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https://github.com/bjoernellens1/cps_loki_bringup.git
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update params
This commit is contained in:
bjoernellens1
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parent
22ed8e60f2
commit
e063609fd8
@ -12,7 +12,7 @@ slam_toolbox:
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# ROS Parameters
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# ROS Parameters
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odom_frame: odom
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odom_frame: odom
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map_frame: map
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map_frame: map
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base_frame: base_footprint
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base_frame: base_link
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scan_topic: scan_filtered
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scan_topic: scan_filtered
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mode: mapping #localization
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mode: mapping #localization
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@ -28,20 +28,20 @@ slam_toolbox:
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transform_publish_period: 0.02 #if 0 never publishes odometry
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 1.0 #was 5.0
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map_update_interval: 1.0 #was 5.0
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resolution: 0.05
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resolution: 0.05
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max_laser_range: 200.0 #for rastering images, standard was 20
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max_laser_range: 12.0 #for rastering images, standard was 20
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minimum_time_interval: 0.5
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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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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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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enable_interactive_mode: false
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# General Parameters
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# General Parameters
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use_scan_matching: true
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use_scan_matching: true
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use_scan_barycenter: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_distance: 0.0 # was 0.5
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minimum_travel_heading: 0.5
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minimum_travel_heading: 0.0 # was 0.5
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scan_buffer_size: 10
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scan_buffer_size: 20 # was 10
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scan_buffer_maximum_scan_distance: 10.0
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scan_buffer_maximum_scan_distance: 12.0 # was 10.0
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link_match_minimum_response_fine: 0.1
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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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link_scan_maximum_distance: 1.5
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loop_search_maximum_distance: 3.0
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loop_search_maximum_distance: 3.0
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@ -1,348 +0,0 @@
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amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_footprint"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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# Goal checker parameters
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: 0.0
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min_vel_y: 0.0
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max_vel_x: 0.26
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max_vel_y: 0.0
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max_vel_theta: 1.0
