From 29728253c7a2235e07e5c90a29b836a6ba4c8e09 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 28 Feb 2019 19:31:57 +0100
Subject: [PATCH] Update launch and config files
---
launch/domap.launch | 18 -
launch/helena_amcl_lab.launch | 52 ---
launch/helena_move_base.launch | 39 --
launch/helena_navigation_test.launch | 32 --
launch/include/amcl.launch | 6 +-
.../{gmapping.launch => gmapping_old.launch} | 0
launch/include/map_server.launch | 2 +-
launch/include/pointcloud_to_laserscan.launch | 43 ++
launch/nav.launch | 114 ++++--
launch/nav_mapping.launch | 85 ++++
launch/nav_sim_test.launch | 67 ----
launch/teleop.launch | 13 -
params/{amcl_default.yaml => amcl.yaml} | 0
.../global_planner/global_planner_params.yaml | 22 ++
params/gmapping.yaml | 30 ++
params/local_planner/dwa_params.yaml | 53 +++
params/{helena_mux.yaml => mux.yaml} | 12 +-
rviz/ana_nav.rviz | 366 ++++++++++--------
18 files changed, 516 insertions(+), 438 deletions(-)
delete mode 100644 launch/domap.launch
delete mode 100755 launch/helena_amcl_lab.launch
delete mode 100755 launch/helena_move_base.launch
delete mode 100755 launch/helena_navigation_test.launch
rename launch/include/{gmapping.launch => gmapping_old.launch} (100%)
create mode 100644 launch/include/pointcloud_to_laserscan.launch
create mode 100644 launch/nav_mapping.launch
delete mode 100644 launch/nav_sim_test.launch
delete mode 100644 launch/teleop.launch
rename params/{amcl_default.yaml => amcl.yaml} (100%)
create mode 100644 params/global_planner/global_planner_params.yaml
create mode 100644 params/gmapping.yaml
create mode 100644 params/local_planner/dwa_params.yaml
rename params/{helena_mux.yaml => mux.yaml} (68%)
diff --git a/launch/domap.launch b/launch/domap.launch
deleted file mode 100644
index fab41f0..0000000
--- a/launch/domap.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
- <arg name="resolution" default="0.05"/>
-
- <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
- <include file="$(find helena_rosnav)/launch/include/gmapping.launch" >
- <arg name="resolution" value="$(arg resolution)"/>
- </include>
-
-
- <include file="$(find helena_rosnav)/launch/include/cmd_vel_mux.launch" />
-<!-- <include file="$(find helena_rosnav)/launch/include/velocity_smoother.launch" />-->
- <include file="$(find helena_rosnav)/launch/include/move_base.launch" />
-
-</launch>
diff --git a/launch/helena_amcl_lab.launch b/launch/helena_amcl_lab.launch
deleted file mode 100755
index 19067a5..0000000
--- a/launch/helena_amcl_lab.launch
+++ /dev/null
@@ -1,52 +0,0 @@
-<!-- -->
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find helena_base)/machines/$(env ROBOT).machines" />
-
- <group ns="$(env ROBOT)">
-
- <!-- Map Server -->
- <!-- published topics: /$(env ROBOT)/map -->
- <!-- subscribed topics: -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node name="map_server"
- pkg ="map_server"
- type="map_server"
- args="$(find tibi_dabo_rosnav)/maps/mr_lab.yaml"
- machine="embedded">
- <param name="frame_id" value="/map" />
- </node>
-
- <!-- AMCL -->
- <!-- published topics: -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- /$(env ROBOT)/tf -->
- <!-- /$(env ROBOT)/initialpose -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node name="amcl"
- pkg ="amcl"
- type="amcl"
- machine="embedded">
- <remap from="scan"
- to="/$(env ROBOT)/sensors/front_laser_scan"/>
- <param name="odom_frame_id" value="/$(env ROBOT)/odom" />
- <param name="base_frame_id" value="/$(env ROBOT)/base_link" />
- <param name="global_frame_id" value="/map" />
- <param name="min_particles" value="100" />
- <param name="max_particles" value="500" />
- <param name="initial_pose_x" value="0" />
- <param name="initial_pose_y" value="0" />
- <param name="initial_pose_a" value="0" />
- <param name="gui_publish_rate" value="1" />
- </node>
-
- </group>
-
-</launch>
diff --git a/launch/helena_move_base.launch b/launch/helena_move_base.launch
deleted file mode 100755
index f898b8e..0000000
--- a/launch/helena_move_base.launch
+++ /dev/null
@@ -1,39 +0,0 @@
-<!-- -->
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find helena_base)/machines/$(env ROBOT).machines" />
-
