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Commit ef4189af authored by Fernando Herrero's avatar Fernando Herrero
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Add 3d_nav files and update launchs

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launch/3d_nav_map.launch 0 → 100644
+ 51
− 0
View file @ ef4189af
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="helena"/>
<arg name="use_3d_nav_nodelets" default="true"/>
<arg name="path" default="$(find iri_helena_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/3d_helena.rviz"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<include file="$(find iri_helena_rosnav)/launch/include/3d_nav.launch">
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
</include>
<include file="$(find iri_helena_rosnav)/launch/nav_map.launch">
<arg name="name" value="$(arg name)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_file" value="$(arg rviz_file)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
</include>
</launch>
launch/3d_nav_nomap.launch 0 → 100644
+ 50
− 0
View file @ ef4189af
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="helena"/>
<arg name="use_3d_nav_nodelets" default="true"/>
<arg name="path" default="$(find iri_helena_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<!--<arg name="map_name" default="empty" />-->
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/3d_helena.rviz"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<include file="$(find iri_helena_rosnav)/launch/include/3d_nav.launch">
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
</include>
<include file="$(find iri_helena_rosnav)/launch/nav_nomap.launch">
<arg name="name" value="$(arg name)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_file" value="$(arg rviz_file)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
</include>
</launch>
launch/include/3d_nav.launch 0 → 100644
+ 42
− 0
View file @ ef4189af
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="use_nodelets" default="true"/>
<include file="$(find iri_rosnav)/launch/include/3d_nav_lidar.launch">
<arg name="ns" value="helena"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_nodelets)"/>
<arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
<arg name="lidar_filter_node_name" value="lidar_filter"/>
<arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
<arg name="lidar_filter_cloud_in" value="/helena/sensors/rslidar_points" />
<arg name="lidar_detector_node_name" value="lidar_detector"/>
<arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
</include>
<include file="$(find iri_rosnav)/launch/include/3d_nav_camera.launch">
<arg name="ns" value="helena"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="use_nodelets" value="$(arg use_nodelets)"/>
<arg name="obstacle_nodelet_manager" value="obstacle_nodelet_manager" />
<arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
<arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" value="average_point_cloud"/>
<arg name="average_config_file" value="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="normals_node_name" value="obstacle_detection_normals"/>
<arg name="normals_config_file" value="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
<arg name="near_hole_detection_node_name" value="near_hole_detection"/>
<arg name="near_hole_detection_config_file" value="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
<arg name="hole_detection_cloud_in" value="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" value="far_hole_detection"/>
<arg name="far_hole_detection_config_file" value="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
</include>
</launch>
launch/nav_map.launch
+ 58
− 70
View file @ ef4189af
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="pkg" default="iri_helena_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<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="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" />
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/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="$(arg path)/$(arg param_subpath)/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="" />
<arg name="name" default="helena"/>
<arg name="path" default="$(find iri_helena_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/helena.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="param_subpath" value="$(arg param_subpath)"/>
<arg name="map_frame_id" value="$(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="$(arg scan_topic)"/>
<arg name="use_map" value="$(arg use_map)"/>
<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="$(arg launch_prefix)" />
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg name)/odom"/>
<arg name="base_frame_id" value="$(arg name)/base_footprint"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
<arg name="odom_topic" value="/$(arg name)/odom"/>
<arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="use_map" value="true"/>
<arg name="use_map_server" value="true"/>
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
<arg name="amcl_config" value="$(find iri_helena_rosnav)/params/amcl.yaml"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
<arg name="resolution" value="0.1"/>
<arg name="use_move_base" value="$(arg use_move_base)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_rosnav)/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="/$(arg ns)/sensors/rslidar_points"/>
<arg name="ns" value="helena"/>
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="cloud_topic" value="/$(arg name)/sensors/rslidar_points"/>
<arg name="config_file" value="$(find iri_helena_rosnav)/params/pointcloud_to_laserscan.yaml" />
<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">
args="-d $(arg rviz_file)">
</node>
</launch>
launch/nav_mapping.launch
+ 1
− 2
View file @ ef4189af
......@@ -5,8 +5,7 @@
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="pkg" default="iri_helena_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<arg name="path" default="$(eval find(arg('pkg')))_lolo"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
......
