diff --git a/darwin_apps/launch/nav_client_sim.launch b/darwin_apps/launch/nav_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..02b718798fa908a31ee459836dbd8ace358d7e3a
--- /dev/null
+++ b/darwin_apps/launch/nav_client_sim.launch
@@ -0,0 +1,61 @@
+<launch>
+
+ <arg name="robot" default="darwin" />
+ <arg name="environment" default="obstacles_env_empty" />
+
+ <include file="$(find darwin_description)/launch/darwin_sim.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+
+ <include file="$(find darwin_nav)/launch/darwin_global_loc_sim.launch"/>
+
+ <!-- Move Base -->
+ <node pkg="move_base"
+ type="move_base"
+ name="move_base"
+ output="screen">
+ <remap from="cmd_vel" to="/darwin/robot/cmd_vel"/>
+ <remap from="odom" to="/darwin/robot/odom"/>
+ <!-- Main parameters -->
+ <rosparam file="$(find darwin_nav)/config/move_base_params.yaml" command="load"/>
+ <!-- LOCAL PLANNER -->
+ <rosparam file="$(find darwin_nav)/config/dwa_local_planner_params.yaml" command="load"/>
+ <rosparam file="$(find darwin_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
+ <rosparam file="$(find darwin_nav)/config/local_costmap_params.yaml" command="load" ns="local_costmap"/>
+ <!-- GLOBAL PLANNER -->
+ <rosparam file="$(find darwin_nav)/config/global_planner_params.yaml" command="load"/>
+ <rosparam file="$(find darwin_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
+ <rosparam file="$(find darwin_nav)/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
+ </node>
+
+ <!-- launch the navigation client node -->
+ <node name="nav_client"
+ pkg="nav_client"
+ type="nav_client"
+ output="screen"
+ ns="/darwin">
+ <remap from="/darwin/nav_client/nav_client/nav_module/"
+ to="/move_base"/>
+ <remap from="/darwin/nav_client/nav_client/set_servo_modules"
+ to="/darwin/robot/set_servo_modules"/>
+ <remap from="/darwin/nav_client/nav_client/set_walk_params"
+ to="/darwin/robot/set_walk_params"/>
+ <remap from="/darwin/nav_client/nav_client/get_walk_params"
+ to="/darwin/robot/get_walk_params"/>
+ <remap from="/darwin/nav_client/nav_client/joint_states"
+ to="/darwin/joint_states"/>
+ <remap from="/darwin/nav_client/nav_client/fallen_state"
+ to="/darwin/robot/fallen_state"/>
+
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/darwin_controller/src/sim/stm32_dyn_master_v2_servos.c b/darwin_controller/src/sim/stm32_dyn_master_v2_servos.c
index 644fa60d65f6db90bbf75b4943b31b3779fbec36..6f3f61726cd78112e2a22589c4e98b49e4e8845e 100644
--- a/darwin_controller/src/sim/stm32_dyn_master_v2_servos.c
+++ b/darwin_controller/src/sim/stm32_dyn_master_v2_servos.c
@@ -7,11 +7,12 @@ void darwin_dyn_master_v2_init(void)
darwin_dyn_master_v2.version=DYN_VER2;
}
-void darwin_dyn_master_v2_enable_power(void)
+inline void darwin_dyn_master_v2_enable_power(void)
{
+ /* do nothing */
}
-void darwin_dyn_master_v2_disable_power(void)
+inline void darwin_dyn_master_v2_disable_power(void)
{
+ /* do nothing */
}
-
diff --git a/darwin_description/launch/darwin_base_sim.launch b/darwin_description/launch/darwin_base_sim.launch
index 7a2288bf912c3a39165c92724d9c1a06f560ab51..e5d86f1fc812e313a4de9a385e12091618a26862 100644
--- a/darwin_description/launch/darwin_base_sim.launch
+++ b/darwin_description/launch/darwin_base_sim.launch
@@ -17,5 +17,6 @@
<node name="rviz"
pkg="rviz"
type="rviz"
- args="-d $(find darwin_description)/config/darwin_rviz.rviz"/>
+ args="-d $(find darwin_nav)/config/darwin_nav.rviz"/>
+<!-- args="-d $(find darwin_description)/config/darwin_rviz.rviz"/>-->
</launch>
diff --git a/darwin_description/launch/environment.launch b/darwin_description/launch/environment.launch
index d13bf0e8fd0c42a2efab784c223ab6f8a668de64..bf5d15c835d26ebd8ac33daf5270ec3cf868ae9b 100644
--- a/darwin_description/launch/environment.launch
+++ b/darwin_description/launch/environment.launch
@@ -1,7 +1,6 @@
<launch>
- <arg name="environment" default="charge_env" />
- <group ns="$(arg environment)">
+ <group ns="charge_env">
<!-- Convert an xacro and put on parameter server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
diff --git a/darwin_description/urdf/charge/charge_env.xacro b/darwin_description/urdf/charge/charge_env.xacro
index c2dc91d50fd028e9442c1216fd1fd5b5d2413bc2..f6606926ac2faf69cd41f1e0dd4674286cdbdced 100755
--- a/darwin_description/urdf/charge/charge_env.xacro
+++ b/darwin_description/urdf/charge/charge_env.xacro
@@ -1,5 +1,6 @@