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min_speed_xy: 0.0
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max_speed_xy: 0.26
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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GoalDist.scale: 24.0
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
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RotateToGoal.lookahead_time: -1.0
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 5.0
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publish_frequency: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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robot_radius: 0.22
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plugins: ["voxel_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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global_costmap:
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global_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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use_sim_time: True
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robot_radius: 0.22
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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always_send_full_costmap: True
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map_server:
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ros__parameters:
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use_sim_time: True
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# Overridden in launch by the "map" launch configuration or provided default value.
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# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
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yaml_filename: ""
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map_saver:
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ros__parameters:
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use_sim_time: True
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: True
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planner_server:
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ros__parameters:
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expected_planner_frequency: 20.0
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use_sim_time: True
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planner_plugins: ["GridBased"]
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GridBased:
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plugin: "nav2_navfn_planner/NavfnPlanner"
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tolerance: 0.5
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use_astar: false
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allow_unknown: true
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smoother_server:
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ros__parameters:
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use_sim_time: True
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smoother_plugins: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
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spin:
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plugin: "nav2_behaviors/Spin"
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backup:
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plugin: "nav2_behaviors/BackUp"
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drive_on_heading:
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plugin: "nav2_behaviors/DriveOnHeading"
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wait:
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plugin: "nav2_behaviors/Wait"
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assisted_teleop:
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plugin: "nav2_behaviors/AssistedTeleop"
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 0.1
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use_sim_time: true
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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robot_state_publisher:
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ros__parameters:
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||||||
use_sim_time: True
|
|
||||||
|
|
||||||
waypoint_follower:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
loop_rate: 20
|
|
||||||
stop_on_failure: false
|
|
||||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
|
||||||
wait_at_waypoint:
|
|
