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RotateToGoal.lookahead_time: -1.0
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 5.0
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publish_frequency: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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robot_radius: 0.22
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plugins: ["voxel_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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global_costmap:
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global_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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use_sim_time: True
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robot_radius: 0.22
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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always_send_full_costmap: True
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map_server:
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ros__parameters:
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use_sim_time: True
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# Overridden in launch by the "map" launch configuration or provided default value.
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# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
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yaml_filename: ""
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map_saver:
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ros__parameters:
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use_sim_time: True
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: True
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planner_server:
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ros__parameters:
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expected_planner_frequency: 20.0
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use_sim_time: True
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planner_plugins: ["GridBased"]
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GridBased:
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plugin: "nav2_navfn_planner/NavfnPlanner"
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tolerance: 0.5
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use_astar: false
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allow_unknown: true
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smoother_server:
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ros__parameters:
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use_sim_time: True
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smoother_plugins: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
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spin:
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plugin: "nav2_behaviors/Spin"
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backup:
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plugin: "nav2_behaviors/BackUp"
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drive_on_heading:
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plugin: "nav2_behaviors/DriveOnHeading"
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wait:
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plugin: "nav2_behaviors/Wait"
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assisted_teleop:
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plugin: "nav2_behaviors/AssistedTeleop"
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 0.1
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use_sim_time: true
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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robot_state_publisher:
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ros__parameters:
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use_sim_time: True
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waypoint_follower:
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ros__parameters:
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use_sim_time: True
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loop_rate: 20
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stop_on_failure: false
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waypoint_task_executor_plugin: "wait_at_waypoint"
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wait_at_waypoint:
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plugin: "nav2_waypoint_follower::WaitAtWaypoint"
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enabled: True
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waypoint_pause_duration: 200
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velocity_smoother:
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ros__parameters:
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use_sim_time: True
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smoothing_frequency: 20.0
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scale_velocities: False
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feedback: "OPEN_LOOP"
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max_velocity: [0.26, 0.0, 1.0]
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min_velocity: [-0.26, 0.0, -1.0]
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max_accel: [2.5, 0.0, 3.2]
|
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max_decel: [-2.5, 0.0, -3.2]
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odom_topic: "odom"
|
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odom_duration: 0.1
|
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deadband_velocity: [0.0, 0.0, 0.0]
|
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velocity_timeout: 1.0
|
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@ -12,4 +12,4 @@ twist_mux:
|
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joystick:
|
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topic : cmd_vel_joy
|
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timeout : 0.5
|
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priority: 100
|
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priority: 5
|
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270
launch/nav2.launch.py
Normal file
270
launch/nav2.launch.py
Normal file
@ -0,0 +1,270 @@
|