<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:include filename="$(find bioloid_description)/urdf/materials.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/charge/charge_station.xacro" />
diff --git a/darwin_description/urdf/charge/charge_station.xacro b/darwin_description/urdf/charge/charge_station.xacro
index d966460c2e4afeacaa5a86086dacf06d564b6ea5..6c38e700f6105321eaf7304117350410a9fcfd18 100644
--- a/darwin_description/urdf/charge/charge_station.xacro
+++ b/darwin_description/urdf/charge/charge_station.xacro
@@ -17,6 +17,7 @@
<geometry>
<mesh filename="package://darwin_description/meshes/charge/charge_support.stl"/>
</geometry>
+ <material name="grey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -44,6 +45,7 @@
<geometry>
<mesh filename="package://darwin_description/meshes/charge/far_qr.stl"/>
</geometry>
+ <material name="white"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -88,6 +90,7 @@
<cylinder radius="0.2" length="0.02"/>
<!-- <mesh filename="package://darwin_description/meshes/charge/connector.stl"/> -->
</geometry>
+ <material name="white"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -116,6 +119,7 @@
<geometry>
<mesh filename="package://darwin_description/meshes/charge/near_qr.stl"/>
</geometry>
+ <material name="white"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
diff --git a/darwin_nav/config/darwin_nav.rviz b/darwin_nav/config/darwin_nav.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..693ab40692e2ab0af006a7b0228a513e4c8d4a42
--- /dev/null
+++ b/darwin_nav/config/darwin_nav.rviz
@@ -0,0 +1,687 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /TF1/Tree1
+ - /local_plan1
+ Splitter Ratio: 0.385563
+ Tree Height: 655
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_accel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ darwin_cam_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_cam_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_gyro:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ darwin_imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_high:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_low:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_ankle_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_ankle_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_knee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_yaw:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_shoulder:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ neck:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_high:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_low:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_ankle_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_ankle_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_knee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_yaw:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_shoulder:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: /darwin
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ E125:
+ Value: true
+ E175:
+ Value: true
+ E225:
+ Value: true
+ E25:
+ Value: true
+ E75:
+ Value: true
+ N125:
+ Value: true
+ N125_cam:
+ Value: true
+ N125_det:
+ Value: true
+ N175:
+ Value: true
+ N175_cam:
+ Value: true
+ N175_det:
+ Value: true
+ N25:
+ Value: true
+ N25_cam:
+ Value: true
+ N25_det:
+ Value: true
+ N75:
+ Value: true
+ N75_cam:
+ Value: true
+ N75_det:
+ Value: true
+ S125:
+ Value: true
+ S175:
+ Value: true
+ S25:
+ Value: true
+ S75:
+ Value: true
+ W125:
+ Value: true
+ W175:
+ Value: true
+ W225:
+ Value: true
+ W25:
+ Value: true
+ W75:
+ Value: true
+ darwin/base_footprint:
+ Value: true
+ darwin/base_link:
+ Value: true
+ darwin/darwin_accel:
+ Value: true
+ darwin/darwin_cam_link:
+ Value: true
+ darwin/darwin_cam_optical_link:
+ Value: true
+ darwin/darwin_gyro:
+ Value: true
+ darwin/darwin_imu_link:
+ Value: true
+ darwin/head:
+ Value: true
+ darwin/left_arm_high:
+ Value: true
+ darwin/left_arm_low:
+ Value: true
+ darwin/left_leg_ankle_pitch:
+ Value: true
+ darwin/left_leg_ankle_roll:
+ Value: true
+ darwin/left_leg_knee:
+ Value: true
+ darwin/left_leg_pelvis_pitch:
+ Value: true
+ darwin/left_leg_pelvis_roll:
+ Value: true
+ darwin/left_leg_pelvis_yaw:
+ Value: true
+ darwin/left_shoulder:
+ Value: true
+ darwin/neck:
+ Value: true
+ darwin/odom:
+ Value: true
+ darwin/right_arm_high:
+ Value: true
+ darwin/right_arm_low:
+ Value: true
+ darwin/right_leg_ankle_pitch:
+ Value: true
+ darwin/right_leg_ankle_roll:
+ Value: true
+ darwin/right_leg_knee:
+ Value: true
+ darwin/right_leg_pelvis_pitch:
+ Value: true
+ darwin/right_leg_pelvis_roll:
+ Value: true
+ darwin/right_leg_pelvis_yaw:
+ Value: true
+ darwin/right_shoulder:
+ Value: true
+ obstacle_base_fence_link:
+ Value: true
+ obstacle_base_link:
+ Value: true
+ Marker Scale: 0.2
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ obstacle_base_link:
+ E125:
+ {}
+ E175:
+ {}
+ E225:
+ {}
+ E25:
+ {}
+ E75:
+ {}
+ N125:
+ {}
+ N175:
+ {}
+ N25:
+ {}
+ N75:
+ {}
+ S125:
+ {}
+ S175:
+ {}
+ S25:
+ {}
+ S75:
+ {}
+ W125:
+ {}
+ W175:
+ {}
+ W225:
+ {}
+ W25:
+ {}
+ W75:
+ {}
+ darwin/odom:
+ darwin/base_footprint:
+ darwin/base_link:
+ darwin/darwin_accel:
+ {}
+ darwin/darwin_gyro:
+ {}
+ darwin/darwin_imu_link:
+ {}
+ darwin/left_leg_pelvis_yaw:
+ darwin/left_leg_pelvis_roll:
+ darwin/left_leg_pelvis_pitch:
+ darwin/left_leg_knee:
+ darwin/left_leg_ankle_pitch:
+ darwin/left_leg_ankle_roll:
+ {}
+ darwin/left_shoulder:
+ darwin/left_arm_high:
+ darwin/left_arm_low:
+ {}
+ darwin/neck:
+ darwin/head:
+ darwin/darwin_cam_link:
+ darwin/darwin_cam_optical_link:
+ N125_cam:
+ {}
+ N125_det:
+ {}
+ N175_cam:
+ {}
+ N175_det:
+ {}
+ N25_cam:
+ {}
+ N25_det:
+ {}
+ N75_cam:
+ {}
+ N75_det:
+ {}
+ darwin/right_leg_pelvis_yaw:
+ darwin/right_leg_pelvis_roll:
+ darwin/right_leg_pelvis_pitch:
+ darwin/right_leg_knee:
+ darwin/right_leg_ankle_pitch:
+ darwin/right_leg_ankle_roll:
+ {}
+ darwin/right_shoulder:
+ darwin/right_arm_high:
+ darwin/right_arm_low:
+ {}
+ obstacle_base_fence_link:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ E125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E225:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ N125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W225:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ obstacle_base_fence_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ obstacle_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: Environment
+ Robot Description: obstacles_environment
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Image
+ Enabled: false
+ Image Topic: /darwin/camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: local_costmap
+ Topic: /move_base/local_costmap/costmap
+ Unreliable: false
+ Value: false
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: global_costmap
+ Topic: /move_base/global_costmap/costmap
+ Unreliable: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: global_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 0; 0; 255
+ Enabled: true
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: local_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /move_base/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: true
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: local_global_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /move_base/DWAPlannerROS/global_plan
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: obstacle_base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /darwin/qr_global_loc/initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 5.08288
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 1.38816
+ Y: 1.12817
+ Z: 1.12501
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.505398
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.375398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 936
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002190000012d0000001600ffffff000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006400fffffffb0000000a00560069006500770073010000009c000002aa000000b000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b70000003efc0100000002fb0000000800540069006d00650100000000000004b7000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002320000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1207
+ X: 55
+ Y: 14
diff --git a/darwin_nav/config/dwa_local_planner_params.yaml b/darwin_nav/config/dwa_local_planner_params.yaml
index 974a25acfca4ce4cd26e982e86f5dfea5a953b46..391b477659d707d2bcdeba5d06a6542c2e9fdcc4 100644
--- a/darwin_nav/config/dwa_local_planner_params.yaml
+++ b/darwin_nav/config/dwa_local_planner_params.yaml
@@ -1,18 +1,18 @@
base_local_planner: "dwa_local_planner/DWAPlannerROS"
DWAPlannerROS:
- max_trans_vel: 0.24
+ max_trans_vel: 0.1
min_trans_vel: 0.01
