diff --git a/cfg/TiagoNavModule.cfg b/cfg/TiagoNavModule.cfg index eed4b8a76b7d23298a9ef0e89d672ddf4bff5e5e..cab9ba9cddcd66b5ebaea024ba22145a74a69779 100755 --- a/cfg/TiagoNavModule.cfg +++ b/cfg/TiagoNavModule.cfg @@ -46,8 +46,8 @@ tf = gen.add_group("TF") add_module_params(gen,"head_module") move_base_action=add_module_action_params(gen,"move_base") -move_base_action.add("mb_frame_id",str_t, 0, "Reference frame of the position goals","/map") -move_base_action.add("mb_cancel_prev", bool_t, 0, "Cancel previous action", True) +move_base_action.add("move_base_frame_id",str_t, 0, "Reference frame of the position goals","map") +move_base_action.add("move_base_cancel_prev", bool_t, 0, "Cancel previous action", True) poi_action=add_module_action_params(gen,"move_poi") @@ -58,8 +58,8 @@ odom.add("odom_watchdog_time_s", double_t, 0, tf.add("tf_timeout_time_s", double_t, 0, "Maximum time to wait for transform",5, 0.01, 50) costmap=add_module_service_params(gen,"clear_costmap") -costmap.add("cm_enable_auto_clear",bool_t, 0, "Periodically clear the costmaps",False) -costmap.add("cm_auto_clear_rate_hz",double_t, 0, "Clear costmaps period", 0.1, 0.01, 1.0) +costmap.add("clear_costmap_enable_auto_clear",bool_t, 0, "Periodically clear the costmaps",False) +costmap.add("clear_costmap_auto_clear_rate_hz",double_t, 0, "Clear costmaps period", 0.1, 0.01, 1.0) map=add_module_service_params(gen,"change_map") diff --git a/config/nav_module_default.yaml b/config/nav_module_default.yaml deleted file mode 100644 index a316286828ecce85f230f3ba9245e935097b5ad2..0000000000000000000000000000000000000000 --- a/config/nav_module_default.yaml +++ /dev/null @@ -1,40 +0,0 @@ -rate_hz: 1.0 - -mb_max_retries: 1 -mb_feedback_watchdog_time_s: 1.0 -mb_enable_watchdog: True -mb_timeout_s: 1.0 -mb_enable_timeout: True -mb_frame_id: "/map" -mb_enabled: True -mb_cancel_prev: True - -poi_max_retries: 1 -poi_feedback_watchdog_time_s: 1.0 -poi_enable_watchdog: True -poi_timeout_s: 1.0 -poi_enable_timeout: True -poi_enabled: True - -wp_max_retries: 1 -wp_feedback_watchdog_time_s: 1.0 -wp_enable_watchdog: True -wp_timeout_s: 1.0 -wp_enable_timeout: True -wp_enabled: True - -odom_watchdog_time_s: 1.0 - -tf_timeout_time_s: 5.0 - -cm_max_retries: 1.0 -cm_enable_auto_clear: False -cm_auto_clear_rate_hz: 0.1 -cm_enabled: True - -map_max_retries: 1 -map_enabled: True - -op_mode_max_retries: 1 -op_mode_enabled: True - diff --git a/config/tiago_nav_module_default.yaml b/config/tiago_nav_module_default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54718f239b63a4c98c226f941d19752fbaf7e6af --- /dev/null +++ b/config/tiago_nav_module_default.yaml @@ -0,0 +1,40 @@ +nav_module_rate_hz: 1.0 + +move_base_max_retries: 1 +move_base_feedback_watchdog_time_s: 1.0 +move_base_enable_watchdog: True +move_base_timeout_s: 1.0 +move_base_enable_timeout: True +move_base_frame_id: "map" +move_base_enabled: True +move_base_cancel_prev: True + +move_poi_max_retries: 1 +move_poi_feedback_watchdog_time_s: 1.0 +move_poi_enable_watchdog: True +move_poi_timeout_s: 1.0 +move_poi_enable_timeout: True +move_poi_enabled: True + +move_waypoint_max_retries: 1 +move_waypoint_feedback_watchdog_time_s: 1.0 +move_waypoint_enable_watchdog: True +move_waypoint_timeout_s: 1.0 +move_waypoint_enable_timeout: True +move_waypoint_enabled: True + +odom_watchdog_time_s: 1.0 + +tf_timeout_time_s: 5.0 + +clear_costmaps_max_retries: 1.0 +clear_costmaps_enable_auto_clear: False +clear_costmaps_auto_clear_rate_hz: 0.1 +clear_costmaps_enabled: True + +change_map_max_retries: 1 +change_map_enabled: True + +set_op_mode_max_retries: 1 +set_op_mode_enabled: True + diff --git a/launch/nav_client.launch b/launch/nav_client.launch deleted file mode 100644 index eb074c12fb423ce523867d4a2b35079fb841d4c8..0000000000000000000000000000000000000000 --- a/launch/nav_client.launch +++ /dev/null @@ -1,34 +0,0 @@ -<launch> - - <!-- launch the play motion client node --> - <node name="nav_client" - pkg="nav_client" - type="nav_client" - output="screen" - ns="/tiago"> - <remap from="~/nav_module/move_base" - to="/move_base"/> - <remap from="~/nav_module/move_poi" - to="/poi_navigation_server/go_to_poi"/> - <remap from="~/nav_module/move_waypoint" - to="/pal_waypoint/navigate"/> - <remap from="~/nav_module/odom" - to="/mobile_base_controller/odom"/> - <remap from="~/nav_module/clear_costmaps" - to="/move_base/clear_costmaps"/> - <remap from="~/nav_module/change_map" - to="/pal_map_manager/change_map"/> - <remap from="~/nav_module/set_op_mode" - to="/pal_navigation_sm"/> - <remap from="~/nav_module/move_base_reconf" - to="/move_base/PalLocalPlanner/set_parameters"/> - - <rosparam file="$(find tiago_modules)/config/nav_module_default.yaml" command="load" ns="nav_module" /> - </node> - - <!