- <group ns="$(env ROBOT)">
-
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- machine="embedded"
- output="screen">
-
- <param name="~/controller_frequency" value="20" type="double"/> <!-- default= 20 -->
- <param name="~/planner_frequency" value="0" type="double"/> <!-- default= 0 -->
- <param name="~/recovery_behavior_enabled" value="true" type="bool"/> <!-- default= true -->
- <param name="~/clearing_rotation_allowed" value="true" type="bool"/> <!-- default= true -->
-
- <remap from="/$(env ROBOT)/cmd_vel" to="/$(env ROBOT)/helena/cmd_vel" />
- <remap from="/$(env ROBOT)/odom" to="/$(env ROBOT)/helena/pose" />
-
- <!-- Base local planner -->
- <rosparam file="$(find helena_rosnav)/config/base_local_planner_params.yaml" command="load" />
-
- <!-- Local costmap configs: common + local -->
- <rosparam file="$(find helena_rosnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find helena_rosnav)/config/local_costmap_params.yaml" command="load" />
-
- <!-- Global costmap config: common + global -->
- <rosparam file="$(find helena_rosnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find helena_rosnav)/config/global_costmap_params.yaml" command="load" />
-
- </node>
-
-
- </group>
-
-</launch>
diff --git a/launch/helena_navigation_test.launch b/launch/helena_navigation_test.launch
deleted file mode 100755
index ef4731d..0000000
--- a/launch/helena_navigation_test.launch
+++ /dev/null
@@ -1,32 +0,0 @@
-<!-- -->
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find helena_base)/machines/$(env ROBOT).machines" />
-
- <include file="$(find helena_base)/launch/helena_base.launch">
- </include>
-
- <!-- AMCL + Map Server-->
- <!-- published topics: /$(env ROBOT)/map -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- /$(env ROBOT)/tf -->
- <!-- /$(env ROBOT)/initialpose -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <include file="$(find helena_rosnav)/launch/helena_amcl_lab.launch">
- </include>
-
- <!-- ROS Navigation: move_base -->
- <include file="$(find helena_rosnav)/launch/helena_move_base.launch">
- </include>
-
- <node name="rviz"
- pkg ="rviz"
- type="rviz"
- machine="monitor"
- args="-d $(find helena_rosnav)/config/$(env ROBOT)_rosnav.vcg" />
-
-</launch>
diff --git a/launch/include/amcl.launch b/launch/include/amcl.launch
index aab3409..8ca8dfc 100644
--- a/launch/include/amcl.launch
+++ b/launch/include/amcl.launch
@@ -36,9 +36,9 @@
<param name="odom_frame_id" value="/ana/odom" />
<param name="base_frame_id" value="/ana/base_link" />
<param name="global_frame_id" value="$(arg map_frame_id)" />
- <param name="initial_pose_x" value="$(arg x)" />
- <param name="initial_pose_y" value="$(arg y)" />
- <param name="initial_pose_a" value="$(arg a)" />
+ <param name="initial_pose_x" value="$(arg initial_x)" />
+ <param name="initial_pose_y" value="$(arg initial_y)" />
+ <param name="initial_pose_a" value="$(arg initial_a)" />
<rosparam file="$(arg config)" command="load"/>
</node>
diff --git a/launch/include/gmapping.launch b/launch/include/gmapping_old.launch
similarity index 100%
rename from launch/include/gmapping.launch
rename to launch/include/gmapping_old.launch
diff --git a/launch/include/map_server.launch b/launch/include/map_server.launch
index 2bf4fe1..9de03d3 100644
--- a/launch/include/map_server.launch
+++ b/launch/include/map_server.launch
@@ -2,7 +2,7 @@
<!-- -->
<launch>
- <arg name="map" default="test"/>
+ <arg name="map" default="empty"/>
<arg name="map_frame_id" default="map"/>
<node name="map_server"
diff --git a/launch/include/pointcloud_to_laserscan.launch b/launch/include/pointcloud_to_laserscan.launch
new file mode 100644
index 0000000..bbc0542
--- /dev/null
+++ b/launch/include/pointcloud_to_laserscan.launch
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="ns" default="robot"/>
+ <arg name="scan_topic" default="$(arg ns)/scan"/>
+ <arg name="cloud_topic" default="$(arg ns/points"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <group ns="$(arg ns)">
+
+ <node name="pointcloud_to_laserscan"
+ pkg ="pointcloud_to_laserscan"
+ type="pointcloud_to_laserscan_node"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <remap from="/$(arg ns)/scan" to="$(arg scan_topic)"/>