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# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('bot_mini_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = ['controller_server',
|
||||
'smoother_server',
|
||||
'planner_server',
|
||||
'behavior_server',
|
||||
'bt_navigator',
|
||||
'waypoint_follower',
|
||||
'velocity_smoother']
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart}
|
||||
|
||||
configured_params = RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_controller',
|
||||
executable='controller_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
Node(
|
||||
package='nav2_smoother',
|
||||
executable='smoother_server',
|
||||
name='smoother_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_planner',
|
||||
executable='planner_server',
|
||||
name='planner_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_behaviors',
|
||||
executable='behavior_server',
|
||||
name='behavior_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_bt_navigator',
|
||||
executable='bt_navigator',
|
||||
name='bt_navigator',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_waypoint_follower',
|
||||
executable='waypoint_follower',
|
||||
name='waypoint_follower',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_velocity_smoother',
|
||||
executable='velocity_smoother',
|
||||
name='velocity_smoother',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_navigation',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}]),
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_controller',
|
||||
plugin='nav2_controller::ControllerServer',
|
||||
name='controller_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
ComposableNode(
|
||||
package='nav2_smoother',
|
||||
plugin='nav2_smoother::SmootherServer',
|
||||
name='smoother_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_planner',
|
||||
plugin='nav2_planner::PlannerServer',
|
||||
name='planner_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_behaviors',
|
||||
plugin='behavior_server::BehaviorServer',
|
||||
name='behavior_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_bt_navigator',
|
||||
plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
|
||||
name='waypoint_follower',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
|
||||
name='velocity_smoother',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
@ -79,7 +79,8 @@ def generate_launch_description():
|
||||
|
||||
teleop_spawner = Node(
|
||||
package="rmp220_teleop",
|
||||
executable="rmp220_teleop"
|
||||
executable="rmp220_teleop",
|
||||
remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
|
||||
)
|
||||
|
||||
cam_node = Node(
|
||||
@ -98,6 +99,14 @@ def generate_launch_description():
|
||||
parameters=[lidar_dir],
|
||||
)
|
||||
|
||||
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
|
||||
twist_mux = Node(
|
||||
package="twist_mux",
|
||||
executable="twist_mux",
|
||||
parameters=[twist_mux_params, {'use_sim_time': False}],
|
||||
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
@ -106,5 +115,6 @@ def generate_launch_description():
|
||||
joystick_spawner,
|
||||
teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node
|
||||
#lidar_node,
|
||||
#twist_mux
|
||||
])
|
||||
@ -88,7 +88,7 @@ def generate_launch_description():
|
||||
executable="cam_node"
|
||||
)
|
||||
|
||||
use_sim_time = True
|
||||
use_sim_time = False
|
||||
slam_params_file = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
131
launch/robot_mapper.launch.py
Normal file
131
launch/robot_mapper.launch.py
Normal file
@ -0,0 +1,131 @@
|
||||
# Copyright 2022 Factor Robotics
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
from launch import LaunchDescription
|
||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import LifecycleNode
|
||||
from launch_ros.descriptions import ParameterValue
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_description"),
|
||||
"urdf",
|
||||
"odrive_diffbot.urdf.xacro"
|
||||
]
|
||||
),
|
||||
]
|
||||
)
|
||||
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
||||
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
"config",
|
||||
"diffbot_controllers.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_description, robot_controllers],
|
||||
output="both",
|
||||
)
|
||||
|
||||
robot_state_pub_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
robot_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
joystick_spawner = Node(
|
||||
package="joy",
|
||||
executable="joy_node"
|
||||
)
|
||||
|
||||
teleop_spawner = Node(
|
||||
package="rmp220_teleop",
|
||||
executable="rmp220_teleop"
|
||||
)
|
||||
|
||||
cam_node = Node(
|
||||
package="ros2_cam_openCV",
|
||||
executable="cam_node"
|
||||
)
|
||||
|
||||
use_sim_time = False
|
||||
slam_params_file = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
"config",
|
||||
"mapper_params_online_async.yaml"
|
||||
]
|
||||
)
|
||||
mapper_node = Node(
|
||||
package="slam_toolbox",
|
||||
executable="async_slam_toolbox_node",
|
||||
name='slam_toolbox_node',
|
||||
output='screen',
|
||||
parameters=[
|
||||
slam_params_file,
|
||||
{'use_sim_time': use_sim_time}
|
||||
],
|
||||
)
|
||||
|
||||
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
|
||||
lidar_node = LifecycleNode(
|
||||
package='lslidar_driver',
|
||||
executable='lslidar_driver_node',
|
||||
name='lslidar_driver_node',
|
||||
output='screen',
|
||||
emulate_tty=True,
|
||||
namespace='',
|
||||
parameters=[lidar_dir],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node,
|
||||
mapper_node
|
||||
])
|
||||
270
launch/robot_navigation.launch.py
Normal file
270
launch/robot_navigation.launch.py
Normal file
@ -0,0 +1,270 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('bot_mini_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = ['controller_server',
|
||||
'smoother_server',
|
||||
'planner_server',
|
||||
'behavior_server',
|
||||
'bt_navigator',
|
||||
'waypoint_follower',
|
||||
'velocity_smoother']
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart}
|
||||
|
||||
configured_params = RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_controller',
|
||||
executable='controller_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
Node(
|
||||
package='nav2_smoother',
|
||||
executable='smoother_server',
|
||||
name='smoother_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_planner',
|
||||
executable='planner_server',
|
||||
name='planner_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_behaviors',
|
||||
executable='behavior_server',
|
||||
name='behavior_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_bt_navigator',
