add humble-navigation2
This commit is contained in:
X-lanni
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cmake_minimum_required(VERSION 3.5)
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project(nav2_bringup)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(navigation2 REQUIRED)
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nav2_package()
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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# nav2_bringup
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The `nav2_bringup` package is an example bringup system for Nav2 applications.
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This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
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Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of.
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Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`.
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* Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
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To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
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Note:
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* gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
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* spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument <remapping>/tf:=tf</remapping> <remapping>/tf_static:=tf_static</remapping> under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot.
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## Launch
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### Multi-robot Simulation
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This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
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#### Cloned
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This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default.
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The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
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Please refer to below examples.
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```shell
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ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
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```
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#### Unique
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There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
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If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script.
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```shell
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ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
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```
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# Copyright (c) 2018 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, GroupAction,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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from launch_ros.actions import PushRosNamespace
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from launch_ros.descriptions import ParameterFile
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from nav2_common.launch import RewrittenYaml, ReplaceString
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Create the launch configuration variables
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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slam = LaunchConfiguration('slam')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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params_file = LaunchConfiguration('params_file')
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autostart = LaunchConfiguration('autostart')
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use_composition = LaunchConfiguration('use_composition')
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use_respawn = LaunchConfiguration('use_respawn')
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log_level = LaunchConfiguration('log_level')
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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# Create our own temporary YAML files that include substitutions
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param_substitutions = {
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'use_sim_time': use_sim_time,
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'yaml_filename': map_yaml_file}
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# Only it applys when `use_namespace` is True.
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# '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
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# in config file 'nav2_multirobot_params.yaml' as a default & example.
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# User defined config file should contain '<robot_namespace>' keyword for the replacements.
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params_file = ReplaceString(
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source_file=params_file,
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replacements={'<robot_namespace>': ('/', namespace)},
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condition=IfCondition(use_namespace))
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configured_params = ParameterFile(
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RewrittenYaml(
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source_file=params_file,
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root_key=namespace,
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param_rewrites=param_substitutions,
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convert_types=True),
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allow_substs=True)
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_slam_cmd = DeclareLaunchArgument(
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'slam',
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default_value='False',
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description='Whether run a SLAM')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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description='Full path to map yaml file to load')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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declare_use_composition_cmd = DeclareLaunchArgument(
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'use_composition', default_value='True',
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description='Whether to use composed bringup')
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declare_use_respawn_cmd = DeclareLaunchArgument(
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'use_respawn', default_value='False',
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description='Whether to respawn if a node crashes. Applied when composition is disabled.')
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declare_log_level_cmd = DeclareLaunchArgument(
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'log_level', default_value='info',
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description='log level')
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# Specify the actions
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bringup_cmd_group = GroupAction([
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PushRosNamespace(
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condition=IfCondition(use_namespace),
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namespace=namespace),
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Node(
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condition=IfCondition(use_composition),
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name='nav2_container',
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package='rclcpp_components',
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executable='component_container_isolated',
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parameters=[configured_params, {'autostart': autostart}],
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arguments=['--ros-args', '--log-level', log_level],
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remappings=remappings,
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output='screen'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
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condition=IfCondition(slam),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'use_respawn': use_respawn,
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'params_file': params_file}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir,
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'localization_launch.py')),
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condition=IfCondition(PythonExpression(['not ', slam])),
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launch_arguments={'namespace': namespace,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_sim_time': use_sim_time,
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'autostart': autostart,
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'params_file': params_file,
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'use_composition': use_composition,
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'use_respawn': use_respawn,
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'container_name': 'nav2_container'}.items()),
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])
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_use_namespace_cmd)
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ld.add_action(declare_slam_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_use_composition_cmd)
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ld.add_action(declare_use_respawn_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(bringup_cmd_group)
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return ld
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@@ -0,0 +1,174 @@
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# Copyright (c) 2023 LG Electronics.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
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IncludeLaunchDescription, LogInfo)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, TextSubstitution
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from nav2_common.launch import ParseMultiRobotPose
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def generate_launch_description():
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"""
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Bring up the multi-robots with given launch arguments.
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Launch arguments consist of robot name(which is namespace) and pose for initialization.
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Keep general yaml format for pose information.