+ <remap from="/$(arg ns)/cloud_in" to="$(arg cloud_topic)"/>
+ <rosparam>
+ target_frame: "" #camera_link # Leave disabled to output scan in pointcloud frame
+ transform_tolerance: 0.01
+ min_height: -0.125
+ max_height: 0.125
+ angle_min: -3.14159 #-1.5708 # -M_PI/2
+ angle_max: 3.14159 #1.5708 # M_PI/2
+ angle_increment: 0.0087 # M_PI/360.0
+ scan_time: 0.3333
+ range_min: 0.1
+ range_max: 40.0
+ use_inf: true
+
+ # Concurrency level, affects number of pointclouds queued for processing and number of threads used
+ # 0 : Detect number of cores
+ # 1 : Single threaded
+ # 2->inf : Parallelism level
+ concurrency_level: 1
+ </rosparam>
+ </node>
+
+ </group>
+
+</launch>
\ No newline at end of file
diff --git a/launch/nav.launch b/launch/nav.launch
index 8f4ac02..b0ede30 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -1,53 +1,85 @@
<?xml version="1.0"?>
<!-- -->
<launch>
-
- <arg name="use_map_server" default="true"/>
- <arg name="map_frame_id" default="map"/>
- <arg name="map" default=""/>
- <arg name="use_amcl" default="true"/>
- <arg name="amcl_config" default="$(find iri_ana_rosnav)/params/amcl_default.yaml"/>
- <arg name="use_fake_loc" default="false"/>
- <arg name="initial_x" default="0.0"/>
- <arg name="initial_y" default="0.0"/>
- <arg name="initial_yaw" default="0.0"/>
-
- <arg name="use_cmd_vel_mux" default="false"/>
- <arg name="cmd_vel_mux_config" default="$(find iri_ana_rosnav)/params/cmd_vel_mux_default.yaml"/>
+ <arg name="rviz" default="true"/>
+ <arg name="ns" default="ana"/>
+ <arg name="path" default="$(find iri_ana_rosnav)"/>
+ <arg name="map_frame_id" default="map"/>
+ <arg name="odom_frame_id" default="$(arg ns)/odom"/>
+ <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
+ <arg name="map_topic" default="/$(arg ns)/map"/>
+ <arg name="map_service" default="/$(arg ns)/static_map"/>
+ <arg name="odom_topic" default="/$(arg ns)/odom"/>
+ <arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
+ <arg name="scan_topic" default="/$(arg ns)/scan"/>
+ <arg name="use_map" default="true"/>
+ <arg name="use_map_server" default="true"/>
+ <arg name="map_name" default="willow"/>
+ <arg name="use_amcl" default="true"/>
+ <arg name="amcl_config" default="$(arg path)/params/amcl.yaml"/>
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_fake_loc" default="false"/>
+ <arg name="use_gmapping" default="false"/>
+ <arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
+ <arg name="gmapping_config" default="$(arg path)/params/gmapping.yaml"/>
+ <arg name="resolution" default="0.1"/>
+ <arg name="use_cmd_vel_mux" default="true"/>
+ <arg name="nodelet_manager_name" default="nodelet_manager"/>
+ <arg name="cmd_vel_mux_config" default="$(arg path)/params/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global"/>
-
- <group if="$(arg use_map_server)">
- <include file="$(find iri_ana_rosnav)/launch/include/map_server.launch">
- <arg name="frame_id" value="$(arg map_frame_id)"/>
- <arg name="map" value="$(arg map)"/>
- </include>
- </group>
-
- <group if="$(arg use_map_server)">
- <group if="$(arg use_amcl)">
- <include file="$(find iri_ana_rosnav)/launch/include/amcl.launch">
- <arg name="config" value="$(arg amcl_config)"/>
- <arg name="map_frame_id" value="$(arg map_frame_id)"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_a" value="$(arg initial_yaw)"/>
- </include>
- </group>
- </group>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
- <group if="$(arg use_cmd_vel_mux)">
- <include file="$(find iri_ana_rosnav)/launch/include/cmd_vel_mux.launch">
- <arg name="config" value="$(arg cmd_vel_mux_config)"/>
- </include>
- </group>
-
- <include file="$(find iri_ana_rosnav)/launch/include/move_base.launch">
- <arg name="use_map" value="$(arg use_map_server)"/>
+ <include file="$(find iri_rosnav)/launch/nav.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="map_frame_id" value="$(arg map_frame_id)"/>
+ <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
+ <arg name="base_frame_id" value="$(arg base_frame_id)"/>
+ <arg name="map_topic" value="$(arg map_topic)"/>
+ <arg name="map_service" value="$(arg map_service)"/>
