Merge branch 'main' of https://github.com/bjoernellens1/ros2_rmp

.gitignore

@@ -0,0 +1 @@
+*.pgm

cert.pem

@@ -0,0 +1,29 @@
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+-----END CERTIFICATE-----

config/cyclonedds.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <Interfaces>
+                <NetworkInterface name="tailscale0"/>
+            </Interfaces>
+            <AllowMulticast>true</AllowMulticast>
+        </General>      
+        <Discovery>
+            <Peers>
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>40</MaxAutoParticipantIndex>
+        </Discovery>
+        <Tracing>
+            <Verbosity>severe</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>

config/entrypoint.sh

@@ -0,0 +1,98 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+UNDERLAY_WS=/rmp_ws
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+echo "Sourced ROS 2 ${ROS_DISTRO}"
+
+# Source the base workspace, if built
+if [ -f ${UNDERLAY_WS}/install/setup.bash ]
+then
+  source ${UNDERLAY_WS}/install/setup.bash
+  vcs pull ${UNDERLAY_WS}/src
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  vcs pull /overlay_ws/src
+  echo "Sourced CPS RMP 220 Overlay workspace"
+fi
+
+# Source the bridge workspace, if built
+if [ -f ~/ros2_humble/install/setup.bash ]
+then
+  source ~/ros2_humbleinstall/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Implement updating all repositories at launch
+if [ -f ${UNDERLAY_WS}/]
+then
+  cd ${UNDERLAY_WS}
+  vcs pull src
+  echo "Updated base workspace"
+fi
+
+if [ -f /overlay_ws/]
+then
+  cd /overlay_ws
+  vcs pull src
+  echo "Updated overlay workspace"
+fi
+
+# configure container networking to use zerotier interface as standard gateway
+# this might be for later
+# if [ -f /zerotier-one/zerotier-cli ]
+# then
+#   /zerotier-one/zerotier-cli join 8056c2e21c000001
+#   echo "Joined zerotier network"
+# fi
+# # set standard gateway to zerotier interface
+# ip route del default
+# ip route add default via $(ip addr show zt* | grep -Po 'inet \K[\d.]+')
+# echo "Set zerotier interface as standard gateway"
+# this should now route the ros2 traffic through zerotier?
+
+# # Find the ZeroTier interface name dynamically
+# zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
+
+# if [ -z "$zerotier_interface" ]; then
+#   echo "ZeroTier interface not found."
+#   exit 1
+# fi
+
+# # Set the standard gateway to the ZeroTier interface
+# ip route del default
+# ip route add default via $(ip addr show "$zerotier_interface" | grep -Po 'inet \K[\d.]+')
+
+# echo "Set ZeroTier interface '$zerotier_interface' as the standard gateway."
+
+# Changing apporach to just configure the cyconedds to use the zerotier interface
+
+# For now add respective ip apps to do the stuff below:
+apt update && apt install -y iproute2
+
+# Find the ZeroTier interface name dynamically
+# zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
+
+# if [ -z "$zerotier_interface" ]; then
+#   echo "ZeroTier interface not found."
+#   exit 1
+# fi
+
+# echo "Using ZeroTier interface: $zerotier_interface"
+
+# # Set the path to your CycloneDDS configuration file
+# config_file="/cyclonedds.xml"
+
+# # Replace the content between <NetworkInterfaceAddress> tags
+# sed -i "s|<NetworkInterfaceAddress>.*</NetworkInterfaceAddress>|<NetworkInterfaceAddress>$zerotier_interface</NetworkInterfaceAddress>|g" "$config_file"
+
+# Execute the command passed into this entrypoint
+exec "$@"

