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https://github.com/bjoernellens1/cps_loki_bringup.git
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This commit is contained in:
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87
config/diffbot_controllers.yaml
Normal file
87
config/diffbot_controllers.yaml
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@ -0,0 +1,87 @@
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diffbot_base_controller:
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type: diff_drive_controller/DiffDriveController
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diffbot_base_controller:
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ros__parameters:
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# left_wheel_names: ["left_wheel_joint"]
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# right_wheel_names: ["right_wheel_joint"]
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right_wheel_names: ["left_wheel_joint"] # needed to switch names because motors are connected to the wrong slots
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left_wheel_names: ["right_wheel_joint"]
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wheel_separation: 0.28
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#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
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wheel_radius: 0.065
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wheel_separation_multiplier: 1.0
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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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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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# twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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pose_covariance_diagonal:
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[0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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twist_covariance_diagonal:
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[0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
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open_loop: false
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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use_stamped_vel: false
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velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
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# preserve turning radius when limiting speed/acceleration/jerk
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preserve_turning_radius: false # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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# linear.x.has_velocity_limits: false
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# linear.x.has_acceleration_limits: false
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# linear.x.has_jerk_limits: false
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# linear.x.max_velocity: 2.0
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# linear.x.min_velocity: -2.0
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# linear.x.max_acceleration: 5.0
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# linear.x.max_jerk: 0.0
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# linear.x.min_jerk: 0.0
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# angular.z.has_velocity_limits: false
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# angular.z.has_acceleration_limits: false
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# angular.z.has_jerk_limits: false
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# angular.z.max_velocity: 5.0
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# angular.z.min_velocity: -5.0
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# angular.z.max_acceleration: 10.0
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# angular.z.min_acceleration: -10.0
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# angular.z.max_jerk: 0.0
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# angular.z.min_jerk: 0.0
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linear.x.has_velocity_limits: true
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linear.x.has_acceleration_limits: false
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 2.0
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linear.x.min_velocity: -2.0
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linear.x.min_acceleration: -5.0
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linear.x.max_acceleration: 5.0
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linear.x.max_jerk: 0.0
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linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 6.28
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angular.z.min_velocity: -6.28
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angular.z.max_acceleration: 25.0
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angular.z.min_acceleration: -25.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0
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73
config/mapper_params_online_async.yaml
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73
config/mapper_params_online_async.yaml
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@ -0,0 +1,73 @@
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slam_toolbox:
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ros__parameters:
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_footprint
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scan_topic: /scan
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mode: localization
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# if you'd like to immediately start continuing a map at a given pose
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# or at the dock, but they are mutually exclusive, if pose is given
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# will use pose
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map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
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# map_start_pose: [0.0, 0.0, 0.0]
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map_start_at_dock: true
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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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resolution: 0.05
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max_laser_range: 200.0 #for rastering images, standard was 20
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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enable_interactive_mode: true
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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loop_search_maximum_distance: 3.0
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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110
launch/cam.launch.py
Normal file
110
launch/cam.launch.py
Normal file
@ -0,0 +1,110 @@
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# Copyright 2022 Factor Robotics
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import LifecycleNode
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from launch_ros.descriptions import ParameterValue
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def generate_launch_description():
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_description"),
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"urdf",
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"odrive_diffbot.urdf.xacro"
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]
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),
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]
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)
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robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_bringup"),
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"config",
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"diffbot_controllers.yaml",
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]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diffbot_base_controller", "-c", "/controller_manager"],
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)
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joystick_spawner = Node(
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package="joy",
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executable="joy_node"
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)
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teleop_spawner = Node(
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package="rmp220_teleop",
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executable="rmp220_teleop"
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)
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cam_node = Node(
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package="ros2_cam_openCV",
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executable="cam_node"
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)
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lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
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lidar_node = LifecycleNode(
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package='lslidar_driver',
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executable='lslidar_driver_node',
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name='lslidar_driver_node',
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output='screen',
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emulate_tty=True,
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namespace='',
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parameters=[lidar_dir],
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)
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return LaunchDescription([
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#control_node,
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#robot_state_pub_node,
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#joint_state_broadcaster_spawner,
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#robot_controller_spawner,
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#joystick_spawner,
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#teleop_spawner,
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cam_node,
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#lidar_node
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])
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110
launch/controller.launch.py
Normal file
110
launch/controller.launch.py
Normal file
@ -0,0 +1,110 @@
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# Copyright 2022 Factor Robotics
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# 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
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import LifecycleNode
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from launch_ros.descriptions import ParameterValue
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def generate_launch_description():
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
|
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[
|
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FindPackageShare("bot_mini_description"),
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"urdf",
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"odrive_diffbot.urdf.xacro"
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]
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),
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]
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)
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robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
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robot_controllers = PathJoinSubstitution(
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[
|
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FindPackageShare("bot_mini_bringup"),
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||||
"config",
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"diffbot_controllers.yaml",
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||||
]
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)
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||||
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
|
||||
parameters=[robot_description],
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||||
)
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||||
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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||||
executable="spawner",
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||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
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||||
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diffbot_base_controller", "-c", "/controller_manager"],
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||||
)
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||||
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joystick_spawner = Node(
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package="joy",
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||||
executable="joy_node"
|
||||
)
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teleop_spawner = Node(
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package="rmp220_teleop",
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executable="rmp220_teleop"
|
||||
)
|
||||
|
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cam_node = Node(
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package="ros2_cam_openCV",
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executable="cam_node"
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)
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||||
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
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lidar_node = LifecycleNode(
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package='lslidar_driver',
|
||||
executable='lslidar_driver_node',
|
||||
name='lslidar_driver_node',
|
||||
output='screen',
|
||||
emulate_tty=True,
|
||||
namespace='',
|
||||
parameters=[lidar_dir],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
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control_node,
|
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#robot_state_pub_node,
|
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joint_state_broadcaster_spawner,
|
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robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node
|
||||
])
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||||
110
launch/joy_teleop.launch.py
Normal file
110
launch/joy_teleop.launch.py
Normal file
@ -0,0 +1,110 @@
|
||||
# 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"
|
||||
)
|
||||
|
||||
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],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
joystick_spawner,
|
||||
teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node
|
||||
])
|
||||
110
launch/lidar.launch.py
Normal file
110
launch/lidar.launch.py
Normal file
@ -0,0 +1,110 @@
|
||||
# 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"
|
||||
)
|
||||
|
||||
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],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
#robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
lidar_node
|
||||
])
|
||||
131
launch/mapper.launch.py
Normal file
131
launch/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 = True
|
||||
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
|
||||
])
|
||||
110
launch/rsp.launch.py
Normal file
110
launch/rsp.launch.py
Normal file
@ -0,0 +1,110 @@
|
||||
# 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"
|
||||
)
|
||||
|
||||
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],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
robot_state_pub_node,
|
||||
#joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
#joystick_spawner,
|
||||
#teleop_spawner,
|
||||
#cam_node,
|
||||
#lidar_node
|
||||
])
|
||||
1
setup.py
1
setup.py
@ -13,6 +13,7 @@ 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'))
|
||||
],
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user