+ <arg name="odom_topic" value="$(arg odom_topic)"/>
+ <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="use_map_server" value="$(arg use_map_server)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="$(arg use_amcl)"/>
+ <arg name="amcl_config" value="$(arg amcl_config)"/>
+ <arg name="initial_x" value="$(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="$(arg use_fake_loc)"/>
+ <arg name="use_gmapping" value="$(arg use_gmapping)"/>
+ <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
+ <arg name="gmapping_config" value="$(arg gmapping_config)"/>
+ <arg name="resolution" value="$(arg resolution)"/>
+ <arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
+ <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
+ <arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<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>
+
+ <include file="$(arg path)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="cloud_topic" value="/$(arg ns)/sensors/velodyne_points"/>
+ <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 $(arg path)/rviz/$(arg ns).rviz">
+ </node>
</launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
new file mode 100644
index 0000000..4c90506
--- /dev/null
+++ b/launch/nav_mapping.launch
@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="rviz" default="true"/>
+
+ <arg name="ns" default="ana"/>
+ <arg name="path" default="$(find iri_ana_rosnav)"/>
+ <arg name="map_frame_id" default="map"/>
+ <arg name="odom_frame_id" default="$(arg ns)/odom"/>
+ <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
+ <arg name="map_topic" default="/$(arg ns)/map"/>
+ <arg name="map_service" default="/$(arg ns)/static_map"/>
+ <arg name="odom_topic" default="/$(arg ns)/odom"/>
+ <arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
+ <arg name="scan_topic" default="/$(arg ns)/scan"/>
+ <arg name="use_map" default="true"/>
+ <arg name="use_map_server" default="false"/>
+ <arg name="map_name" default="willow"/>
+ <arg name="use_amcl" default="false"/>
+ <arg name="amcl_config" default="$(arg path)/params/amcl.yaml"/>
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_fake_loc" default="false"/>
+ <arg name="use_gmapping" default="true"/>
+ <arg name="gmapping_scan_topic" default="/$(arg ns)/scan"/>
+ <arg name="gmapping_config" default="$(arg path)/params/gmapping.yaml"/>
+ <arg name="resolution" default="0.1"/>
+ <arg name="use_cmd_vel_mux" default="true"/>
+ <arg name="nodelet_manager_name" default="nodelet_manager"/>
+ <arg name="cmd_vel_mux_config" default="$(arg path)/params/mux.yaml"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_rosnav)/launch/nav.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="map_frame_id" value="$(arg map_frame_id)"/>
+ <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
+ <arg name="base_frame_id" value="$(arg base_frame_id)"/>
+ <arg name="map_topic" value="$(arg map_topic)"/>
+ <arg name="map_service" value="$(arg map_service)"/>
+ <arg name="odom_topic" value="$(arg odom_topic)"/>
+ <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="use_map_server" value="$(arg use_map_server)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="$(arg use_amcl)"/>
+ <arg name="amcl_config" value="$(arg amcl_config)"/>
+ <arg name="initial_x" value="$(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="$(arg use_fake_loc)"/>
+ <arg name="use_gmapping" value="$(arg use_gmapping)"/>
+ <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
+ <arg name="gmapping_config" value="$(arg gmapping_config)"/>
+ <arg name="resolution" value="$(arg resolution)"/>
+ <arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
+ <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
+ <arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
+ <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>
+
+ <include file="$(arg path)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="cloud_topic" value="/$(arg ns)/sensors/velodyne_points"/>
+ <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 $(find iri_dabo_rosnav)/rviz/$(arg ns).rviz">
+ </node>
+
+</launch>
diff --git a/launch/nav_sim_test.launch b/launch/nav_sim_test.launch
deleted file mode 100644