config/nav2_params.yaml

@@ -0,0 +1,506 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    #scan_topic: /scan
+    scan_topic: /scan_filtered
+    use_map_saver: true
+    mode: mapping #localization
+
+    # 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
+    # will use pose
+    #map_file_name: test_steve
+    #map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.02 # was 0.05 ; resolution equals to how many meters are 1 pixel on the map. So the lower value the higher the resoltion
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 10           
+    loop_match_maximum_variance_coarse: 3.0  
+    loop_match_minimum_response_coarse: 0.35    
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1 
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5      
+    angle_variance_penalty: 1.0    
+
+    fine_search_angle_offset: 0.00349     
+    coarse_search_angle_offset: 0.349   
+    coarse_angle_resolution: 0.0349        
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true
+
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 7.0 #was 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan_filtered
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odometry/filtered
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+# controller_server:
+#   ros__parameters:
+#     use_sim_time: True
+#     controller_frequency: 20.0
+#     min_x_velocity_threshold: 0.001
+#     min_y_velocity_threshold: 0.5
+#     min_theta_velocity_threshold: 0.001
+#     failure_tolerance: 0.3
+#     progress_checker_plugin: "progress_checker"
+#     goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+#     controller_plugins: ["FollowPath"]
+
+#     # Progress checker parameters
+#     progress_checker:
+#       plugin: "nav2_controller::SimpleProgressChecker"
+#       required_movement_radius: 0.5
+#       movement_time_allowance: 10.0
+#     # Goal checker parameters
+#     #precise_goal_checker:
+#     #  plugin: "nav2_controller::SimpleGoalChecker"
+#     #  xy_goal_tolerance: 0.25
+#     #  yaw_goal_tolerance: 0.25
+#     #  stateful: True
+#     general_goal_checker:
+#       stateful: True
+#       plugin: "nav2_controller::SimpleGoalChecker"
+#       xy_goal_tolerance: 0.25
+#       yaw_goal_tolerance: 0.25
+#     # DWB parameters
+#     FollowPath:
+#       plugin: "dwb_core::DWBLocalPlanner"
+#       debug_trajectory_details: True
+#       min_vel_x: -0.1
+#       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", "ObstacleFootprint", "PreferForward"]
+#       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
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 100.0 # was 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
+    goal_checker_plugins: ["goal_checker"]
+    controller_plugins: ["FollowPath"]
+
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25 # was 0.25
+      yaw_goal_tolerance: 0.25 # was 0.25
+      stateful: True
+    FollowPath:
+      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      desired_linear_vel: 0.5
+      lookahead_dist: 0.6
+      min_lookahead_dist: 0.3
+      max_lookahead_dist: 0.9
+      lookahead_time: 1.5
+      rotate_to_heading_angular_vel: 1.8
+      transform_tolerance: 0.1
+      use_velocity_scaled_lookahead_dist: false
+      min_approach_linear_velocity: 0.007 # was 0.05
+      approach_velocity_scaling_dist: 0.6
+      use_collision_detection: true
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+      use_regulated_linear_velocity_scaling: true
+      use_fixed_curvature_lookahead: false
+      curvature_lookahead_dist: 0.25
+      use_cost_regulated_linear_velocity_scaling: false
+      regulated_linear_scaling_min_radius: 0.9
+      regulated_linear_scaling_min_speed: 0.25
+      use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
+      allow_reversing: true # was false
+      rotate_to_heading_min_angle: 0.785
+      max_angular_accel: 3.2
+      max_robot_pose_search_dist: 10.0
+      use_interpolation: true # was false
+
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.02 # was 0.05 ; this param control the resolution how many meters is 1 pixel on the map
+      #robot_radius: 0.22
+      footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 2.0 # was 3.0  ;exponential rate at which the obstacle cost drops off (default: 10)
+        inflation_radius: 0.70 # max. distance from an obstacle at which costs are incurred for planning paths.
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: rplidar oakd
+        rplidar:
+          topic: /scan_filtered
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+        oak-d:  # no frame set, uses frame from message
+          topic: /stereo/points
+          max_obstacle_height: 1.5
+          min_obstacle_height: 0.02
+          obstacle_max_range: 3.0
+          obstacle_min_range: 0.0
+          raytrace_max_range: 3.2
+          raytrace_min_range: 0.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      #robot_radius: 0.22
+      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan_filtered
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 10.0 # was 3.0
+        inflation_radius: 0.55
+      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:
+#   ros__parameters:
+#     expected_planner_frequency: 20.0
+#     use_sim_time: True
+#     planner_plugins: ["GridBased"]
+#     GridBased:
+#       plugin: "nav2_navfn_planner/NavfnPlanner"
+#       tolerance: 0.5
+#       use_astar: false
+#       allow_unknown: true
+planner_server:
+  ros__parameters:
+    planner_plugins: ["GridBased"]
+    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
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_tolerance: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    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: "CLOSED_LOOP" # was 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: "/odometry/filtered"
+    odom_duration: 0.1 # was 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0

docker-compose.yaml

@@ -20,6 +20,9 @@ networks:
     #   config:
     #       - subnet:
 
