Commit 2dd1ecac authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Initial commit

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cmake_minimum_required(VERSION 2.8.3)
project(iri_turtlebot_launch)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
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## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
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## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
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catkin_package(
# INCLUDE_DIRS include
# LIBRARIES iri_turtlebot_launch
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="turtlebot"/>
<arg name="path" default="$(find iri_turtlebot_launch)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="dynreconf" default="false"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="base_frame_id" value="base_footprint"/>
<arg name="map_topic" value="/map"/>
<arg name="map_service" value="/static_map"/>
<arg name="odom_topic" value="/odom"/>
<arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
<arg name="scan_topic" value="/scan"/>
<arg name="use_map" value="true"/>
<arg name="use_map_server" value="true"/>
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
<arg name="amcl_config" value="$(find iri_turtlebot_launch)/params/amcl.yaml"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="gmapping_scan_topic" value="/scan"/>
<arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
<arg name="resolution" value="0.1"/>
<arg name="use_move_base" value="$(arg use_move_base)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg rviz_file)">
</node>
<node name="rqt_reconfigure_turtlebot"
pkg ="rqt_reconfigure"
type="rqt_reconfigure"
if ="$(arg dynreconf)"
args="">
</node>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="turtlebot"/>
<arg name="path" default="$(find iri_turtlebot_launch)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav_no_map.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="dynreconf" default="false"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="base_frame_id" value="base_footprint"/>
<arg name="map_topic" value="/map"/>
<arg name="map_service" value="/static_map"/>
<arg name="odom_topic" value="/odom"/>
<arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
<arg name="scan_topic" value="/scan"/>
<arg name="use_map" value="false"/>
<arg name="use_map_server" value="true"/>
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
<arg name="amcl_config" value="$(find iri_turtlebot_launch)/params/amcl.yaml"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="gmapping_scan_topic" value="/scan"/>
<arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
<arg name="resolution" value="0.1"/>
<arg name="use_move_base" value="$(arg use_move_base)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg rviz_file)">
</node>
<node name="rqt_reconfigure_turtlebot"
pkg ="rqt_reconfigure"
type="rqt_reconfigure"
if ="$(arg dynreconf)"
args="">
</node>
</launch>
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="ns" default="turtlebot"/>
<arg name="world_name" default="empty"/>
<arg name="world_description" default="true"/>
<arg name="rviz" default="false"/>
<arg name="gui" default="true"/>
<arg name="base" value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
<arg name="battery" value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> <!-- /proc/acpi/battery/BAT0 -->
<arg name="stacks" value="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<include file="$(find iri_gazebo_worlds)/launch/test.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world_name)"/>
<arg name="description" value="$(arg world_description)"/>
<arg name="rviz" value="false"/>
</include>
<include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
<arg name="base" value="$(arg base)"/>
<arg name="stacks" value="$(arg stacks)"/>
<arg name="3d_sensor" value="$(arg 3d_sensor)"/>
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</launch>
<?xml version="1.0"?>
<package format="2">
<name>iri_turtlebot_launch</name>
<version>0.0.0</version>
<description>The iri_turtlebot_launch package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>LGPL</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/iri_ana_launch</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<author email="labrobotica@iri.upc.edu">Labrobotica</author>
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<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>iri_gazebo_worlds</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
map_frame_id: map
odom_frame_id: robot/odom
base_frame_id: robot/base_footprint
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0
# filer parameters
min_particles: 100
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
initial_cov_xx: 0.25
initial_cov_yy: 0.25
initial_cov_aa: 0.0685
gui_publish_rate: -1.0
save_pose_rate: 0.5
use_map_topic: false
first_map_only: false
# laser parameters
laser_min_range: -1.0
laser_max_range: -1.0
laser_max_beams: 30
laser_z_hit: 0.95
laser_z_short: 0.1
laser_z_max: 0.05
laser_z_rand: 0.05
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
odom_model_type: "diff-corrected"
odom_alpha1: 0.005
odom_alpha2: 0.005
odom_alpha3: 0.01
odom_alpha4: 0.005
odom_alpha5: 0.003
tf_broadcast: true
obstacle_layer_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: camera_marking
camera_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud,
topic: /robot/point_cloud_obs,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_near_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_near_marking hole_near_clearing
hole_near_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_near,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_near_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_near,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_far_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_far_marking hole_far_clearing
hole_far_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_far,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_far_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_far,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
obstacle_layer_lidar:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 10.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: lidar_marking
lidar_marking: {
sensor_frame: /robot/base_footprint,
data_type: LaserScan,
topic: /robot/scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 200.0
}
#local_costmap: ###namespace added when loading parameters in move_base.launch