|
||||
executable='bt_navigator',
|
||||
name='bt_navigator',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_waypoint_follower',
|
||||
executable='waypoint_follower',
|
||||
name='waypoint_follower',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_velocity_smoother',
|
||||
executable='velocity_smoother',
|
||||
name='velocity_smoother',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_navigation',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}]),
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_controller',
|
||||
plugin='nav2_controller::ControllerServer',
|
||||
name='controller_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
ComposableNode(
|
||||
package='nav2_smoother',
|
||||
plugin='nav2_smoother::SmootherServer',
|
||||
name='smoother_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_planner',
|
||||
plugin='nav2_planner::PlannerServer',
|
||||
name='planner_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_behaviors',
|
||||
plugin='behavior_server::BehaviorServer',
|
||||
name='behavior_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_bt_navigator',
|
||||
plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
|
||||
name='waypoint_follower',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
|
||||
name='velocity_smoother',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
120
launch/robot_twist_mux.launch.py
Normal file
120
launch/robot_twist_mux.launch.py
Normal file
@ -0,0 +1,120 @@
|
||||
# Copyright 2022 Factor Robotics
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
from launch import LaunchDescription
|
||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import LifecycleNode
|
||||
from launch_ros.descriptions import ParameterValue
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_description"),
|
||||
"urdf",
|
||||
"odrive_diffbot.urdf.xacro"
|
||||
]
|
||||
),
|
||||
]
|
||||
)
|
||||
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
||||
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
"config",
|
||||
"diffbot_controllers.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_description, robot_controllers],
|
||||
output="both",
|
||||
)
|
||||
|
||||
robot_state_pub_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
robot_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
joystick_spawner = Node(
|
||||
package="joy",
|
||||
executable="joy_node"
|
||||
)
|
||||
|
||||
teleop_spawner = Node(
|
||||
package="rmp220_teleop",
|
||||
executable="rmp220_teleop",
|
||||
remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
|
||||
)
|
||||
|
||||
cam_node = Node(
|
||||
package="ros2_cam_openCV",
|
||||
executable="cam_node"
|
||||
)
|
||||
|
||||
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
|
||||
lidar_node = LifecycleNode(
|
||||
package='lslidar_driver',
|
||||
executable='lslidar_driver_node',
|
||||
name='lslidar_driver_node',
|
||||
output='screen',
|
||||
emulate_tty=True,
|
||||
namespace='',
|
||||
parameters=[lidar_dir],
|
||||
)
|
||||
|
||||
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
|
||||
twist_mux = Node(
|
||||
package="twist_mux",
|
||||
executable="twist_mux",
|
||||
parameters=[twist_mux_params, {'use_sim_time': False}],
|
||||
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node,
|
||||
twist_mux
|
||||
])
|
||||
160
launch/sim.launch.py
Normal file
160
launch/sim.launch.py
Normal file
@ -0,0 +1,160 @@
|
||||
# Copyright 2022 Factor Robotics
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
|
||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.actions import LifecycleNode
|
||||
from launch_ros.descriptions import ParameterValue
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_description"),
|
||||
"urdf",
|
||||
"odrive_diffbot.urdf.xacro"
|
||||
]
|
||||
),
|
||||
]
|
||||
)
|
||||
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
||||
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
"config",
|
||||
"diffbot_controllers.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_description, robot_controllers],
|
||||
output="both",
|
||||
)
|
||||
|
||||
robot_state_pub_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
robot_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
joystick_spawner = Node(
|
||||
package="joy",
|
||||
executable="joy_node"
|
||||
)
|
||||
|
||||
teleop_spawner = Node(
|
||||
package="rmp220_teleop",
|
||||
executable="rmp220_teleop",
|
||||
remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
|
||||
)
|
||||
|
||||
joystick_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
get_package_share_directory('bot_mini_bringup'),'joy_teleop.launch.py'
|
||||
)]), launch_arguments={'use_sim_time': 'true'}.items()
|
||||
)
|
||||
|
||||
cam_node = Node(
|
||||
package="ros2_cam_openCV",
|
||||
executable="cam_node"
|
||||
)
|
||||
|
||||
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
|
||||
lidar_node = LifecycleNode(
|
||||
package='lslidar_driver',
|
||||
executable='lslidar_driver_node',
|
||||
name='lslidar_driver_node',
|
||||
output='screen',
|
||||
emulate_tty=True,
|
||||
namespace='',
|
||||
parameters=[lidar_dir],
|
||||
)
|
||||
|
||||
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
|
||||
twist_mux = Node(
|
||||
package="twist_mux",
|
||||
executable="twist_mux",
|
||||
parameters=[twist_mux_params, {'use_sim_time': False}],
|
||||
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
|
||||
)
|
||||
|
||||
gazebo_params_file = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','gazebo_params.yaml')
|
||||
# Include the Gazebo launch file, provided by the gazebo_ros package
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
|
||||
launch_arguments={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.items()
|
||||
)
|
||||
|
||||
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
|
||||
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
|
||||
arguments=['-topic', 'robot_description',
|
||||
'-entity', 'my_bot'],
|
||||
output='screen')
|
||||
|
||||
diff_drive_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diff_cont"],
|
||||
)
|
||||
|
||||
joint_broad_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_broad"],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node,
|
||||
twist_mux,
|
||||
gazebo,
|
||||
spawn_entity,
|
||||
joystick_launch,
|
||||
diff_drive_spawner,
|
||||
joint_broad_spawner
|
||||
])
|
||||
BIN
maps/cps_save_map.pgm
Normal file
BIN
maps/cps_save_map.pgm
Normal file
Binary file not shown.