launch/nav_nomap.launch
+ 59
− 71
View file @ ef4189af
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="pkg" default="iri_helena_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<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="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="false"/>
<arg name="use_map_server" default="false"/>
<arg name="map_name" default="empty"/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/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="$(arg path)/$(arg param_subpath)/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="" />
<arg name="name" default="helena"/>
<arg name="path" default="$(find iri_helena_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/helena.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="param_subpath" value="$(arg param_subpath)"/>
<arg name="map_frame_id" value="$(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="$(arg scan_topic)"/>
<arg name="use_map" value="$(arg use_map)"/>
<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="$(arg launch_prefix)" />
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="$(arg name)/odom"/>
<arg name="base_frame_id" value="$(arg name)/base_footprint"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
<arg name="odom_topic" value="/$(arg name)/odom"/>
<arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="use_map" value="false"/>
<arg name="use_map_server" value="true"/>
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
<arg name="amcl_config" value="$(find iri_helena_rosnav)/params/amcl.yaml"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
<arg name="resolution" value="0.1"/>
<arg name="use_move_base" value="$(arg use_move_base)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_rosnav)/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="/$(arg ns)/sensors/rslidar_points"/>
<arg name="ns" value="helena"/>
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="cloud_topic" value="/$(arg name)/sensors/rslidar_points"/>
<arg name="config_file" value="$(find iri_helena_rosnav)/params/pointcloud_to_laserscan.yaml" />
<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">
args="-d $(arg rviz_file)">
</node>
</launch>
params/costmap/3d_common_params.yaml 0 → 100755
+ 142
− 0
View file @ ef4189af
# footprint parameters
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
#robot_radius: 0.3
footprint_padding: 0.01
footprint_topic: /helena/footprint
published_footprint_topic: false
robot_base_frame: helena/base_footprint
track_unknown_space: false
always_send_full_costmap: false
transform_tolerance: 1.0
width: 10.0
height: 10.0
resolution: 0.1
origin_x: 0.0
origin_y: 0.0
obstacle_layer_lidar:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 10.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: lidar_marking
lidar_marking: {
sensor_frame: helena/base_footprint,
data_type: LaserScan,
topic: /helena/lidar_detector/scan_out,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 200.0
}
obstacle_layer_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: camera_marking
camera_marking: {
sensor_frame: helena/base_footprint,
data_type: PointCloud,
topic: /helena/obstacle_detection_normals/obstacles,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_near_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_near_marking hole_near_clearing
hole_near_marking: {
sensor_frame: helena/base_footprint,
data_type: PointCloud2,
topic: /helena/near_hole_detection/hole_obstacle,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_near_clearing: {
sensor_frame: helena/base_footprint,
data_type: PointCloud2,
topic: /helena/near_hole_detection/hole_zone,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_far_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_far_marking hole_far_clearing
hole_far_marking: {
sensor_frame: helena/base_footprint,
data_type: PointCloud2,
topic: /helena/far_hole_detection/hole_obstacle,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_far_clearing: {
sensor_frame: helena/base_footprint,
data_type: PointCloud2,
topic: /helena/far_hole_detection/hole_zone,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
inflation_layer:
enabled: true
inflate_unknown: false
inflation_radius: 2.0
cost_scaling_factor: 1.8
inflation_radius: 1.0
params/costmap/3d_local_params.yaml 0 → 100755
+ 20
− 0
View file @ ef4189af
#local_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: helena/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.1
#origin_x: 0.0
#origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/common_params.yaml
+ 3
− 3
View file @ ef4189af
......@@ -5,7 +5,7 @@ footprint_padding: 0.01
footprint_topic: /helena/move_base/local_costmap/footprint
published_footprint_topic: false
robot_base_frame: /helena/base_footprint
robot_base_frame: helena/base_footprint
track_unknown_space: false
always_send_full_costmap: false
transform_tolerance: 1.0
......@@ -25,7 +25,7 @@ obstacle_layer:
observation_sources: velodyne #depth_cam
velodyne: {
sensor_frame: /helena/robosense,
sensor_frame: helena/robosense,
data_type: PointCloud2,
topic: /helena/sensors/rslidar_points,
observation_persistence: 0.0,
......@@ -39,7 +39,7 @@ obstacle_layer:
}
depth_cam: {
sensor_frame: /helena/camera_color_optical_frame,
sensor_frame: helena/camera_color_optical_frame,
data_type: PointCloud2,
topic: /helena/sensors/nav_cam/depth_registered/points,
observation_persistence: 0.0,
......