+# add this mountpoint to all services: - ./customize/entrypoint.sh:/entrypoint.sh
+# Attention: child services will inherit settings from their parents. So if you set a network_mode: host in the base service, all child services will also use host networking. This is not always what you want. So be careful with this.
+
 services:
   # Base image containing dependencies.
   base:
@@ -36,7 +39,6 @@ services:
         platforms:
           - linux/arm64
           - linux/amd64
-
     # Interactive shell
     stdin_open: true
     tty: true
@@ -44,16 +46,21 @@ services:
     network_mode: host
     ipc: host
     # Needed to display graphical applications
-    #privileged: true
     environment:
       # Allows graphical programs in the container.
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
       - NVIDIA_DRIVER_CAPABILITIES=all
+      # set correct ros2 parameters: domain id and rmw implementation
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - CYCLONEDDS_URI=file:///cyclonedds.xml
     volumes:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+      - ./config/entrypoint.sh:/entrypoint.sh
+      - ./config/cyclonedds.xml:/cyclonedds.xml
 
     # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
     #   rmp:
@@ -92,23 +99,16 @@ services:
         platforms:
           - linux/arm64
           - linux/amd64
-    #entrypoint: /bin/bash
     command: >
       /bin/bash
+    devices:
+      - /dev/dri:/dev/dri
 
   # Robot State Publisher
   rsp:
     extends: overlay
     command: >
       ros2 launch cps_rmp220_support rsp.launch.py
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # Controller
   controller:
@@ -116,21 +116,9 @@ services:
     command: >
       ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
     devices:
-      - /dev/segway:/dev/segway
-      - /dev/ttyUSB0:/dev/ttyUSB0
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    # Needed to display graphical applications
-    privileged: false
-    # depends_on:
-    #   - robot_state_publisher
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - /dev/segway:/dev/ttyUSB0
+      #- /dev/ttyUSB0:/dev/ttyUSB0
+    privileged: true
 
   # teleop
   teleop:
@@ -141,17 +129,8 @@ services:
       ros2 launch rmp220_teleop robot_joystick.launch.py 
     devices:
       - /dev/input/js0:/dev/input/js0
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    # Needed to display graphical applications
+      #- /dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick:/dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick
     privileged: true
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # lidar
   lidar:
@@ -160,16 +139,6 @@ services:
       - lidar_filter
     command: >
       ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    # depends_on:
-    #   - robot_state_publisher
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     devices:
       - /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
 #       SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
@@ -180,14 +149,6 @@ services:
     extends: overlay
     command: >
       ros2 launch cps_rmp220_support robot_scan_filter.launch.py
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # localiaztion by ekf node
   ekf:
@@ -197,15 +158,6 @@ services:
       - rsp
     command: >
       ros2 launch cps_rmp220_support robot_localization.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # mapping
   mapping:
@@ -216,15 +168,6 @@ services:
       - lidar
     command: >
       ros2 launch cps_rmp220_support robot_mapping.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # slam-toolbox-localization
   localization:
@@ -235,15 +178,6 @@ services:
       - lidar
     command: >
       ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # amcl_localization
   amcl:
@@ -254,15 +188,6 @@ services:
       - lidar
     command: >
       ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # navigation
   navigation:
@@ -274,52 +199,23 @@ services:
       - lidar
       - ekf
       - oakd
-    # command: >
-    #   ros2 launch cps_rmp220_support robot_navigation.launch.py
-    #   map_subscribe_transient_local:=true
-    # command: >
-    #   ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map_current.sav.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
     command: >
-      ros2 launch nav2_bringup bringup_launch.py slam:=False map:=/repo/maps/map.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-  
+      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
+  #maps/map_openlabday.yaml
   # bash
   bash:
     extends: overlay
     command: >
       /bin/bash
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-    - ROS_DOMAIN_ID=5
-    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # rviz2
   rviz2:
     #extends: guis
     image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
-    # command: >
-    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
     command: >
       ros2 launch cps_rmp220_support rviz.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
     # Needed to display graphical applications
-    privileged: true
+    privileged: true # really necessary?
     environment:
       # Allows graphical programs in the container.
       - DISPLAY=${DISPLAY}
@@ -337,21 +233,9 @@ services:
     extends: overlay
     command: >
       ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
-    #   rmp:
-    #     ipv4_address: 192.168.0.201 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
-
 
   # Foxglove Studio Webserver
-  foxglove_webserver:
+  foxglove:
     image: ghcr.io/foxglove/studio:latest
     stdin_open: true
     tty: true
@@ -369,14 +253,6 @@ services:
     extends: overlay
     command: >
       ros2 run ros2_cam_openCV cam_node
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     devices:
       - /dev/video0:/dev/video0
 
