From 2bb9ab5b9739055aecfeace1297b7bec6a50bc94 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Thu, 7 Mar 2019 17:21:28 +0100 Subject: [PATCH] Update README. Delete old files, now in iri_rosnav --- LICENSE | 165 ++++++++++++++++++ README.md | 32 ++++ launch/include/amcl.launch | 45 ----- launch/include/cmd_vel_mux.launch | 20 --- launch/include/ekf.launch | 45 ----- launch/include/gmapping_old.launch | 64 ------- launch/include/map_server.launch | 15 -- launch/include/move_base.launch | 31 ---- launch/include/move_base_local.launch | 31 ---- .../include/move_base_with_prohibition.launch | 33 ---- launch/include/velocity_smoother.launch | 37 ---- launch/nav_local.launch | 11 -- 12 files changed, 197 insertions(+), 332 deletions(-) create mode 100644 LICENSE create mode 100644 README.md delete mode 100644 launch/include/amcl.launch delete mode 100644 launch/include/cmd_vel_mux.launch delete mode 100644 launch/include/ekf.launch delete mode 100644 launch/include/gmapping_old.launch delete mode 100644 launch/include/map_server.launch delete mode 100644 launch/include/move_base.launch delete mode 100644 launch/include/move_base_local.launch delete mode 100644 launch/include/move_base_with_prohibition.launch delete mode 100644 launch/include/velocity_smoother.launch delete mode 100644 launch/nav_local.launch diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..65c5ca8 --- /dev/null +++ b/LICENSE @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. Additional Definitions. + + As used herein, "this License" refers to version 3 of the GNU Lesser +General Public License, and the "GNU GPL" refers to version 3 of the GNU +General Public License. + + "The Library" refers to a covered work governed by this License, +other than an Application or a Combined Work as defined below. + + An "Application" is any work that makes use of an interface provided +by the Library, but which is not otherwise based on the Library. +Defining a subclass of a class defined by the Library is deemed a mode +of using an interface provided by the Library. + + A "Combined Work" is a work produced by combining or linking an +Application with the Library. The particular version of the Library +with which the Combined Work was made is also called the "Linked +Version". + + The "Minimal Corresponding Source" for a Combined Work means the +Corresponding Source for the Combined Work, excluding any source code +for portions of the Combined Work that, considered in isolation, are +based on the Application, and not on the Linked Version. + + The "Corresponding Application Code" for a Combined Work means the +object code and/or source code for the Application, including any data +and utility programs needed for reproducing the Combined Work from the +Application, but excluding the System Libraries of the Combined Work. + + 1. Exception to Section 3 of the GNU GPL. + + You may convey a covered work under sections 3 and 4 of this License +without being bound by section 3 of the GNU GPL. + + 2. Conveying Modified Versions. + + If you modify a copy of the Library, and, in your modifications, a +facility refers to a function or data to be supplied by an Application +that uses the facility (other than as an argument passed when the +facility is invoked), then you may convey a copy of the modified +version: + + a) under this License, provided that you make a good faith effort to + ensure that, in the event an Application does not supply the + function or data, the facility still operates, and performs + whatever part of its purpose remains meaningful, or + + b) under the GNU GPL, with none of the additional permissions of + this License applicable to that copy. + + 3. Object Code Incorporating Material from Library Header Files. + + The object code form of an Application may incorporate material from +a header file that is part of the Library. You may convey such object +code under terms of your choice, provided that, if the incorporated +material is not limited to numerical parameters, data structure +layouts and accessors, or small macros, inline