index 5b058ef..0000000
--- a/launch/nav_sim_test.launch
+++ /dev/null
@@ -1,67 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-
- <arg name="use_map_server" default="false"/>
- <arg name="map_frame_id" default="map"/>
- <arg name="map" default=""/>
-
- <arg name="use_amcl" default="false"/>
- <arg name="amcl_config" default="$(find iri_ana_rosnav)/params/amcl_default.yaml"/>
- <arg name="use_fake_loc" default="false"/>
- <arg name="initial_x" default="0.0"/>
- <arg name="initial_y" default="0.0"/>
- <arg name="initial_yaw" default="0.0"/>
-
- <arg name="use_cmd_vel_mux" default="false"/>
- <arg name="cmd_vel_mux_config" default="$(find iri_ana_rosnav)/params/cmd_vel_mux_default.yaml"/>
-
- <arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global"/>
-
- <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="paused" value="false"/>
- <arg name="use_sim_time" value="true"/>
- <arg name="extra_gazebo_args" value=""/>
- <arg name="gui" value="true"/>
- <arg name="recording" value="false"/>
- <arg name="headless" value="false"/>
- <arg name="debug" value="false"/>
- <arg name="physics" value="ode"/>
- <arg name="verbose" value="false"/>
- <arg name="world_name" value="worlds/empty.world"/>
- <arg name="respawn_gazebo" value="false"/>
- <arg name="use_clock_frequency" value="false"/>
- <arg name="pub_clock_frequency" value="100"/>
- </include>
-
- <include file="$(find iri_ana_gazebo)/launch/spawn_ana.launch">
- <arg name="name" value="ana"/>
- <arg name="model" value="ana"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- </include>
-
- <include file="$(find iri_ana_rosnav)/launch/nav.launch">
- <arg name="use_map_server" value="$(arg use_map_server)"/>
- <arg name="map_frame_id" value="$(arg map_frame_id)"/>
- <arg name="map" value="$(arg map)"/>
- <arg name="use_amcl" value="$(arg use_amcl)"/>
- <arg name="amcl_config" value="$(arg amcl_config)"/>
- <arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_yaw" value="$(arg initial_yaw)"/>
- <arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
- <arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
- <arg name="local_planner" value="$(arg local_planner)"/>
- <arg name="global_planner" value="$(arg global_planner)"/>
- </include>
-
- <node name="rviz"
- pkg="rviz"
- type="rviz"
- args="-d $(find iri_ana_rosnav)/rviz/ana_nav.rviz"/>
-</launch>
-
diff --git a/launch/teleop.launch b/launch/teleop.launch
deleted file mode 100644
index a54676c..0000000
--- a/launch/teleop.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
- <arg name="map" default="test"/>
-
- <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
- <include file="$(find helena_rosnav)/launch/include/cmd_vel_mux.launch" />
- <include file="$(find helena_rosnav)/launch/include/velocity_smoother.launch" />
-
- <include file="$(find helena_base)/launch/joystick_teleop.launch" />
-</launch>
diff --git a/params/amcl_default.yaml b/params/amcl.yaml
similarity index 100%
rename from params/amcl_default.yaml
rename to params/amcl.yaml
diff --git a/params/global_planner/global_planner_params.yaml b/params/global_planner/global_planner_params.yaml
new file mode 100644
index 0000000..43e309e
--- /dev/null
+++ b/params/global_planner/global_planner_params.yaml
@@ -0,0 +1,22 @@
+base_global_planner: "global_planner/GlobalPlanner"
+
+GlobalPlanner: #default
+ allow_unknown: false
+ default_tolerance: 0.0
+ publish_potential: false
+ publish_scale: 100
+ old_navfn_behavior: false
+ planner_costmap_publish_frequency: 0.0
+#planner to use
+ use_dijkstra: true
+ use_quadratic: true
+ use_grid_path: false
+# planner parameters
+ lethal_cost: 253
+ neutral_cost: 50
+ cost_factor: 3.0
+ planner_window_x: 0.0
+ planner_window_y: 0.0
+# orientation fileter
+ orientation_mode: 0
+ orientation_window_size: 1
diff --git a/params/gmapping.yaml b/params/gmapping.yaml
new file mode 100644
index 0000000..d7c5f34
--- /dev/null
+++ b/params/gmapping.yaml
@@ -0,0 +1,30 @@
+map_update_interval: 5.0
+maxUrange: 29.0
+sigma: 0.05
+kernelSize: 1
+lstep: 0.05
+astep: 0.05
+iterations: 5
+lsigma: 0.075
+ogain: 3.0
+lskip: 0
+srr: 0.1
+srt: 0.2
+str: 0.1
+stt: 0.2
+linearUpdate: 0.5
+angularUpdate: 0.5
