.gitignore

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

README.md

@@ -3,24 +3,15 @@
 For the build with docker buildx bake you will need binfmt dependencies for arm64 architecture, as we are doing a multiplatform build (Works on PCs as well as Jetson Nano, Raspberry Pi, Apple Silicon Devices).
 
 For Robot:
-```
 docker buildx bake overlay --load
 docker buildx bake overlay --push
-```
 e.g.:
-```
 docker compose up -d controller
-```
+
 For PC:
-```
 docker buildx bake guis --load
 docker buildx bake guis --push
-```
 --> get into container shell:
-```
 docker compose run guis
-```
 or
-```
+docker compose up rviz2
-docker compose up rviz2
-```

cert.pem

@@ -1,29 +0,0 @@
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-/L8X5DB9SXofdFp+1jVh6WZCV8wt39Fxo+l+5afpeIc138XOkgvsrBFNzTi9
------END CERTIFICATE-----

config/entrypoint.sh

@@ -1,50 +0,0 @@
-#!/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 ${UNDERLAY_WS}
-#   vcs pull src
-#   echo "Updated base workspace"
-# fi
-
-# if [ -f /overlay_ws/]
-# then
-#   cd /overlay_ws
-#   vcs pull src
-#   echo "Updated overlay workspace"
-# fi
-
-# Execute the command passed into this entrypoint
-exec "$@"

config/nav2_params.yaml

@@ -1,633 +0,0 @@
-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
-controller_server:
-  ros__parameters:
-    controller_frequency: 50.0 # was 30.0 # ! must be float!
-    FollowPath:
-      plugin: "nav2_mppi_controller::MPPIController"
-      time_steps: 56
-      model_dt: 0.05
-      batch_size: 1000 # was 2000
-      vx_std: 0.2
-      vy_std: 0.2
-      wz_std: 0.4
-      vx_max: 0.5
-      vx_min: -0.35
-      vy_max: 0.5
-      wz_max: 1.9
-      iteration_count: 1
-      prune_distance: 1.7
-      transform_tolerance: 0.1
-      temperature: 0.3
-      gamma: 0.015
-      motion_model: "DiffDrive"
-      visualize: false
-      reset_period: 1.0 # (only in Humble)
-      regenerate_noises: false
-      TrajectoryVisualizer:
-        trajectory_step: 5
-        time_step: 3
-      AckermannConstraints:
-        min_turning_r: 0.1 # was0.2 # only active for ackermann
-      critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
-      ConstraintCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 4.0
-      GoalCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 5.0
-        threshold_to_consider: 1.4
-      GoalAngleCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 3.0
-        threshold_to_consider: 0.5
-      PreferForwardCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 10.0 # was 5.0
-        threshold_to_consider: 0.5
-      ObstaclesCritic:
-        enabled: true
-        cost_power: 1
-        repulsion_weight: 1.5
-        critical_weight: 20.0
-        consider_footprint: true # was false
-        collision_cost: 10000.0
-        collision_margin_distance: 0.1
-        near_goal_distance: 0.5
-        inflation_radius: 0.35 #was0.55 # (only in Humble)
-        cost_scaling_factor: 10.0 # (only in Humble)
-      PathAlignCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 14.0
-        max_path_occupancy_ratio: 0.05
-        trajectory_point_step: 3
-        threshold_to_consider: 0.5
-        offset_from_furthest: 20
-        use_path_orientations: true # was false
-      PathFollowCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 5.0
-        offset_from_furthest: 5
-        threshold_to_consider: 1.4
-      PathAngleCritic:
-        enabled: true
-        cost_power: 1
-        cost_weight: 2.0
-        offset_from_furthest: 4
-        threshold_to_consider: 0.5
-        max_angle_to_furthest: 1.0
-        mode: 0
-      # TwirlingCritic:
-      #   enabled: true
-      #   twirling_cost_power: 1
-      #   twirling_cost_weight: 10.0
-
-
-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: 10.0 # was 3.0  ;exponential rate at which the obstacle cost drops off (default: 10)
-        inflation_radius: 0.35 # 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: 0.35
-      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
-planner_server:
-  ros__parameters:
-    planner_plugins: ["GridBased"]
-    use_sim_time: True
-
-    GridBased:
-      plugin: "nav2_smac_planner/SmacPlannerHybrid"
-      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)
-      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
-      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 after within tolerances to continue to try to find exact solution
-      max_planning_time: 5.0              # max time in s for planner to plan, smooth
-      motion_model_for_search: "DUBIN"    # Hybrid-A* Dubin, Redds-Shepp
-      angle_quantization_bins: 72         # Number of angle bins for search
-      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
-      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
-      analytic_expansion_max_cost: true   # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
-      analytic_expansion_max_cost_override: false  #  Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
-      minimum_turning_radius: 0.20        # was 0.40 # minimum turning radius in m of path / vehicle
-      reverse_penalty: 1.0 #was2.0                # Penalty to apply if motion is reversing, must be => 1
-      change_penalty: 0.0                 # Penalty to apply if motion is changing directions (L to R), must be >= 0
-      non_straight_penalty: 2.0 #was 1.2           # Penalty to apply if motion is non-straight, must be => 1
-      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
-      retrospective_penalty: 0.015
-      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
-      cache_obstacle_heuristic: true #was false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
-      debug_visualizations: false         # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
-      use_quadratic_cost_penalty: True #was False
-      downsample_obstacle_heuristic: True
-      allow_primitive_interpolation: False
-      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
-
-      smoother:
-        max_iterations: 1000
-        w_smooth: 0.3
-        w_data: 0.2
-        tolerance: 1.0e-10
-        do_refinement: true
-        refinement_num: 2
-
-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