7
maps/cps_save_map.yaml
Normal file
7
maps/cps_save_map.yaml
Normal file
@ -0,0 +1,7 @@
|
||||
image: ganz_save_map.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [0.192, 31.9, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
BIN
maps/cps_ser_map.data
Normal file
BIN
maps/cps_ser_map.data
Normal file
Binary file not shown.
BIN
maps/cps_ser_map.posegraph
Normal file
BIN
maps/cps_ser_map.posegraph
Normal file
Binary file not shown.
BIN
maps/default_map_save.pgm
Normal file
BIN
maps/default_map_save.pgm
Normal file
Binary file not shown.
7
maps/default_map_save.yaml
Normal file
7
maps/default_map_save.yaml
Normal file
@ -0,0 +1,7 @@
|
||||
image: office1_wb_konrad_map_save.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [-4.41, -17.2, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
BIN
maps/default_ser_save.data
Normal file
BIN
maps/default_ser_save.data
Normal file
Binary file not shown.
BIN
maps/default_ser_save.posegraph
Normal file
BIN
maps/default_ser_save.posegraph
Normal file
Binary file not shown.
BIN
maps/office1_map_save.pgm
Normal file
BIN
maps/office1_map_save.pgm
Normal file
Binary file not shown.
7
maps/office1_map_save.yaml
Normal file
7
maps/office1_map_save.yaml
Normal file
@ -0,0 +1,7 @@
|
||||
image: office1_map_save.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [1.87, -8.61, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
BIN
maps/office1_map_serial.data
Normal file
BIN
maps/office1_map_serial.data
Normal file
Binary file not shown.
BIN
maps/office1_map_serial.posegraph
Normal file
BIN
maps/office1_map_serial.posegraph
Normal file
Binary file not shown.
BIN
maps/office1_wb_konrad_map_save.pgm
Normal file
BIN
maps/office1_wb_konrad_map_save.pgm
Normal file
Binary file not shown.
7
maps/office1_wb_konrad_map_save.yaml
Normal file
7
maps/office1_wb_konrad_map_save.yaml
Normal file
@ -0,0 +1,7 @@
|
||||
image: office1_wb_konrad_map_save.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [-4.41, -17.2, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
BIN
maps/office1_wb_konrad_ser_save.data
Normal file
BIN
maps/office1_wb_konrad_ser_save.data
Normal file
Binary file not shown.
BIN
maps/office1_wb_konrad_ser_save.posegraph
Normal file
BIN
maps/office1_wb_konrad_ser_save.posegraph
Normal file
Binary file not shown.
3
setup.py
3
setup.py
@ -13,7 +13,8 @@ setup(
|
||||
['resource/' + package_name]),
|
||||
('share/' + package_name, ['package.xml']),
|
||||
(os.path.join('share', package_name), glob('launch/*.launch.py')),
|
||||
(os.path.join('share', package_name, 'config'), glob('config/*.yaml'))#[1:]
|
||||
(os.path.join('share', package_name, 'config'), glob('config/*.yaml')), #[1:]
|
||||
(os.path.join('share', package_name, 'maps'), glob('maps/*'))
|
||||
],
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user