- max_vel_x: 0.24
- min_vel_x: -0.24
+ max_vel_x: 0.1
+ min_vel_x: -0.1
max_vel_y: 0.1
min_vel_y: -0.1
- max_rot_vel: 0.1
- min_rot_vel: 0.01
+ max_rot_vel: 0.4
+ min_rot_vel: 0.1
- sim_time: 3
+ sim_time: 10
sim_granularity: 0.025
- angular_sim_granularity: 0.1
+ angular_sim_granularity: 0.01
path_distance_bias: 32.0
goal_distance_bias: 24.0
@@ -26,19 +26,19 @@ DWAPlannerROS:
scaling_speed: 0.25
max_scaling_factor: 0.2
- vx_samples: 10
- vy_samples: 10
+ vx_samples: 21
+ vy_samples: 1
vth_samples: 20
- acc_lim_theta: 0.1
- acc_lim_x: 0.1
- acc_lim_y: 0.1
- acc_limit_trans: 0.1
+ acc_lim_theta: 0.3
+ acc_lim_x: 0.3
+ acc_lim_y: 0.3
+ acc_limit_trans: 0.3
rot_stopped_vel: 0.01
trans_stopped_vel: 0.01
- xy_goal_tolerance: 0.05
+ xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.05
#not in dynamic reconfigure
@@ -46,7 +46,7 @@ DWAPlannerROS:
publish_cost_grid_pc: false #true, useful to play with goal/path_distance_bias parameters
#move_base namespace
- latch_xy_goal_tolerance: true #false
+latch_xy_goal_tolerance: true #false
#prune_plan: true
#use_dwa: true
diff --git a/darwin_nav/launch/darwin_global_loc_sim.launch b/darwin_nav/launch/darwin_global_loc_sim.launch
index fc3a97d82ae5cc20bf916a0a59109e5b2dcffa1b..b4a952c4411facdbdf9d4203cfbf144d57d5405a 100644
--- a/darwin_nav/launch/darwin_global_loc_sim.launch
+++ b/darwin_nav/launch/darwin_global_loc_sim.launch
@@ -5,9 +5,9 @@
name="qr_detector"
type="qr_detector"
output="screen">
- <param name="qr_x" value="0.14"/>
- <param name="qr_y" value="0.14"/>
- <param name="camera_frame" value="/darwin/darwin_cam_optical_link"/>
+ <param name="qr_x" value="0.2"/>
+ <param name="qr_y" value="0.2"/>
+ <param name="camera_frame" value="/darwin/darwin_cam_link"/>
<remap from="~/camera/image_raw" to="/darwin/camera/image_raw"/>
<remap from="~/camera/camera_info" to="/darwin/camera/camera_info"/>
</node>
@@ -16,7 +16,7 @@
name="qr_global_loc"
type="qr_global_loc"
output="screen">
- <param name="qr_map_param" value="/obstacles_env_empty/robot_description"/>
+ <param name="qr_map_param" value="/obstacles_environment"/>
<param name="tf_prefix" value="/darwin"/>
<param name="publish_tf" value="True"/>
<param name="publish_rate" value="20"/>
diff --git a/darwin_nav/launch/darwin_nav_sim.launch b/darwin_nav/launch/darwin_nav_sim.launch
index 3cf80c4aa63c9f1fc26161eba304618058f1021e..0d1e93eb334bb4521ce9ecca961edf5d5669acd1 100644
--- a/darwin_nav/launch/darwin_nav_sim.launch
+++ b/darwin_nav/launch/darwin_nav_sim.launch
@@ -2,13 +2,13 @@
<launch>
<arg name="robot" default="darwin" />
- <arg name="environment" default="charge_env" />
+ <arg name="environment" default="obstacles_env_empty" />
<include file="$(find darwin_description)/launch/darwin_sim.launch">
<arg name="robot" value="$(arg robot)" />
</include>
- <include file="$(find darwin_description)/launch/charge_env.launch">
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
<arg name="environment" value="$(arg environment)" />
</include>
diff --git a/darwin_odometry/src/darwin_odometry_alg_node.cpp b/darwin_odometry/src/darwin_odometry_alg_node.cpp
index 0fd98cf9bc7a0007fd7293dcf378d1194568f8d2..b942af893abd1ddced4e393df513e63e5c605902 100644
--- a/darwin_odometry/src/darwin_odometry_alg_node.cpp
+++ b/darwin_odometry/src/darwin_odometry_alg_node.cpp
@@ -112,7 +112,7 @@ void DarwinOdometryAlgNode::joint_states_callback(const sensor_msgs::JointState:
odom_trans.transform.translation.x = 0.0;
odom_trans.transform.translation.y = 0.0;
odom_trans.transform.translation.z = odom_pos[2];
- odom_trans.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(odom_rot[0],odom_rot[1],0.0);
+ odom_trans.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(odom_rot[0],odom_rot[1],1.5707);
this->odom_broadcaster.sendTransform(odom_trans);
odom_trans.header.frame_id = this->config_.tf_prefix+"/odom";
odom_trans.child_frame_id = this->config_.tf_prefix+"/base_footprint";
@@ -120,7 +120,7 @@ void DarwinOdometryAlgNode::joint_states_callback(const sensor_msgs::JointState:
odom_trans.transform.translation.x = odom_pos[0];
odom_trans.transform.translation.y = odom_pos[1];
odom_trans.transform.translation.z = 0.0;
- odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(odom_rot[2]);
+ odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(odom_rot[2]-1.5707);
this->odom_broadcaster.sendTransform(odom_trans);
}
}catch(CException &e){