functions and templates +(ten or fewer lines in length), you do both of the following: + + a) Give prominent notice with each copy of the object code that the + Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the object code with a copy of the GNU GPL and this license + document. + + 4. Combined Works. + + You may convey a Combined Work under terms of your choice that, +taken together, effectively do not restrict modification of the +portions of the Library contained in the Combined Work and reverse +engineering for debugging such modifications, if you also do each of +the following: + + a) Give prominent notice with each copy of the Combined Work that + the Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the Combined Work with a copy of the GNU GPL and this license + document. + + c) For a Combined Work that displays copyright notices during + execution, include the copyright notice for the Library among + these notices, as well as a reference directing the user to the + copies of the GNU GPL and this license document. + + d) Do one of the following: + + 0) Convey the Minimal Corresponding Source under the terms of this + License, and the Corresponding Application Code in a form + suitable for, and under terms that permit, the user to + recombine or relink the Application with a modified version of + the Linked Version to produce a modified Combined Work, in the + manner specified by section 6 of the GNU GPL for conveying + Corresponding Source. + + 1) Use a suitable shared library mechanism for linking with the + Library. A suitable mechanism is one that (a) uses at run time + a copy of the Library already present on the user's computer + system, and (b) will operate properly with a modified version + of the Library that is interface-compatible with the Linked + Version. + + e) Provide Installation Information, but only if you would otherwise + be required to provide such information under section 6 of the + GNU GPL, and only to the extent that such information is + necessary to install and execute a modified version of the + Combined Work produced by recombining or relinking the + Application with a modified version of the Linked Version. (If + you use option 4d0, the Installation Information must accompany + the Minimal Corresponding Source and Corresponding Application + Code. If you use option 4d1, you must provide the Installation + Information in the manner specified by section 6 of the GNU GPL + for conveying Corresponding Source.) + + 5. Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/README.md b/README.md new file mode 100644 index 0000000..c7062db --- /dev/null +++ b/README.md @@ -0,0 +1,32 @@ +# Description + +This package contains navigation related parameter and launch files particular to the Ana robot. + +# Dependencies + +This node has the following dependencies: + + * [iri_rosnav](https://gitlab.iri.upc.edu/labrobotica/ros/navigation/iri_rosnav) + +# Install + +This package, as well as all IRI dependencies, can be installed by cloning the +repository inside the active workspace: + +``` +roscd +cd ../src +git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_rosnav.git +``` + +However, this package is normally used as part of a wider installation (i.e. a +robot, an experiment or a demosntration) which will normally include a complete +rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool. + +# How to use it + + * nav.launch: example using a navigation without a map and AMCL localization + * nav.launch: example using a navigation with a map and AMCL localization + * nav_mapping.launch: example using navigation with gmapping SLAM. + + See its arguments for more detail on configuration possibilities. \ No newline at end of file diff --git a/launch/include/amcl.launch b/launch/include/amcl.launch deleted file mode 100644 index 8ca8dfc..0000000 --- a/launch/include/amcl.launch +++ /dev/null @@ -1,45 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <arg name="config" default="$(find iri_ana_rosnav)/params/amcl_default.yaml"/> - <arg name="map_frame_id" default="map"/> - <arg