update

config/entrypoint.sh

@@ -11,7 +11,7 @@ echo "Sourced ROS 2 ${ROS_DISTRO}"
 if [ -f ${UNDERLAY_WS}/install/setup.bash ]
 then
   source ${UNDERLAY_WS}/install/setup.bash
-  vcs pull ${UNDERLAY_WS}/src
+  # vcs pull ${UNDERLAY_WS}/src
   echo "Sourced CPS RMP 220 base workspace"
 fi
 
@@ -19,7 +19,7 @@ fi
 if [ -f /overlay_ws/install/setup.bash ]
 then
   source /overlay_ws/install/setup.bash
-  vcs pull /overlay_ws/src
+  # vcs pull /overlay_ws/src
   echo "Sourced CPS RMP 220 Overlay workspace"
 fi
 
@@ -32,67 +32,19 @@ then
 fi
 
 # Implement updating all repositories at launch
-if [ -f ${UNDERLAY_WS}/]
+# 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
+#   cd ${UNDERLAY_WS}
-#   echo "Joined zerotier network"
+#   vcs pull src
-# fi
+#   echo "Updated base workspace"
-# # 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
+# if [ -f /overlay_ws/]
-# ip route del default
+# then
-# ip route add default via $(ip addr show "$zerotier_interface" | grep -Po 'inet \K[\d.]+')
+#   cd /overlay_ws
-
+#   vcs pull src
-# echo "Set ZeroTier interface '$zerotier_interface' as the standard gateway."
+#   echo "Updated overlay workspace"
-
-# Changing apporach to just configure the cyconedds to use the zerotier interface
-
-# For now add respective ip apps to do the stuff below:
-apt update && apt install -y iproute2
-
-# Find the ZeroTier interface name dynamically
-# zerotier_interface=$(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

@@ -254,52 +254,139 @@ bt_navigator_navigate_to_pose_rclcpp_node:
 #       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:
-    use_sim_time: True
+    controller_frequency: 50.0 # was 30.0 # ! must be float!
-    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"
+      plugin: "nav2_mppi_controller::MPPIController"
-      desired_linear_vel: 0.5
+      time_steps: 56
-      lookahead_dist: 0.6
+      model_dt: 0.05
-      min_lookahead_dist: 0.3
+      batch_size: 1000 # was 2000
-      max_lookahead_dist: 0.9
+      vx_std: 0.2
-      lookahead_time: 1.5
+      vy_std: 0.2
-      rotate_to_heading_angular_vel: 1.8
+      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
-      use_velocity_scaled_lookahead_dist: false
+      temperature: 0.3
-      min_approach_linear_velocity: 0.007 # was 0.05
+      gamma: 0.015
-      approach_velocity_scaling_dist: 0.6
+      motion_model: "DiffDrive"
-      use_collision_detection: true
+      visualize: false
-      max_allowed_time_to_collision_up_to_carrot: 1.0
+      reset_period: 1.0 # (only in Humble)
-      use_regulated_linear_velocity_scaling: true
+      regenerate_noises: false
-      use_fixed_curvature_lookahead: false
+      TrajectoryVisualizer:
-      curvature_lookahead_dist: 0.25
+        trajectory_step: 5
-      use_cost_regulated_linear_velocity_scaling: false
+        time_step: 3
-      regulated_linear_scaling_min_radius: 0.9
+      AckermannConstraints:
-      regulated_linear_scaling_min_speed: 0.25
+        min_turning_r: 0.1 # was0.2 # only active for ackermann
-      use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
+      critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
-      allow_reversing: true # was false
+      ConstraintCritic:
-      rotate_to_heading_min_angle: 0.785
+        enabled: true
-      max_angular_accel: 3.2
+        cost_power: 1
-      max_robot_pose_search_dist: 10.0
+        cost_weight: 4.0
-      use_interpolation: true # was false
+      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:
@@ -319,8 +406,8 @@ local_costmap:
       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)
+        cost_scaling_factor: 10.0 # 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.
+        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
@@ -390,7 +477,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 10.0 # was 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.35
       always_send_full_costmap: True
 
 map_server:
@@ -418,27 +505,67 @@ map_saver:
 #       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/SmacPlanner2D"
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
-      tolerance: 0.125                      # tolerance for planning if unable to reach exact pose, in meters
+      downsample_costmap: false           # whether or not to downsample the map
-      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)
-      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
+      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_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_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
-      max_planning_time: 2.0                # max time in s for planner to plan, smooth
+      max_planning_time: 5.0              # 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*.
+      motion_model_for_search: "DUBIN"    # Hybrid-A* Dubin, Redds-Shepp
-      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)
+      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: 0.1
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
 
 smoother_server:
   ros__parameters:

docker-compose.yaml

@@ -61,6 +61,7 @@ services:
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
       - ./config/entrypoint.sh:/entrypoint.sh
       - ./config/cyclonedds.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:
@@ -150,7 +151,7 @@ services:
     command: >
       ros2 launch cps_rmp220_support robot_scan_filter.launch.py
 
-  # localiaztion by ekf node
+  # localization by ekf node
   ekf:
     extends: overlay
     depends_on:
@@ -200,7 +201,7 @@ services:
       - ekf
       - oakd
     command: >
-      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
+      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
   #maps/map_openlabday.yaml
   # bash
   bash:
@@ -233,6 +234,9 @@ 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:
@@ -327,9 +331,9 @@ services:
 
 # 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_MASTER_URI=http://192.168.0.100:11311            
-# export ROS_IP=192.168.1.2                               
+# export ROS_IP=192.168.0.?                               
-# export ROS_HOSTNAME=192.168.1.2
+# export ROS_HOSTNAME=192.168.1.?
 
   # ROS2 oak-d-lite camera
   oakd:

maps/map_01-26-24.yaml

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