params/costmap/local_params.yaml
+ 2
− 2
View file @ ef4189af
#local_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /helena/odom
global_frame: helena/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
......@@ -12,4 +12,4 @@ origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/map/3d_global_params.yaml 0 → 100644
+ 24
− 0
View file @ ef4189af
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
rolling_window: false
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera,type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
static_layer:
enabled: true
map_topic: /map
first_map_only: false
subscribe_to_updates: false
unknown_cost_value: -1
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
trinary_costmap: true
params/costmap/map/global_params.yaml
+ 2
− 2
View file @ ef4189af
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /map
global_frame: map
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: false
......@@ -18,4 +18,4 @@ static_layer:
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
trinary_costmap: true
\ No newline at end of file
trinary_costmap: true
params/costmap/no_map/3d_global_params.yaml 0 → 100644
+ 18
− 0
View file @ ef4189af
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: helena/odom
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
transform_tolerance: 1.0
width: 20.0
height: 20.0
resolution: 0.2
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/no_map/global_params.yaml
+ 2
− 2
View file @ ef4189af
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /helena/odom
global_frame: helena/odom
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
......@@ -12,4 +12,4 @@ origin_y: 0.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/local_planner/dwa_params.yaml
+ 20
− 20
View file @ ef4189af
base_local_planner: "dwa_local_planner/DWAPlannerROS"
latch_xy_goal_tolerance: true
latch_xy_goal_tolerance: true
DWAPlannerROS:
# robot configuration parameters
max_trans_vel: 0.5
min_trans_vel: 0.1
max_vel_trans: 0.5
min_vel_trans: 0.1
max_vel_x: 0.5
min_vel_x: -0.2
max_vel_y: 0.0
min_vel_y: 0.0
max_rot_vel: 2.0
min_rot_vel: 0.2
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_theta: 2.0
min_vel_theta: 0.1
acc_lim_theta: 5.0
acc_lim_x: 1.0
acc_lim_y: 0.0
acc_limit_trans: 1.0
rot_stopped_vel: 0.1
acc_lim_y: 0.0
acc_lim_trans: 1.0
theta_stopped_vel: 0.1
trans_stopped_vel: 0.1
# goal tolerance parameters
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
# Forward simulation parameters
sim_time: 2.5
sim_time: 3.5
sim_granularity: 0.1
angular_sim_granularity: 0.1
vx_samples: 21
vy_samples: 1
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: 24.0
occdist_scale: 0.02 #0.01
path_distance_bias: 50.0
goal_distance_bias: 10.0
occdist_scale: 0.05
twirling_scale: 0.0
stop_time_buffer: 0.2
forward_point_distance: 0.325
......@@ -44,11 +44,11 @@ DWAPlannerROS:
# 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
global_frame_id: /helena/odom
#global_frame_id: /robot/base_footprint
publish_cost_grid_pc: false
params/pointcloud_to_laserscan.yaml 0 → 100644
+ 18
− 0
View file @ ef4189af
target_frame: ""
# Leave target_frame disabled to output scan in pointcloud frame
transform_tolerance: 0.1
min_height: -0.1
max_height: 0.5
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
rviz/3d_helena.rviz 0 → 100644
+ 1068
− 0
View file @ ef4189af
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