name="initial_x" default="0.0"/> - <arg name="initial_y" default="0.0"/> - <arg name="initial_a" default="0.0"/> - - <node name="velodyne_scan" - pkg ="pointcloud_to_laserscan" - type="pointcloud_to_laserscan_node"> - <param name="min_height" value="0.0"/> - <param name="max_height" value="2.0"/> - <param name="angle_min" value="-3.14159"/> - <param name="angle_max" value="3.15149"/> - <param name="angle_increment" value="0.007"/> - <param name="scan_time" value="0.1"/> - <param name="range_min" value="0.5"/> - <param name="range_max" value="100.0"/> - <param name="target_frame" value="/ana/base_link"/> - <param name="concurrency_level" value="1"/> - <param name="use_inf" value="true"/> - <remap from="~/cloud_in" - to="/ana/sensors/velodyne_points"/> - <remap from="~/scan" - to="/ana/sensors/velodyne_scan"/> - </node> - - <node name="amcl" - pkg ="amcl" - type="amcl"> - <remap from="~/scan" - to="/ana/sensors/velodyne_scan"/> - <param name="odom_frame_id" value="/ana/odom" /> - <param name="base_frame_id" value="/ana/base_link" /> - <param name="global_frame_id" value="$(arg map_frame_id)" /> - <param name="initial_pose_x" value="$(arg initial_x)" /> - <param name="initial_pose_y" value="$(arg initial_y)" /> - <param name="initial_pose_a" value="$(arg initial_a)" /> - <rosparam file="$(arg config)" command="load"/> - </node> - -</launch> diff --git a/launch/include/cmd_vel_mux.launch b/launch/include/cmd_vel_mux.launch deleted file mode 100644 index 31e4f31..0000000 --- a/launch/include/cmd_vel_mux.launch +++ /dev/null @@ -1,20 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <arg name="nodelet_manager_name" value="nodelet_manager"/> - <arg name="config_file" value="$(find helena_rosnav)/param/$(optenv ROBOT helena)_mux.yaml"/> - - <node pkg ="nodelet" - type="nodelet" - name="$(arg nodelet_manager_name)" - args="manager"/> - - <node pkg ="nodelet" - type="nodelet" - name="cmd_vel_mux" - args="load yocs_cmd_vel_mux/CmdVelMuxNodelet $(arg nodelet_manager_name)"> - <param name="yaml_cfg_file" value="$(arg config_file)"/> - </node> - -</launch> diff --git a/launch/include/ekf.launch b/launch/include/ekf.launch deleted file mode 100644 index 9bb47a2..0000000 --- a/launch/include/ekf.launch +++ /dev/null @@ -1,45 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" /> - - <group ns="$(optenv ROBOT helena)"> - - <node pkg="robot_pose_ekf" - type="robot_pose_ekf" - name="robot_pose_ekf" - output="screen"> - <param name="output_frame" value="$(optenv ROBOT helena)/odom"/> - <param name="base_footprint_frame" value="$(optenv ROBOT helena)/base_link"/> - <param name="freq" value="30.0"/> - <param name="sensor_timeout" value="2.0"/> - <param name="odom_used" value="true"/> - <param name="imu_used" value="true"/> - <param name="vo_used" value="false"/> - <param name="gps_used" value="false"/> - <param name="debug" value="false"/> - <param name="self_diagnose" value="false"/> - - <remap from="odom" to="/$(optenv ROBOT helena)/odom0"/> - <remap from="imu_data" to="/$(optenv ROBOT helena)/sensors/imu"/> - <remap from="vo" to="vo"/> - <remap from="gps" to="gps"/> - </node> - - <node name="pose2odom" - pkg="iri_msg_to_odom" - type="posewcs_to_odom" - output="screen"> - <param name="child_id" value="/$(optenv ROBOT helena)/base_link"/> - <param name="parent_id" value="/$(optenv ROBOT helena)/odom"/> - <param name="publish_tf" value="true"/> - <remap from="~/pose" - to="/$(optenv ROBOT helena)/robot_pose_ekf/odom_combined"/> - <remap from="~/odom" - to="/$(optenv ROBOT helena)/odom"/> - </node> - - </group> - -</launch> \ No newline at end of file diff --git a/launch/include/gmapping_old.launch b/launch/include/gmapping_old.launch deleted file mode 100644 index 2972155..0000000 --- a/launch/include/gmapping_old.launch +++ /dev/null @@ -1,64 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" /> - - <arg name="scan_topic" default="/$(optenv ROBOT helena)/sensors/front_laser_scan"/> - <arg name="resolution" default="0.05"/> - - <group ns="$(optenv ROBOT helena)"> - - <node name="gmapping" - pkg ="gmapping" - type="slam_gmapping" - machine="embedded"> - <param name="odom_frame" value="/$(optenv ROBOT helena)/odom"/> - <param name="base_frame" value="/$(optenv ROBOT helena)/base_link"/> - <param name="map_frame" value="/map"/> - <param name="map_update_interval" value="5.0"/> - <param name="maxUrange" value="29.0"/> - <param name="sigma" value="0.05"/> - <param name="kernelSize" value="1"/> - <param name="lstep" value="0.05"/> - <param name="astep" value="0.05"/> - <param name="iterations" value="5"/> - <param name="lsigma" value="0.075"/> - <param name="ogain" value="3.0"/> - <param name="lskip" value="0"/> - <param name="srr" value="0.1"/> - <param name="srt" value="0.2"/> - <param name="str" value="0.1"/> - <param name="stt" value="0.2"/> - <param name="linearUpdate" value="0.5"/> - <param name="angularUpdate" value="0.5"/> - <param name="temporalUpdate" value="10.0"/> - <param name="resampleThreshold" value="0.5"/> - <param name="particles" value="80"/> - - <param name="xmin" value="-5.0"/> - <param name="ymin" value="-5.0"/> - <param name="xmax" value="5.0"/> - <param name="ymax" value="5.0"/> - - <param name="delta" value="$(arg resolution)"/> <!-- map resolution --> - <param name="llsamplerange" value="0.01"/> - <param name="llsamplestep" value="0.01"/> - <param name="lasamplerange" value="0.005"/> - <param name="lasamplestep" value="0.005"/> - <remap from="scan" - to="$(arg scan_topic)"/> - </node> - - </group> - - <!-- - <node pkg="topic_tools" - type="relay" - name="map_relay" - machine="nav" - args="/map /$(optenv ROBOT helena)/map"> - </node> - --> - -</launch> diff --git a/launch/include/map_server.launch b/launch/include/map_server.launch deleted file mode 100644 index 9de03d3..0000000 --- a/launch/include/map_server.launch +++ /dev/null @@ -1,15 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <arg name="map" default="empty"/> - <arg name="map_frame_id" default="map"/> - - <node name="map_server" - pkg ="map_server" - type="map_server" - args="$(find iri_maps)/maps/$(arg map).yaml"> - <param name="frame_id" value="$(arg map_frame_id)"/> - </node> - -</launch> diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch deleted file mode 100644 index e176531..0000000 --- a/launch/include/move_base.launch +++ /dev/null @@ -1,31 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <arg name="use_map" default="true"/> - <arg name="local_planner" default="dwa"/> - <arg name="global_planner" default="global"/> - - <arg name="costmap_path" value="map" if="$(arg use_map)"/> - <arg name="costmap_path" value="no_map" unless="$(arg use_map)"/> - - <node pkg ="move_base" - type="move_base" - name="move_base" - output="screen"> - <remap from="cmd_vel" to="/ana/cmd_vel" /> - <remap from="odom" to="/ana/odom" /> - - <rosparam file="$(find iri_ana_rosnav)/params/move_base_params.yaml" command="load" /> - <rosparam file="$(find iri_ana_rosnav)/params/$(arg local_planner)/planner_params.yaml" command="load" /> - <rosparam file="$(find iri_ana_rosnav)/params/$(arg global_planner)/planner_params.yaml" command="load" /> - - <rosparam file="$(find iri_ana_rosnav)/params/costmap/common_params.yaml" command="load" ns="local_costmap" /> - <rosparam file="$(find iri_ana_rosnav)/params/costmap/local_params.yaml" command="load" ns="local_costmap"/> - - <rosparam file="$(find iri_ana_rosnav)/params/costmap/common_params.yaml" command="load" ns="global_costmap" /> - <rosparam file="$(find iri_ana_rosnav)/params/costmap/$(arg costmap_path)/global_params.yaml" command="load" ns="global_costmap"/> - - </node> - -</launch> diff --git a/launch/include/move_base_local.launch b/launch/include/move_base_local.launch deleted file mode 100644 index 4b7b701..0000000 --- a/launch/include/move_base_local.launch +++ /dev/null @@ -1,31 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" /> - - <group ns="$(optenv ROBOT helena)"> - - <node pkg ="move_base" - type="move_base" - name="move_base" - output="screen" - machine="embedded"> - <remap from="/$(optenv ROBOT helena)/cmd_vel" to="/$(optenv ROBOT helena)/navigation/cmd_vel" /> - <remap from="/$(optenv ROBOT