+temporalUpdate: 10.0
+resampleThreshold: 0.5
+particles: 80
+
+xmin: -5.0
+ymin: -5.0
+xmax: 5.0
+ymax: 5.0
+
+delta: 0.1
+llsamplerange: 0.01
+llsamplestep: 0.01
+lasamplerange: 0.005
+lasamplestep: 0.005
\ No newline at end of file
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
new file mode 100644
index 0000000..8bef897
--- /dev/null
+++ b/params/local_planner/dwa_params.yaml
@@ -0,0 +1,53 @@
+base_local_planner: "dwa_local_planner/DWAPlannerROS"
+latch_xy_goal_tolerance: true
+
+DWAPlannerROS:
+# robot configuration parameters
+ max_trans_vel: 0.5
+ min_trans_vel: 0.1
+ max_vel_x: 0.5
+ min_vel_x: -0.5
+ max_vel_y: 0.0
+ min_vel_y: 0.0
+ max_rot_vel: 2.0
+ min_rot_vel: 0.2
+ acc_lim_theta: 3.0
+ acc_lim_x: 1.0
+ acc_lim_y: 0.0
+ acc_limit_trans: 1.0
+ rot_stopped_vel: 0.1
+ trans_stopped_vel: 0.1
+
+# goal tolerance parameters
+ xy_goal_tolerance: 0.1
+ yaw_goal_tolerance: 0.1
+
+# Forward simulation parameters
+ sim_time: 2.5
+ sim_granularity: 0.1
+ angular_sim_granularity: 0.1
+ vx_samples: 21
+ vy_samples: 1
+ vth_samples: 20
+ controller_frequency: 20.0 # defines the sim_period
+
+# Trajectory scoring parameters
+ path_distance_bias: 32.0
+ goal_distance_bias: 32.0
+ occdist_scale: 0.01
+ twirling_scale: 0.0
+ stop_time_buffer: 0.2
+ forward_point_distance: 0.325
+ scaling_speed: 0.25
+ max_scaling_factor: 0.2
+
+# Oscillation prevention parameters
+ oscillation_reset_dist: 0.05
+ oscillation_reset_angle: 0.2
+
+# global plan parameters
+ prune_plan: true
+
+ #not in dynamic reconfigure
+ publish_traj_pc: false
+ publish_cost_grid_pc: false
diff --git a/params/helena_mux.yaml b/params/mux.yaml
similarity index 68%
rename from params/helena_mux.yaml
rename to params/mux.yaml
index 58aff0e..8546c6e 100644
--- a/params/helena_mux.yaml
+++ b/params/mux.yaml
@@ -1,27 +1,27 @@
subscribers:
- name: "Default input"
- topic: "/helena/default/cmd_vel"
+ topic: "/ana/default/cmd_vel"
timeout: 0.1
priority: 0
short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
- name: "Platform orientation"
- topic: "/helena/orientation/cmd_vel"
+ topic: "/ana/orientation/cmd_vel"
timeout: 0.1
priority: 4
short_desc: "Platform orientation to people"
- name: "Navigation stack"
- topic: "/helena/navigation/cmd_vel"
+ topic: "/ana/navigation/cmd_vel"
timeout: 0.5
priority: 5
short_desc: "Navigation stack controller"
- name: "Teleop"
- topic: "/helena/teleop/cmd_vel"
+ topic: "/ana/teleop/cmd_vel"
timeout: 0.1
priority: 10
short_desc: "Teleop wii/ps3 pad"
-#publisher: "/helena/mux/cmd_vel"
-publisher: "/helena/cmd_vel"
+#publisher: "/ana/mux/cmd_vel"
+publisher: "/ana/cmd_vel"
diff --git a/rviz/ana_nav.rviz b/rviz/ana_nav.rviz
index 8497916..8adda43 100644
--- a/rviz/ana_nav.rviz
+++ b/rviz/ana_nav.rviz
@@ -4,10 +4,11 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- - /Global Options1
- - /Status1
+ - /Sensors1
+ - /Nav1
+ - /Nav1/Map1/Status1
Splitter Ratio: 0.5
- Tree Height: 522
+ Tree Height: 545
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -26,7 +27,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: Velodyne
+ SyncSource: realsense_color
Visualization Manager:
Class: ""
Displays:
@@ -338,161 +339,194 @@ Visualization Manager:
{}
Update Interval: 0
Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 0.00564962626
- Min Value: -0.00647342205
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: Intensity
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 0
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: Velodyne
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.00999999978
- Style: Points
- Topic: /ana/sensors/velodyne_points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Class: rviz_plugin_tutorials/Imu
- Color: 204; 51; 204
- Enabled: false
- History Length: 1
- Name: Imu
- Topic: /ana/sensors/imu
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: true
- Image Topic: /ana/sensors/nav_cam/color/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: realsense_color
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: realsense_pointcloud
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.00999999978
- Style: Points