@@ -393,14 +269,6 @@ services:
       - navigation
     command: >
       ros2 launch cps_rmp220_support robot_exploration.launch.py
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    #network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   ### Images for ROS1 Interactions
   #ROS1 Bridge
@@ -440,21 +308,34 @@ services:
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
       - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
 
-  
+## Configure on ROS1 Hosts
+# seggy 192.168.0.100
+#     locally running ros-package: control1 
+#          subscribing topic2
+#          publishing  topic1                 
+
+# robot2 192.168.x.x
+#     locally running ros-package: control2
+#          subscribing topic1
+#          publishing  topic2
+# As we need one ros-master to control the communication, we choose 192.168.1.1 as master. Therefore we execute locally on robot 1:
+
+# export ROS_MASTER_URI=http://192.168.0.100:11311 # or localhost?
+# export ROS_HOSTNAME=192.168.0.100
+# export ROS_IP=192.168.0.100   
+# roscore
+
+# In order to connect to the ROS-master, we execute locally on robot2:
+
+# export ROS_MASTER_URI=http://192.1.1.1:11311            
+# export ROS_IP=192.168.1.2                               
+# export ROS_HOSTNAME=192.168.1.2
+
   # ROS2 oak-d-lite camera
   oakd:
     extends: overlay
     command: >
       ros2 launch depthai_examples stereo.launch.py
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    environment:
-      - ROS_DOMAIN_ID=5
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    #privileged: true
     #devices:
       #- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
 # SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
@@ -463,7 +344,6 @@ services:
       - 'c 189:* rmw'
     volumes:
       - /dev/bus/usb:/dev/bus/usb
-    
 
   # for testing the oak-d-lite camera -> works now with cgroup rules
   depthai:
@@ -481,3 +361,24 @@ services:
       - QT_X11_NO_MITSHM=1
       - NVIDIA_DRIVER_CAPABILITIES=all
   
+  zerotier:
+    image: "zyclonite/zerotier:router"
+    container_name: zerotier-one
+    devices:
+      - /dev/net/tun
+    network_mode: host
+    volumes:
+      - '/var/lib/zerotier-one:/var/lib/zerotier-one'
+    cap_add:
+      - NET_ADMIN
+      - SYS_ADMIN
+      - NET_RAW
+    restart: unless-stopped
+    environment:
+      - TZ=Europe/Amsterdam
+      - PUID=1000
+      - PGID=1000
+      - ZEROTIER_ONE_LOCAL_PHYS=enp5s0 wlx00e04c5513fc # change for actual interfaces
+      - ZEROTIER_ONE_USE_IPTABLES_NFT=false
+      - ZEROTIER_ONE_GATEWAY_MODE=inbound # might change to both ways
+      #- ZEROTIER_ONE_NETWORK_IDS= # does not really do much?

husarnet.yaml

@@ -0,0 +1,62 @@
+services:
+    ### Husarnet VPN Container for remote access
+  husarnet:
+    image: husarnet/husarnet
+    restart: unless-stopped
+    volumes:
+        - /var/lib/husarnet  # This will persist your Husarnet Client keys, thus IP of the container will be stable/the same between (re)boots
+    sysctls:
+        - net.ipv6.conf.all.disable_ipv6=0  # Husarnet is using IPv6 for the internal connections
+    cap_add:
+        - NET_ADMIN
+    devices:
+        - /dev/net/tun
+    env_file:
+        - ./husarnet/.env  # create .env file in the same folder as Dockerfile and specify HOSTNAME and JOINCODE there
+
+  color_controller:
+    build:
+        dockerfile: husarnet/Dockerfile
+    volumes:
+        - ./husarnet/cyclonedds.xml:/cyclonedds.xml
+    command:
+        - bash
+        - -c
+        - |
+            export CYCLONEDDS_URI=file:///cyclonedds.xml
+            ros2 run my_demo_pkg color_controller
+    network_mode: service:husarnet
+
+  move_controller:
+    build:
+        dockerfile: husarnet/Dockerfile
+    volumes:
+        - ./husarnet/cyclonedds.xml:/cyclonedds.xml
+    command:
+        - bash
+        - -c
+        - |
+            export CYCLONEDDS_URI=file:///cyclonedds.xml
+            ros2 run my_demo_pkg move_controller
+    network_mode: service:husarnet
+
+  turtle_sim:
+    image: osrf/ros:galactic-desktop
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+      - ./husarnet/cyclonedds.xml:/cyclonedds.xml
+    command: 
+        - bash
+        - -c
+        - |
+            export CYCLONEDDS_URI=file:///cyclonedds.xml
+            ros2 run turtlesim turtlesim_node
+    network_mode: service:husarnet  # This is the most important line in this setup. This will put the Husarnet Client in the same network namespace as your app (in this example: turtle_sim)

