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@ -4,7 +4,7 @@ scan_to_scan_filter_chain:
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name: box_filter
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type: laser_filters/LaserScanBoxFilter
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params:
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box_frame: laser_frame
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box_frame: laser #laser_frame
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max_x: 0.80 #was 0.16
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max_y: 0.18 #was 0.17
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max_z: 0.1
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65
launch/move_base.launch
Normal file
65
launch/move_base.launch
Normal file
@ -0,0 +1,65 @@
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<launch>
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<param name="use_sim_time" value="false" />
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<!--<include file="$(find segwayrmp)/launch/segwayrmp_configuration.launch" />-->
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<!-- Run the map server -->
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<!--<node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/>-->
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<node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.yaml"/>
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<!--move base-->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
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</node>
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<!--启动 AMCL 节点 -->
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<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
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<param name="use_map_topic" value="false"/>
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<!-- Publish scans from best pose at a max of 10 Hz -->
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<param name="odom_model_type" value="diff"/>
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<param name="odom_alpha5" value="0.1"/>
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<param name="gui_publish_rate" value="10.0"/>
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<param name="laser_max_beams" value="60"/>
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<param name="laser_max_range" value="12.0"/>
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<param name="min_particles" value="500"/>
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<param name="max_particles" value="2000"/>
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<param name="kld_err" value="0.05"/>
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<param name="kld_z" value="0.99"/>
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<param name="odom_alpha1" value="0.2"/>
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<param name="odom_alpha2" value="0.2"/>
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<!-- translation std dev, m -->
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<param name="odom_alpha3" value="0.2"/>
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<param name="odom_alpha4" value="0.2"/>
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<param name="laser_z_hit" value="0.5"/>
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<param name="laser_z_short" value="0.05"/>
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<param name="laser_z_max" value="0.05"/>
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<param name="laser_z_rand" value="0.5"/>
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<param name="laser_sigma_hit" value="0.2"/>
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<param name="laser_lambda_short" value="0.1"/>
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<param name="laser_model_type" value="likelihood_field"/>
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<!-- <param name="laser_model_type" value="beam"/> -->
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<param name="laser_likelihood_max_dist" value="2.0"/>
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<param name="update_min_d" value="0.25"/>
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<param name="update_min_a" value="0.2"/>
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<param name="odom_frame_id" value="odom"/>
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<param name="resample_interval" value="1"/>
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<!-- Increase tolerance because the computer can get quite busy -->
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<param name="transform_tolerance" value="1.0"/>
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<param name="recovery_alpha_slow" value="0.0"/>
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<param name="recovery_alpha_fast" value="0.0"/>
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<!-- scan topic -->
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<remap from="scan" to="scan"/>
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</node>
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<!-- TF -->
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<!-- <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.10 0.0 0.12 3.14 0.0 0.0 base_link laser 100"/>
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<!-- static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->
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<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
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</launch>
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8
launch/nav_rviz_view.launch
Normal file
8
launch/nav_rviz_view.launch
Normal file
@ -0,0 +1,8 @@
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<?xml version="1.0"?>
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<launch>
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<!--start rviz view -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find segwayrmp)/rviz/nav.rviz" />
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</launch>
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12
launch/robot_pose_ekf.launch
Normal file
12
launch/robot_pose_ekf.launch
Normal file
@ -0,0 +1,12 @@
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<launch>
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<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
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<param name="output_frame" value="odom"/>
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<param name="freq" value="30.0"/>
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<param name="sensor_timeout" value="1.0"/>
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<param name="odom_used" value="true"/>
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<param name="imu_used" value="true"/>
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<param name="vo_used" value="false"/>
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<param name="debug" value="false"/>
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<param name="self_diagnose" value="false"/>
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</node>
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</launch>
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326
test.urdf
326
test.urdf
@ -1,326 +0,0 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from description/robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="robot">
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<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
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<!-- These make use of xacro's mathematical functionality -->
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="orange">
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<color rgba="1 0.3 0.1 1"/>
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</material>
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<material name="blue">
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<color rgba="0.2 0.2 1 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.6 0.6 0.6 1.0"/>
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</material>
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<material name="grey2">
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<color rgba="0.9 0.9 0.9 1.0"/>
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</material>
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<material name="lightGrey">
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<color rgba="0.6 0.6 0.6 1.0"/>
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</material>
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<!-- BASE LINK -->
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<link name="base_link">
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</link>
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<!-- BASE_FOOTPRINT LINK -->
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<joint name="base_footprint_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base_footprint"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="base_footprint">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link"/>
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<child link="chassis"/>
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<origin xyz="-0.22999999999999998 0 0.01"/>
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</joint>
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<link name="chassis">
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<visual>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="0.6 0.33 0.15"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="0.6 0.33 0.15"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.5"/>