- Topic: /ana/sensors/nav_cam/depth_registered/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Buffer Length: 1
- Class: rviz/Path
- Color: 25; 255; 0
- Enabled: true
- Head Diameter: 0.300000012
- Head Length: 0.200000003
- Length: 0.300000012
- Line Style: Lines
- Line Width: 0.0299999993
- Name: global_plan
- Offset:
- X: 0
- Y: 0
- Z: 0
- Pose Color: 255; 85; 255
- Pose Style: None
- Radius: 0.0299999993
- Shaft Diameter: 0.100000001
- Shaft Length: 0.100000001
- Topic: /move_base/GlobalPlanner/plan
- Unreliable: false
- Value: true
- - Alpha: 1
- Buffer Length: 1
- Class: rviz/Path
- Color: 25; 255; 0
- Enabled: true
- Head Diameter: 0.300000012
- Head Length: 0.200000003
- Length: 0.300000012
- Line Style: Lines
- Line Width: 0.0299999993
- Name: local_plan
- Offset:
- X: 0
- Y: 0
- Z: 0
- Pose Color: 255; 85; 255
- Pose Style: None
- Radius: 0.0299999993
- Shaft Diameter: 0.100000001
- Shaft Length: 0.100000001
- Topic: /move_base/DWAPlannerROS/local_plan
- Unreliable: false
- Value: true
- - Alpha: 0.699999988
- Class: rviz/Map
- Color Scheme: map
- Draw Behind: false
- Enabled: true
- Name: global_costmap
- Topic: /move_base/global_costmap/costmap
- Unreliable: false
- Use Timestamp: false
- Value: true
- - Alpha: 0.699999988
- Class: rviz/Map
- Color Scheme: map
- Draw Behind: false
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 1
+ Name: Imu
+ Topic: /ana/sensors/imu
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /ana/sensors/nav_cam/color/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: realsense_color
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: realsense_pointcloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /ana/sensors/nav_cam/depth_registered/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 0.00564962626
+ Min Value: -0.00647342205
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: -999999
+ Name: Velodyne
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /ana/sensors/velodyne_points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
Enabled: true
- Name: local_costmap
- Topic: /move_base/local_costmap/costmap
- Unreliable: false
- Use Timestamp: false
- Value: true
- - Alpha: 1
- Class: rviz/Polygon
- Color: 25; 255; 0
+ Name: Sensors
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: Map
+ Topic: /map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: footprint
+ Topic: /move_base/global_costmap/footprint
+ Unreliable: false
+ Value: true
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: true
+ Name: local_costmap
+ Topic: /move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: true
+ Name: global_costmap
+ Topic: /move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 0; 0; 255
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: global_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: local_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /move_base/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.300000012
+ Head Radius: 0.100000001
+ Name: CurrentGoal
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ Shape: Arrow
+ Topic: /move_base/current_goal
+ Unreliable: false
+ Value: true
Enabled: true
- Name: footprint
- Topic: /move_base/global_costmap/footprint
- Unreliable: false
- Value: true
+ Name: Nav
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -518,25 +552,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 8.14016628
+ Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.296762884
- Y: -0.0358628929
- Z: -0.184484214
- Focal Shape Fixed Size: true
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 1.1903975
- Target Frame: <Fixed Frame>
+ Pitch: 0.785398185
+ Target Frame: ana/base_footprint
Value: Orbit (rviz)
- Yaw: 1.23039782
+ Yaw: 0.785398185
Saved: ~
Window Geometry:
Displays:
@@ -544,7 +578,7 @@ Window Geometry:
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000299000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002c7000000f70000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002b0000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002de000001240000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
--
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