-- launch dynamic reconfigure --> - <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false" - output="screen"/> - -</launch> - diff --git a/launch/nav_client_sim.launch b/launch/nav_client_sim.launch deleted file mode 100644 index d2b7c7486e345191a60fbaede74dac13ac33bfd5..0000000000000000000000000000000000000000 --- a/launch/nav_client_sim.launch +++ /dev/null @@ -1,10 +0,0 @@ -<launch> - - <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch"/> - - <include file="$(find tiago_laser_sensors)/launch/rgbd_cloud_laser.launch"/> - - <include file="$(find nav_client)/launch/nav_client.launch"/> - -</launch> - diff --git a/launch/tiago_nav_client.launch b/launch/tiago_nav_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..721cd4fbb9b7bab6cea2b077ae1448cbf8464040 --- /dev/null +++ b/launch/tiago_nav_client.launch @@ -0,0 +1,47 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="node_name" default="head_client" /> + <arg name="output" default="log" /> + <arg name="launch_prefix" default="" /> + <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" /> + <arg name="move_base_action" default="/move_base"/> + <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/> + <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/> + <arg name="odom_topic" default="/mobile_base_controller/odom"/> + <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/> + <arg name="change_map_service" default="/pal_map_manager/change_map"/> + <arg name="set_op_mode_service" default="/pal_navigation_sm"/> + <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/> + + <!-- launch the play motion client node --> + <node name="$(arg node_name)" + pkg="tiago_nav_module" + type="tiago_nav_client" + output="$(arg output)" + launch-prefix="$(arg launch_prefix)"> + <remap from="~/nav_module/move_base" + to="$(arg move_base_action)"/> + <remap from="~/nav_module/move_poi" + to="$(arg move_poi_action)"/> + <remap from="~/nav_module/move_waypoint" + to="$(arg move_waypoint_action)"/> + <remap from="~/nav_module/odom" + to="$(arg odom_topic)"/> + <remap from="~/nav_module/clear_costmaps" + to="$(arg clear_costmaps_service)"/> + <remap from="~/nav_module/change_map" + to="$(arg change_map_service)"/> + <remap from="~/nav_module/set_op_mode" + to="$(arg set_op_mode_service)"/> + <remap from="~/nav_module/move_base_reconf" + to="$(arg move_base_dyn_reconf)"/> + + <rosparam file="$(arg config_file)" command="load" ns="nav_module" /> + </node> + + <!-- launch dynamic reconfigure --> + <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false" + output="screen"/> + +</launch> + diff --git a/launch/tiago_nav_client_sim.launch b/launch/tiago_nav_client_sim.launch new file mode 100644 index 0000000000000000000000000000000000000000..7b32600187f58a43818d1c4405241677a1e555d4 --- /dev/null +++ b/launch/tiago_nav_client_sim.launch @@ -0,0 +1,36 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="node_name" default="head_client" /> + <arg name="output" default="log" /> + <arg name="launch_prefix" default="" /> + <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" /> + <arg name="move_base_action" default="/move_base"/> + <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/> + <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/> + <arg name="odom_topic" default="/mobile_base_controller/odom"/> + <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/> + <arg name="change_map_service" default="/pal_map_manager/change_map"/> + <arg name="set_op_mode_service" default="/pal_navigation_sm"/> + <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/> + + <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch"/> + + <include file="$(find tiago_laser_sensors)/launch/rgbd_cloud_laser.launch"/> + + <include file="$(find tiago_nav_module)/launch/tiago_nav_client.launch"> + <arg name="node_name" value="$(arg node_name)" /> + <arg name="output" value="$(arg output)" /> + <arg name="launch_prefix" value="$(arg launch_prefix)" /> + <arg name="config_file" value="$(arg_config_file)" /> + <arg name="move_base_action" value="$(arg move_base_action)"/> + <arg name="move_poi_action" value="$(arg move_poi_action)"/> + <arg name="move_waypoint_action" value="$(arg move_waypoint_action)"/> + <arg name="odom_topic" value="$(arg odom_topic)"/> + <arg name="clear_costmaps_service" value="$(arg clear_costmaps_service)"/> + <arg name="change_map_service" value="$(arg change_map_service)"/> + <arg name="set_op_mode_service" value="$(arg set_op_mode_service)"/> + <arg name="move_base_dyn_reconf" value="$(arg move_base_dyn_reconf)"/> + </include> + +</launch> +