key.pem

@@ -0,0 +1,52 @@
+-----BEGIN PRIVATE KEY-----
+MIIJQgIBADANBgkqhkiG9w0BAQEFAASCCSwwggkoAgEAAoICAQC7PXpOg/+h7QaU
+cQuc7FdUxtDjKAOECglENb6HcA3TVA8YPyEoHIzlApR3VudRrjSMp4Q16sktWnC9
+hb7CSwjDw4ShT5cotBq/n0uS6YzH3hj3a+F9g8R2MkZ8FJ6Z/gYAvDQaZ6LN6CUY
+pACiYE3Z9XRZ6B7vtPpoTcZJp/OaBaRYohcvNh3QL5/MxSd/tO1ulpwbvUPVUCvJ
+52rb+ytHpmes/3ZLJYHq8m32R0XGGJ5XTN2uaIuEpuPhAEefZl8HMF7fd4scQlzs
+OVDt+RCvnw9WcXfmHSUhgLZh1mMZIh7WvXYcYK+MOUNffKDOeycwgg4Y93vy/OmJ
+VSUiTUwupLgV4AyrJMW6WNntSMbb5h+n72An/e99sKJaa3Ak65m8J5e8LBQaW8kf
+toVqf1QobQ4K4g4Fj7xmqRuApDyUI2+GTkcPzPj2lra71PNq7rwows4iEnTTSw9b
+XtGtZOtArSLMt42bGVS80W2DrmkKkTvJSKeUpV8GM+torWG25kv8TQxnWyr1hX9V
+uMVCeuFp3Vtn4O8tG5fYSF3yCxS3pQuFBbe+rsaZejS77FPVciQIRh01QajjFcqv
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maps/map.yaml

@@ -1,4 +1,4 @@
-image: map_floor_mainb_full_save.pgm
+image: map_floor_mainb_save_retouched.pgm
 mode: trinary
 resolution: 0.05
 origin: [-66.2, -24.5, 0]

maps/map_floor_03-10-23.sav.yaml

@@ -0,0 +1,7 @@
+image: map_floor_03-10-23.sav.pgm
+mode: trinary
+resolution: 0.05
+origin: [-27.2, -0.0189, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_floor_mainb_save.yaml

@@ -0,0 +1,7 @@
+image: map_floor_mainb_save_retouched.pgm
+mode: trinary
+resolution: 0.05
+origin: [-20.9, -7.03, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_openlabday.yaml

@@ -0,0 +1,7 @@
+image: map_openlabday.pgm
+mode: trinary
+resolution: 0.05
+origin: [-13.5, -20.9, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_save_16.10..yaml

@@ -0,0 +1,7 @@
+image: map_save_16.10..pgm
+mode: trinary
+resolution: 0.05
+origin: [-25.7, -17, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

slim.report.json

@@ -0,0 +1,47 @@
+{
+  "version": "1.1",
+  "engine": "linux|Transformer|1.40.6|1.40.6|latest",
+  "containerized": false,
+  "host_distro": {
+    "name": "NixOS",
+    "version": "23.11",
+    "display_name": "NixOS 23.11 (Tapir)"
+  },
+  "type": "build",
+  "state": "error",
+  "target_reference": "ubuntu",
+  "system": {
+    "type": "",
+    "release": "",
+    "distro": {
+      "name": "",
+      "version": "",
+      "display_name": ""
+    }
+  },
+  "source_image": {
+    "identity": {
+      "id": ""
+    },
+    "size": 0,
+    "size_human": "",
+    "create_time": "",
+    "docker_version": "",
+    "architecture": "",
+    "container_entry": {
+      "exe_path": ""
+    }
+  },
+  "minified_image_size": 0,
+  "minified_image_size_human": "",
+  "minified_image": "",
+  "minified_image_has_data": false,
+  "minified_by": 0,
+  "artifact_location": "",
+  "container_report_name": "",
+  "seccomp_profile_name": "",
+  "apparmor_profile_name": "",
+  "image_stack": null,
+  "image_created": false,
+  "image_build_engine": ""
+}