customize/cyclonedds_zerotier.xml

@@ -3,12 +3,15 @@
     <Domain id="any">
         <General>
             <Interfaces>
-                <NetworkInterface name="tailscale0"/>
+                <NetworkInterface name="zt3jn7jpga"/>
             </Interfaces>
             <AllowMulticast>true</AllowMulticast>
         </General>      
         <Discovery>
             <Peers>
+                <Peer address="10.241.215.39"/>
+                <Peer address="10.241.176.189"/>
+                <Peer address="10.241.125.101"/>
             </Peers>
             <ParticipantIndex>auto</ParticipantIndex>
             <MaxAutoParticipantIndex>40</MaxAutoParticipantIndex>
@@ -18,4 +21,4 @@
             <OutputFile>stdout</OutputFile>
         </Tracing>
     </Domain>
-</CycloneDDS>
+</CycloneDDS>

customize/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" "$config_file"
+
+# Execute the command passed into this entrypoint
+exec "$@"

docker-compose.yaml

@@ -59,9 +59,8 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-      - ./config/entrypoint.sh:/entrypoint.sh
+      - ./customize/entrypoint.sh:/entrypoint.sh
-      - ./config/cyclonedds.xml:/cyclonedds.xml
+      - ./customize/cyclonedds_zerotier.xml:/cyclonedds.xml
-    restart: unless-stopped
 
     # 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:
@@ -102,8 +101,6 @@ services:
           - linux/amd64
     command: >
       /bin/bash
-    devices:
-      - /dev/dri:/dev/dri
 
   # Robot State Publisher
   rsp:
@@ -117,9 +114,8 @@ services:
     command: >
       ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
     devices:
-      - /dev/segway:/dev/ttyUSB0
+      - /dev/segway:/dev/segway
-      #- /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyUSB0:/dev/ttyUSB0
-    privileged: true
 
   # teleop
   teleop:
@@ -130,8 +126,6 @@ services:
       ros2 launch rmp220_teleop robot_joystick.launch.py 
     devices:
       - /dev/input/js0:/dev/input/js0
-      #- /dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick:/dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick
-    privileged: true
 
   # lidar
   lidar:
@@ -151,7 +145,7 @@ services:
     command: >
       ros2 launch cps_rmp220_support robot_scan_filter.launch.py
 
-  # localization by ekf node
+  # localiaztion by ekf node
   ekf:
     extends: overlay
     depends_on:
@@ -201,8 +195,8 @@ services:
       - ekf
       - oakd
     command: >
-      ros2 launch nav2_bringup bringup_launch.py slam:=False map:=/repo/maps/map_01-26-24.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
+      ros2 launch nav2_bringup bringup_launch.py slam:=False map:=/repo/maps/map_openlabday.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
-  #maps/map_openlabday.yaml
+  
   # bash
   bash:
     extends: overlay
@@ -234,12 +228,9 @@ services:
     extends: overlay
     command: >
       ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
-    #tls:=true certfile:=/certs/foxgloveCert.crt keyfile:=/certs/foxgloveKey.key
-    volumes:
-      - /opt/cps/certs:/certs
 
   # Foxglove Studio Webserver
-  foxglove:
+  foxglove_webserver:
     image: ghcr.io/foxglove/studio:latest
     stdin_open: true
     tty: true
@@ -312,29 +303,6 @@ 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://192.168.0.100:11311            
-# export ROS_IP=192.168.0.?                               
-# export ROS_HOSTNAME=192.168.1.?
-
   # ROS2 oak-d-lite camera
   oakd:
     extends: overlay

husarnet.yaml

@@ -1,62 +0,0 @@
-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

@@ -1,52 +0,0 @@
------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
-3bkyZxFVrqBHl2wC4ChDlw3/nPjCcm142idqQRG0+iYAL8AJOxuvdGOkbqHSM8de
-1rlcL48rJ1X2uK6T8sAhEgXR0oZ8dQIDAQABAoICABwvlX1DRpSQEzj+SXK+aykS
-YriHOfxC7IEtm/hUaGhjE4ChZDLfFWCWAlZyqRC1KijwQKlDJjSjFCybeQtTc0bQ
-5GLKEeWpMwuchapgaPZfWx/HyCJ2Vvk5+T1Nd1CUGkA7FJbS+gGIDCmI6qWG3MFO
-P00XcazA8B8Kcip9U2Dgr4w+HkJXoaZIvQP8u8TwLfvDRU2xsIfocScMJJxn02yO
-QrYaoKqQQ13kT6ROt1SqOQ/IPOi3ySTXYJ9qxN1ccjqpT+bQ3oqK/OT8fc/M+fON
-/KeVHijwQzonX40b0kAi0ESgMar07QgtSJSTtLtQc6ZMNaYRf0GlS9yGCjh/LVPo
-IFCKjpSDfp2J9Q7RSFKdb8tghcTfQNAg/6zen1JnE5iUBiaQZfIj7+iD5hQfn9a2
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maps/map.yaml

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

maps/map_01-26-24.yaml

@@ -1,7 +0,0 @@
-image: map_01-26-24.pgm
-mode: trinary
-resolution: 0.02
-origin: [-4, -14.8, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

maps/map_floor_03-10-23.sav.yaml

@@ -1,7 +0,0 @@
-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

@@ -1,7 +0,0 @@
-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

@@ -1,7 +0,0 @@
-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

@@ -1,7 +0,0 @@
-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

@@ -1,47 +0,0 @@
-{
-  "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": ""
-}