||||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
|
||||||
enabled: True
|
|
||||||
waypoint_pause_duration: 200
|
|
||||||
|
|
||||||
velocity_smoother:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
smoothing_frequency: 20.0
|
|
||||||
scale_velocities: False
|
|
||||||
feedback: "OPEN_LOOP"
|
|
||||||
max_velocity: [0.26, 0.0, 1.0]
|
|
||||||
min_velocity: [-0.26, 0.0, -1.0]
|
|
||||||
max_accel: [2.5, 0.0, 3.2]
|
|
||||||
max_decel: [-2.5, 0.0, -3.2]
|
|
||||||
odom_topic: "odom"
|
|
||||||
odom_duration: 0.1
|
|
||||||
deadband_velocity: [0.0, 0.0, 0.0]
|
|
||||||
velocity_timeout: 1.0
|
|
||||||
@ -12,25 +12,23 @@ slam_toolbox:
|
|||||||
# ROS Parameters
|
# ROS Parameters
|
||||||
odom_frame: odom
|
odom_frame: odom
|
||||||
map_frame: map
|
map_frame: map
|
||||||
base_frame: base_footprint
|
base_frame: base_link
|
||||||
#scan_topic: scan
|
|
||||||
scan_topic: scan_filtered
|
scan_topic: scan_filtered
|
||||||
use_map_saver: true
|
|
||||||
mode: mapping #localization
|
mode: mapping #localization
|
||||||
|
|
||||||
# if you'd like to immediately start continuing a map at a given pose
|
# if you'd like to immediately start continuing a map at a given pose
|
||||||
# or at the dock, but they are mutually exclusive, if pose is given
|
# or at the dock, but they are mutually exclusive, if pose is given
|
||||||
# will use pose
|
# will use pose
|
||||||
#map_file_name: test_steve
|
#map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
|
||||||
#map_start_pose: [0.0, 0.0, 0.0]
|
# map_start_pose: [0.0, 0.0, 0.0]
|
||||||
#map_start_at_dock: true
|
map_start_at_dock: true
|
||||||
|
|
||||||
debug_logging: false
|
debug_logging: false
|
||||||
throttle_scans: 1
|
throttle_scans: 1
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||||||
map_update_interval: 5.0
|
map_update_interval: 1.0 #was 5.0
|
||||||
resolution: 0.05
|
resolution: 0.05
|
||||||
max_laser_range: 20.0 #for rastering images
|
max_laser_range: 12.0 #for rastering images, standard was 20
|
||||||
minimum_time_interval: 0.5
|
minimum_time_interval: 0.5
|
||||||
transform_timeout: 0.2
|
transform_timeout: 0.2
|
||||||
tf_buffer_duration: 30.
|
tf_buffer_duration: 30.
|
||||||
@ -40,10 +38,10 @@ slam_toolbox:
|
|||||||
# General Parameters
|
# General Parameters
|
||||||
use_scan_matching: true
|
use_scan_matching: true
|
||||||
use_scan_barycenter: true
|
use_scan_barycenter: true
|
||||||
minimum_travel_distance: 0.5
|
minimum_travel_distance: 0.0 # was 0.5
|
||||||
minimum_travel_heading: 0.5
|
minimum_travel_heading: 0.0 # was 0.5
|
||||||
scan_buffer_size: 10
|
scan_buffer_size: 20 # was 10
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
scan_buffer_maximum_scan_distance: 12.0 # was 10.0
|
||||||
link_match_minimum_response_fine: 0.1
|
link_match_minimum_response_fine: 0.1
|
||||||
link_scan_maximum_distance: 1.5
|
link_scan_maximum_distance: 1.5
|
||||||
loop_search_maximum_distance: 3.0
|
loop_search_maximum_distance: 3.0
|
||||||
@ -82,7 +80,7 @@ amcl:
|
|||||||
alpha3: 0.2
|
alpha3: 0.2
|
||||||
alpha4: 0.2
|
alpha4: 0.2
|
||||||
alpha5: 0.2
|
alpha5: 0.2
|
||||||
base_frame_id: "base_footprint"
|
base_frame_id: "base_link"
|
||||||
beam_skip_distance: 0.5
|
beam_skip_distance: 0.5
|
||||||
beam_skip_error_threshold: 0.9
|
beam_skip_error_threshold: 0.9
|
||||||
beam_skip_threshold: 0.3
|
beam_skip_threshold: 0.3
|
||||||
@ -90,7 +88,7 @@ amcl:
|
|||||||
global_frame_id: "map"
|
global_frame_id: "map"
|
||||||
lambda_short: 0.1
|
lambda_short: 0.1
|
||||||
laser_likelihood_max_dist: 2.0
|
laser_likelihood_max_dist: 2.0
|
||||||
laser_max_range: 7.0 #was 100.0
|
laser_max_range: 12.0 #was 100.0
|
||||||
laser_min_range: -1.0
|
laser_min_range: -1.0
|
||||||
laser_model_type: "likelihood_field"
|
laser_model_type: "likelihood_field"
|
||||||
max_beams: 60
|
max_beams: 60
|
||||||
@ -115,6 +113,21 @@ amcl:
|
|||||||
z_short: 0.05
|
z_short: 0.05
|
||||||
scan_topic: scan_filtered
|
scan_topic: scan_filtered
|
||||||
|
|
||||||
|
map_server:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||||
|
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
||||||
|
yaml_filename: ""
|
||||||
|
|
||||||
|
map_saver:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
save_map_timeout: 5.0
|
||||||
|
free_thresh_default: 0.25
|
||||||
|
occupied_thresh_default: 0.65
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
|
||||||
bt_navigator:
|
bt_navigator:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
@ -174,7 +187,6 @@ bt_navigator:
|
|||||||
- nav2_back_up_cancel_bt_node
|
- nav2_back_up_cancel_bt_node
|
||||||
- nav2_assisted_teleop_cancel_bt_node
|
- nav2_assisted_teleop_cancel_bt_node
|
||||||
- nav2_drive_on_heading_cancel_bt_node
|
- nav2_drive_on_heading_cancel_bt_node
|
||||||
- nav2_is_battery_charging_condition_bt_node
|
|
||||||
|
|
||||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -187,50 +199,93 @@ bt_navigator_navigate_to_pose_rclcpp_node:
|
|||||||
controller_server:
|
controller_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
controller_frequency: 100.0 # was 20.0
|
controller_frequency: 20.0 # was 20.0
|
||||||
min_x_velocity_threshold: 0.001
|
min_x_velocity_threshold: 0.001
|
||||||
min_y_velocity_threshold: 0.5
|
min_y_velocity_threshold: 0.5
|
||||||
min_theta_velocity_threshold: 0.001
|
min_theta_velocity_threshold: 0.001
|
||||||
|
failure_tolerance: 0.3 #new
|
||||||
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
||||||
goal_checker_plugins: ["goal_checker"]
|
goal_checker_plugins: ["general_goal_checker"] # was "goal_checker"
|
||||||
controller_plugins: ["FollowPath"]
|
controller_plugins: ["FollowPath"]
|
||||||
|
|
||||||
progress_checker:
|
progress_checker:
|
||||||
plugin: "nav2_controller::SimpleProgressChecker"
|
plugin: "nav2_controller::SimpleProgressChecker"
|
||||||
required_movement_radius: 0.5
|
required_movement_radius: 0.5
|
||||||
movement_time_allowance: 10.0
|
movement_time_allowance: 10.0
|
||||||
goal_checker:
|
general_goal_checker: # was goal_checker
|
||||||
plugin: "nav2_controller::SimpleGoalChecker"
|
plugin: "nav2_controller::SimpleGoalChecker"
|
||||||
xy_goal_tolerance: 0.25 # was 0.25
|
xy_goal_tolerance: 0.25 # was 0.25
|
||||||
yaw_goal_tolerance: 0.25 # was 0.25
|
yaw_goal_tolerance: 0.25 # was 0.25
|
||||||
stateful: True
|
stateful: True
|
||||||
FollowPath:
|
FollowPath:
|
||||||
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
||||||
desired_linear_vel: 0.5
|
# desired_linear_vel: 0.5
|
||||||
lookahead_dist: 0.6
|
# lookahead_dist: 0.6
|
||||||
min_lookahead_dist: 0.3
|
# min_lookahead_dist: 0.3
|
||||||
max_lookahead_dist: 0.9
|
# max_lookahead_dist: 0.9
|
||||||
lookahead_time: 1.5
|
# lookahead_time: 1.5
|
||||||
rotate_to_heading_angular_vel: 1.8
|
# rotate_to_heading_angular_vel: 1.8
|
||||||
transform_tolerance: 0.1
|
# transform_tolerance: 0.1
|
||||||
use_velocity_scaled_lookahead_dist: false
|
# use_velocity_scaled_lookahead_dist: false
|
||||||
min_approach_linear_velocity: 0.007 # was 0.05
|
# min_approach_linear_velocity: 0.007 # was 0.05
|
||||||
approach_velocity_scaling_dist: 0.6
|
# approach_velocity_scaling_dist: 0.6
|
||||||
use_collision_detection: true
|
# use_collision_detection: true
|
||||||
max_allowed_time_to_collision_up_to_carrot: 1.0
|
# max_allowed_time_to_collision_up_to_carrot: 1.0
|
||||||
use_regulated_linear_velocity_scaling: true
|
# use_regulated_linear_velocity_scaling: true
|
||||||
use_fixed_curvature_lookahead: false
|
# use_fixed_curvature_lookahead: false
|
||||||
curvature_lookahead_dist: 0.25
|
# curvature_lookahead_dist: 0.25
|
||||||
use_cost_regulated_linear_velocity_scaling: false
|
# use_cost_regulated_linear_velocity_scaling: false
|
||||||
regulated_linear_scaling_min_radius: 0.9
|
# regulated_linear_scaling_min_radius: 0.9
|
||||||
regulated_linear_scaling_min_speed: 0.25
|
# regulated_linear_scaling_min_speed: 0.25
|
||||||
use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
|
# use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
|
||||||
allow_reversing: true # was false
|
# allow_reversing: true # was false
|
||||||
rotate_to_heading_min_angle: 0.785
|
# rotate_to_heading_min_angle: 0.785
|
||||||
max_angular_accel: 3.2
|
# max_angular_accel: 3.2
|
||||||
max_robot_pose_search_dist: 10.0
|
# max_robot_pose_search_dist: 10.0
|
||||||
use_interpolation: true # was false
|
# use_interpolation: true # was false
|
||||||
|
|
||||||
|
## Changed to DWB again for Loki
|
||||||
|
plugin: "dwb_core::DWBLocalPlanner"
|
||||||
|
debug_trajectory_details: False # was True
|
||||||
|
min_vel_x: 0.0
|
||||||
|
min_vel_y: 0.0
|
||||||
|
max_vel_x: 0.26
|
||||||
|
max_vel_y: 0.0
|
||||||
|
max_vel_theta: 1.0
|
||||||
|
min_speed_xy: 0.0
|
||||||
|
max_speed_xy: 0.26
|
||||||
|
min_speed_theta: 0.0
|
||||||
|
# Add high threshold velocity for turtlebot 3 issue.
|
||||||
|
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||||
|
acc_lim_x: 2.5
|
||||||
|
acc_lim_y: 0.0
|
||||||
|
acc_lim_theta: 3.2
|
||||||
|
