update

launch/robot_mapper.launch.py

@@ -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
+    ])

launch/robot_navigation.launch.py

@@ -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

launch/sim.launch.py

@@ -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
+    ])

maps/cps_save_map.yaml

@@ -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

maps/office1_map_save.yaml

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

maps/office1_wb_konrad_map_save.yaml

@@ -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