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launch/robot_mapper.launch.py
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131
launch/robot_mapper.launch.py
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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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from launch.substitutions import LaunchConfiguration
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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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use_sim_time = False
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slam_params_file = PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_bringup"),
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"config",
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"mapper_params_online_async.yaml"
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]
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)
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mapper_node = Node(
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package="slam_toolbox",
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executable="async_slam_toolbox_node",
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name='slam_toolbox_node',
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output='screen',
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parameters=[
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slam_params_file,
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{'use_sim_time': use_sim_time}
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],
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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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mapper_node
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])
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270
launch/robot_navigation.launch.py
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270
launch/robot_navigation.launch.py
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# Copyright (c) 2018 Intel Corporation
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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 ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import LoadComposableNodes
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('bot_mini_bringup')
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namespace = LaunchConfiguration('namespace')
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use_sim_time = LaunchConfiguration('use_sim_time')
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autostart = LaunchConfiguration('autostart')
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params_file = LaunchConfiguration('params_file')
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use_composition = LaunchConfiguration('use_composition')
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container_name = LaunchConfiguration('container_name')
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container_name_full = (namespace, '/', container_name)
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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lifecycle_nodes = ['controller_server',
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'smoother_server',
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'planner_server',
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'behavior_server',
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'bt_navigator',
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'waypoint_follower',
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'velocity_smoother']
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'autostart': autostart}
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configured_params = RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites=param_substitutions,
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convert_types=True)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='False',
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description='Use composed bringup if True')
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declare_container_name_cmd = DeclareLaunchArgument(
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'container_name', default_value='nav2_container',
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description='the name of conatiner that nodes will load in if use composition')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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load_nodes = GroupAction(
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condition=IfCondition(PythonExpression(['not ', use_composition])),
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actions=[
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Node(
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package='nav2_controller',
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executable='controller_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
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Node(
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package='nav2_smoother',
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executable='smoother_server',
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name='smoother_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_planner',
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executable='planner_server',
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name='planner_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_behaviors',
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executable='behavior_server',
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name='behavior_server',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_bt_navigator',
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executable='bt_navigator',
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name='bt_navigator',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_waypoint_follower',
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executable='waypoint_follower',
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name='waypoint_follower',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings),
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Node(
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package='nav2_velocity_smoother',
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executable='velocity_smoother',
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name='velocity_smoother',
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output='screen',
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respawn=use_respawn,
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respawn_delay=2.0,
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parameters=[configured_params],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings +
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[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
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Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager_navigation',
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output='screen',
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arguments=['--ros-args', '--log-level', log_level],
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parameters=[{'use_sim_time': use_sim_time},
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{'autostart': autostart},
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{'node_names': lifecycle_nodes}]),
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]
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)
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load_composable_nodes = LoadComposableNodes(
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condition=IfCondition(use_composition),
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target_container=container_name_full,
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composable_node_descriptions=[
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ComposableNode(
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package='nav2_controller',
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plugin='nav2_controller::ControllerServer',
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name='controller_server',
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parameters=[configured_params],
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remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
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ComposableNode(
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package='nav2_smoother',
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plugin='nav2_smoother::SmootherServer',
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name='smoother_server',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
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package='nav2_planner',
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plugin='nav2_planner::PlannerServer',
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name='planner_server',
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||||
parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
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package='nav2_behaviors',
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||||
plugin='behavior_server::BehaviorServer',
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||||
name='behavior_server',
|
||||
parameters=[configured_params],
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remappings=remappings),
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||||
ComposableNode(
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package='nav2_bt_navigator',
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plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
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package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
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||||
name='waypoint_follower',
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parameters=[configured_params],
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remappings=remappings),
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ComposableNode(
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package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
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name='velocity_smoother',
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parameters=[configured_params],
|
||||
remappings=remappings +
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[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
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parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
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|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_use_sim_time_cmd)
|
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ld.add_action(declare_params_file_cmd)
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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)
|
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# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
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/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.
Loading…
Reference in New Issue
Block a user