decel_lim_x: -2.5
|
||||||
|
decel_lim_y: 0.0
|
||||||
|
decel_lim_theta: -3.2
|
||||||
|
vx_samples: 20
|
||||||
|
vy_samples: 5
|
||||||
|
vtheta_samples: 20
|
||||||
|
sim_time: 1.7
|
||||||
|
linear_granularity: 0.05
|
||||||
|
angular_granularity: 0.025
|
||||||
|
transform_tolerance: 0.2
|
||||||
|
xy_goal_tolerance: 0.25
|
||||||
|
trans_stopped_velocity: 0.25
|
||||||
|
short_circuit_trajectory_evaluation: True
|
||||||
|
stateful: True
|
||||||
|
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||||
|
BaseObstacle.scale: 0.02
|
||||||
|
PathAlign.scale: 32.0
|
||||||
|
PathAlign.forward_point_distance: 0.1
|
||||||
|
GoalAlign.scale: 24.0
|
||||||
|
GoalAlign.forward_point_distance: 0.1
|
||||||
|
PathDist.scale: 32.0
|
||||||
|
GoalDist.scale: 24.0
|
||||||
|
RotateToGoal.scale: 32.0
|
||||||
|
RotateToGoal.slowing_factor: 5.0
|
||||||
|
RotateToGoal.lookahead_time: -1.0
|
||||||
|
|
||||||
local_costmap:
|
local_costmap:
|
||||||
local_costmap:
|
local_costmap:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -242,14 +297,17 @@ local_costmap:
|
|||||||
rolling_window: true
|
rolling_window: true
|
||||||
width: 3
|
width: 3
|
||||||
height: 3
|
height: 3
|
||||||
resolution: 0.05
|
resolution: 0.06 # was 0.05
|
||||||
#robot_radius: 0.22
|
#robot_radius: 0.22
|
||||||
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
||||||
plugins: ["voxel_layer", "inflation_layer"]
|
plugins: ["static_layer", "voxel_layer", "inflation_layer"]
|
||||||
|
static_layer:
|
||||||
|
plugin: "nav2_costmap_2d::StaticLayer"
|
||||||
|
map_subscribe_transient_local: True
|
||||||
inflation_layer:
|
inflation_layer:
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
cost_scaling_factor: 10.0 # was 3.0
|
cost_scaling_factor: 4.0 # was 10.0
|
||||||
inflation_radius: 0.55
|
inflation_radius: 0.45 # was 0.55
|
||||||
voxel_layer:
|
voxel_layer:
|
||||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||||
enabled: True
|
enabled: True
|
||||||
@ -270,9 +328,6 @@ local_costmap:
|
|||||||
raytrace_min_range: 0.0
|
raytrace_min_range: 0.0
|
||||||
obstacle_max_range: 2.5
|
obstacle_max_range: 2.5
|
||||||
obstacle_min_range: 0.0
|
obstacle_min_range: 0.0
|
||||||
static_layer:
|
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
always_send_full_costmap: True
|
always_send_full_costmap: True
|
||||||
|
|
||||||
global_costmap:
|
global_costmap:
|
||||||
@ -285,7 +340,7 @@ global_costmap:
|
|||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
#robot_radius: 0.22
|
#robot_radius: 0.22
|
||||||
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
||||||
resolution: 0.05
|
resolution: 0.06 # was 0.05
|
||||||
track_unknown_space: true
|
track_unknown_space: true
|
||||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||||
obstacle_layer:
|
obstacle_layer:
|
||||||
@ -307,46 +362,38 @@ global_costmap:
|
|||||||
map_subscribe_transient_local: True
|
map_subscribe_transient_local: True
|
||||||
inflation_layer:
|
inflation_layer:
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
cost_scaling_factor: 10.0 # was 3.0
|
cost_scaling_factor: 4.0 # was 10.0
|
||||||
inflation_radius: 0.55
|
inflation_radius: 0.45 # was 0.55
|
||||||
always_send_full_costmap: True
|
always_send_full_costmap: True
|
||||||
|
|
||||||
map_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
|
||||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
|
||||||
yaml_filename: ""
|
|
||||||
|
|
||||||
map_saver:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
save_map_timeout: 5.0
|
|
||||||
free_thresh_default: 0.25
|
|
||||||
occupied_thresh_default: 0.65
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
|
|
||||||
planner_server:
|
planner_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
|
expected_planner_frequency: 20.0 # new
|
||||||
planner_plugins: ["GridBased"]
|
planner_plugins: ["GridBased"]
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
|
# GridBased:
|
||||||
|
# plugin: "nav2_smac_planner/SmacPlanner2D"
|
||||||
|
# tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
|
||||||
|
# downsample_costmap: false # whether or not to downsample the map
|
||||||
|
# downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
||||||
|
# allow_unknown: true # allow traveling in unknown space
|
||||||
|
# max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
||||||
|
# max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
|
||||||
|
# max_planning_time: 2.0 # max time in s for planner to plan, smooth
|
||||||
|
# cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
|
||||||
|
# use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
|
||||||
|
# smoother:
|
||||||
|
# max_iterations: 1000
|
||||||
|
# w_smooth: 0.3
|
||||||
|
# w_data: 0.2
|
||||||
|
# tolerance: 0.1
|
||||||
|
|
||||||
|
## Changed back to Navfn planner for Loki
|
||||||
GridBased:
|
GridBased:
|
||||||
plugin: "nav2_smac_planner/SmacPlanner2D"
|
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||||
tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
|
tolerance: 0.5
|
||||||
downsample_costmap: false # whether or not to downsample the map
|
use_astar: false
|
||||||
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
allow_unknown: true
|
||||||
allow_unknown: true # allow traveling in unknown space
|
|
||||||
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
|
||||||
max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
|
|
||||||
max_planning_time: 2.0 # max time in s for planner to plan, smooth
|
|
||||||
cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
|
|
||||||
use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
|
|
||||||
smoother:
|
|
||||||
max_iterations: 1000
|
|
||||||
w_smooth: 0.3
|
|
||||||
w_data: 0.2
|
|
||||||
tolerance: 0.1
|
|
||||||
|
|
||||||
smoother_server:
|
smoother_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -411,4 +458,4 @@ velocity_smoother:
|
|||||||
odom_topic: "odom"
|
odom_topic: "odom"
|
||||||
odom_duration: 0.1 # was 0.1
|
odom_duration: 0.1 # was 0.1
|
||||||
deadband_velocity: [0.0, 0.0, 0.0]
|
deadband_velocity: [0.0, 0.0, 0.0]
|
||||||
velocity_timeout: 1.0
|
velocity_timeout: 1.0
|
||||||
@ -23,69 +23,6 @@ from launch_ros.descriptions import ParameterValue
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
robot_description_content = Command(
|
|
||||||
[
|
|
||||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
||||||
" ",
|
|
||||||
PathJoinSubstitution(
|
|
||||||
[
|
|
||||||
FindPackageShare("cps_loki_description"),
|
|
||||||
"urdf",
|
|
||||||
"odrive_diffbot.urdf.xacro"
|
|
||||||
]
|
|
||||||
),
|
|
||||||
]
|
|
||||||
)
|
|
||||||
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
|
||||||
|
|
||||||
robot_controllers = PathJoinSubstitution(
|
|
||||||
[
|
|
||||||
FindPackageShare("cps_loki_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('cps_loki_bringup'), 'config', 'lsx10.yaml')
|
lidar_dir = os.path.join(get_package_share_directory('cps_loki_bringup'), 'config', 'lsx10.yaml')
|
||||||
lidar_node = LifecycleNode(
|
lidar_node = LifecycleNode(
|
||||||
@ -99,12 +36,5 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
|
|
||||||
return LaunchDescription([
|
return LaunchDescription([
|
||||||
#control_node,
|
|
||||||
#robot_state_pub_node,
|
|
||||||
#joint_state_broadcaster_spawner,
|
|
||||||
#robot_controller_spawner,
|
|
||||||
#joystick_spawner,
|
|
||||||
#teleop_spawner,
|
|
||||||
#cam_node,
|
|
||||||
lidar_node
|
lidar_node
|
||||||
])
|
])
|
||||||
|
|||||||
@ -24,71 +24,7 @@ from launch.substitutions import LaunchConfiguration
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
robot_description_content = Command(
|
|
||||||
[
|
|
||||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
||||||
" ",
|
|
||||||
PathJoinSubstitution(
|
|
||||||
[
|
|
||||||
FindPackageShare("cps_loki_description"),
|
|
||||||
"urdf",
|
|
||||||
"odrive_diffbot.urdf.xacro"
|
|
||||||
]
|
|
||||||
),
|
|
||||||
]
|
|
||||||
)
|
|
||||||
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
|
||||||
|
|
||||||
robot_controllers = PathJoinSubstitution(
|
|
||||||
[
|
|
||||||
FindPackageShare("cps_loki_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(
|
slam_params_file = PathJoinSubstitution(
|
||||||
[
|
[
|
||||||
FindPackageShare("cps_loki_bringup"),
|
FindPackageShare("cps_loki_bringup"),
|
||||||
@ -96,6 +32,7 @@ def generate_launch_description():
|
|||||||
"mapper_params_online_async.yaml"
|
"mapper_params_online_async.yaml"
|
||||||
]
|
]
|
||||||
)
|
)
|
||||||
|
|
||||||
mapper_node = Node(
|
mapper_node = Node(
|
||||||
package="slam_toolbox",
|
package="slam_toolbox",
|
||||||
executable="async_slam_toolbox_node",
|
executable="async_slam_toolbox_node",
|
||||||
@ -107,25 +44,6 @@ def generate_launch_description():
|
|||||||
],
|
],
|
||||||
)
|
)
|
||||||
|
|
||||||
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([
|
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
|
mapper_node
|
||||||
])
|
])
|
||||||
Loading…
Reference in New Issue
Block a user