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<inertia ixx="0.005475000000000001" ixy="0.0" ixz="0.0" iyy="0.0159375" iyz="0.0" izz="0.0195375"/>
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</inertial>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!-- LEFT WHEEL LINK -->
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<joint name="left_wheel_joint" type="continuous">
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<parent link="chassis"/>
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<child link="left_wheel"/>
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<origin rpy="-1.5707963267948966 0 0" xyz="0.22999999999999998 0.218375 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_wheel">
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<visual>
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<geometry>
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<cylinder length="0.08" radius="0.135"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.135"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="4.0"/>
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<inertia ixx="0.020358333333333336" ixy="0.0" ixz="0.0" iyy="0.020358333333333336" iyz="0.0" izz="0.03645"/>
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</inertial>
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</link>
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<gazebo reference="left_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- RIGHT WHEEL LINK -->
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<joint name="right_wheel_joint" type="continuous">
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<parent link="chassis"/>
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<child link="right_wheel"/>
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<origin rpy="1.5707963267948966 0 0" xyz="0.22999999999999998 -0.218375 0"/>
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<axis xyz="0 0 -1"/>
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</joint>
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<link name="right_wheel">
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<visual>
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<geometry>
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<cylinder length="0.08" radius="0.135"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.135"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="4.0"/>
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<inertia ixx="0.020358333333333336" ixy="0.0" ixz="0.0" iyy="0.020358333333333336" iyz="0.0" izz="0.03645"/>
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</inertial>
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</link>
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<gazebo reference="right_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- CASTER WHEEL LINK -->
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<joint name="caster_wheel_joint" type="fixed">
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<parent link="chassis"/>
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<child link="caster_wheel"/>
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<origin xyz="-0.15 0 -0.115"/>
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</joint>
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<link name="caster_wheel">
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.01"/>
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<inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
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</inertial>
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</link>
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<gazebo reference="caster_wheel">
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<material>Gazebo/White</material>
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<mu1 value="0.001"/>
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<mu2 value="0.001"/>
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</gazebo>
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<!-- Lidar LINK -->
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<!-- <joint name="lidar_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="${chassis_length/2 -0.150} 0 ${chassis_height + 0.030}" rpy="0 0 0"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link> -->
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<joint name="lidar_joint" type="fixed">
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<parent link="base_link"/>
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<child link="laser_frame"/>
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<origin rpy="0 0 3.141592653589793" xyz="-0.08499999999999999 0 0.18"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.01"/>
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<inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
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</inertial>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/White</material>
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</gazebo>
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<ros2_control name="RealRobot" type="system">
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<hardware>
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<plugin>diffdrive_arduino/DiffDriveArduino</plugin>
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<param name="left_wheel_name">left_wheel_joint</param>
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<param name="right_wheel_name">right_wheel_joint</param>
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<param name="loop_rate">30</param>
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<param name="device">/dev/ttyUSB0</param>
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<param name="baud_rate">57600</param>
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<param name="timeout">1000</param>
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<param name="enc_counts_per_rev">3436</param>
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</hardware>
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<joint name="left_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="right_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<parameters>/home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/my_controllers.yaml</parameters>
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<parameters>/home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/gaz_ros2_ctl_use_sim.yaml</parameters>
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</plugin>
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</gazebo>
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<joint name="camera_joint" type="fixed">
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<parent link="chassis"/>
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<child link="camera_link"/>
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<origin rpy="0 0 0" xyz="0.276 0 0.181"/>
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</joint>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="0.010 0.03 0.03"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin xyz="0 0 -0.05"/>
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<geometry>
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<cylinder length="0.1" radius="0.002"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="camera_optical_joint" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_link_optical"/>
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<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
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</joint>
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<link name="camera_link_optical"/>
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<gazebo reference="camera_link">
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<material>Gazebo/Black</material>
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<sensor name="camera" type="camera">
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<pose> 0 0 0 0 0 0 </pose>
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<visualize>true</visualize>
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<update_rate>10</update_rate>
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<camera>
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<horizontal_fov>1.089</horizontal_fov>
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<image>
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<format>R8G8B8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
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<frame_name>camera_link_optical</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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<!-- <xacro:include filename="depth_camera.xacro" /> -->
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<joint name="face_joint" type="fixed">
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<parent link="chassis"/>
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<child link="face_link"/>
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<origin rpy="0 0 0" xyz="0.3 0 0.075"/>
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</joint>
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<link name="face_link">
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0.05 0.01"/>
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<geometry>
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<cylinder length="0.002" radius="0.01"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 -0.05 0.01"/>
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<geometry>
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<cylinder length="0.002" radius="0.01"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
|
||||
<origin rpy="0 1.5 0" xyz="-0.011 0 -0.00"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.05"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="face_link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user