helena)/odom" to="/$(optenv ROBOT helena)/odom" /> - - <rosparam file="$(find helena_rosnav)/param/move_base_params.yaml" command="load" /> - <rosparam file="$(find helena_rosnav)/param/dwa_local_planner_params.yaml" command="load" /> - <rosparam file="$(find helena_rosnav)/param/global_planner_params.yaml" command="load" /> - - <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> - <rosparam file="$(find helena_rosnav)/param/local_costmap_params.yaml" command="load" ns="local_costmap"/> - - <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> - <rosparam file="$(find helena_rosnav)/param/global_costmap_params_no_map.yaml" command="load" ns="global_costmap"/> - - </node> - - </group> - -</launch> diff --git a/launch/include/move_base_with_prohibition.launch b/launch/include/move_base_with_prohibition.launch deleted file mode 100644 index bcd0ea2..0000000 --- a/launch/include/move_base_with_prohibition.launch +++ /dev/null @@ -1,33 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" /> - - <group ns="$(optenv ROBOT helena)"> - - <node pkg ="move_base" - type="move_base" - name="move_base" - output="log" - machine="embedded"> - <remap from="/$(optenv ROBOT helena)/cmd_vel" to="/$(optenv ROBOT helena)/navigation/cmd_vel" /> - <remap from="/$(optenv ROBOT helena)/odom" to="/$(optenv ROBOT helena)/odom" /> - - <rosparam file="$(find helena_rosnav)/param/move_base_params.yaml" command="load" /> - <rosparam file="$(find helena_rosnav)/param/dwa_local_planner_params.yaml" command="load" /> - <rosparam file="$(find helena_rosnav)/param/global_planner_params.yaml" command="load" /> - - <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> - <rosparam file="$(find helena_rosnav)/param/local_costmap_params.yaml" command="load" ns="local_costmap"/> - - <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> - <rosparam file="$(find helena_rosnav)/param/global_costmap_params.yaml" command="load" ns="global_costmap"/> - - <rosparam file="$(find helena_rosnav)/param/prohibition_areas.yaml" command="load" ns="global_costmap/costmap_prohibition_layer"/> - - </node> - - </group> - -</launch> diff --git a/launch/include/velocity_smoother.launch b/launch/include/velocity_smoother.launch deleted file mode 100644 index 807f034..0000000 --- a/launch/include/velocity_smoother.launch +++ /dev/null @@ -1,37 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" /> - - <arg name="node_name" value="velocity_smoother"/> - <arg name="nodelet_manager_name" value="nodelet_manager_velocity_smoother"/> - <arg name="config_file" value="$(find helena_rosnav)/param/velocity_smoother.yaml"/> - <arg name="raw_cmd_vel_topic" value="/$(optenv ROBOT helena)/mux/cmd_vel"/> - <arg name="smooth_cmd_vel_topic" value="/$(optenv ROBOT helena)/cmd_vel"/> - <arg name="robot_cmd_vel_topic" value="/$(optenv ROBOT helena)/cmd_vel"/> - <arg name="odom_topic" value="/$(optenv ROBOT helena)/odom"/> - - <group ns="$(optenv ROBOT helena)"> - - <node pkg ="nodelet" - type="nodelet" - name="$(arg nodelet_manager_name)" - args="manager" - machine="embedded"/> - - <node pkg ="nodelet" - type="nodelet" - name="$(arg node_name)" - args="load yocs_velocity_smoother/VelocitySmootherNodelet $(arg nodelet_manager_name)" - machine="embedded"> - <rosparam file="$(arg config_file)" command="load"/> - <remap from="/$(optenv ROBOT helena)/$(arg node_name)/raw_cmd_vel" to="$(arg raw_cmd_vel_topic)"/> - <remap from="/$(optenv ROBOT helena)/$(arg node_name)/smooth_cmd_vel" to="$(arg smooth_cmd_vel_topic)"/> - <remap from="/$(optenv ROBOT helena)/$(arg node_name)/robot_cmd_vel" to="$(arg robot_cmd_vel_topic)"/> - <remap from="/$(optenv ROBOT helena)/$(arg node_name)/odometry" to="$(arg odom_topic)"/> - </node> - - </group> - -</launch> diff --git a/launch/nav_local.launch b/launch/nav_local.launch deleted file mode 100644 index dae03b9..0000000 --- a/launch/nav_local.launch +++ /dev/null @@ -1,11 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <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_rosnav)/launch/include/move_base_local.launch" /> - -</launch> -- GitLab