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ex) robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
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ex) robots:="robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
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robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"
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"""
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Simulation settings
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world = LaunchConfiguration('world')
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simulator = LaunchConfiguration('simulator')
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# On this example all robots are launched with the same settings
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map_yaml_file = LaunchConfiguration('map')
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params_file = LaunchConfiguration('params_file')
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autostart = LaunchConfiguration('autostart')
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rviz_config_file = LaunchConfiguration('rviz_config')
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use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
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use_rviz = LaunchConfiguration('use_rviz')
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log_settings = LaunchConfiguration('log_settings', default='true')
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# Declare the launch arguments
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
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description='Full path to world file to load')
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declare_simulator_cmd = DeclareLaunchArgument(
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'simulator',
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default_value='gazebo',
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description='The simulator to use (gazebo or gzserver)')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
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description='Full path to map file to load')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='false',
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description='Automatically startup the stacks')
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config',
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default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
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description='Full path to the RVIZ config file to use.')
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declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
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'use_robot_state_pub',
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default_value='True',
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description='Whether to start the robot state publisher')
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declare_use_rviz_cmd = DeclareLaunchArgument(
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'use_rviz',
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default_value='True',
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description='Whether to start RVIZ')
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# Start Gazebo with plugin providing the robot spawning service
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start_gazebo_cmd = ExecuteProcess(
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cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
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'-s', 'libgazebo_ros_factory.so', world],
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output='screen')
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robots_list = ParseMultiRobotPose('robots').value()
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# Define commands for launching the navigation instances
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bringup_cmd_group = []
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for robot_name in robots_list:
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init_pose = robots_list[robot_name]
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group = GroupAction([
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LogInfo(msg=['Launching namespace=', robot_name, ' init_pose=', str(init_pose)]),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_dir, 'rviz_launch.py')),
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condition=IfCondition(use_rviz),
|
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launch_arguments={'namespace': TextSubstitution(text=robot_name),
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'use_namespace': 'True',
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'rviz_config': rviz_config_file}.items()),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(bringup_dir,
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'launch',
|
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'tb3_simulation_launch.py')),
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||||
launch_arguments={'namespace': robot_name,
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'use_namespace': 'True',
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'map': map_yaml_file,
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'use_sim_time': 'True',
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'params_file': params_file,
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'autostart': autostart,
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'use_rviz': 'False',
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'use_simulator': 'False',
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'headless': 'False',
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'use_robot_state_pub': use_robot_state_pub,
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'x_pose': TextSubstitution(text=str(init_pose['x'])),
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'y_pose': TextSubstitution(text=str(init_pose['y'])),
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'z_pose': TextSubstitution(text=str(init_pose['z'])),
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'roll': TextSubstitution(text=str(init_pose['roll'])),
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'pitch': TextSubstitution(text=str(init_pose['pitch'])),
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'yaw': TextSubstitution(text=str(init_pose['yaw'])),
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'robot_name':TextSubstitution(text=robot_name), }.items())
|
||||
])
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bringup_cmd_group.append(group)
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# Create the launch description and populate
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||||
ld = LaunchDescription()
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||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_simulator_cmd)
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||||
ld.add_action(declare_world_cmd)
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||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_rviz_config_file_cmd)
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||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
|
||||
# Add the actions to start gazebo, robots and simulations
|
||||
ld.add_action(start_gazebo_cmd)
|
||||
|
||||
ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
|
||||
|
||||
ld.add_action(LogInfo(condition=IfCondition(log_settings),
|
||||
msg=['map yaml: ', map_yaml_file]))
|
||||
ld.add_action(LogInfo(condition=IfCondition(log_settings),
|
||||
msg=['params yaml: ', params_file]))
|
||||
ld.add_action(LogInfo(condition=IfCondition(log_settings),
|
||||
msg=['rviz config file: ', rviz_config_file]))
|
||||
ld.add_action(LogInfo(condition=IfCondition(log_settings),
|
||||
msg=['using robot state pub: ', use_robot_state_pub]))
|
||||
ld.add_action(LogInfo(condition=IfCondition(log_settings),
|
||||
msg=['autostart: ', autostart]))
|
||||
|
||||
for cmd in bringup_cmd_group:
|
||||
ld.add_action(cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,192 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode, ParameterFile
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
map_yaml_file = LaunchConfiguration('map')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = ['map_server', 'amcl']
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'yaml_filename': map_yaml_file}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
description='Full path to map yaml file to load')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_map_server',
|
||||
executable='map_server',
|
||||
name='map_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_amcl',
|
||||
executable='amcl',
|
||||
name='amcl',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_localization',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}])
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_map_server',
|
||||
plugin='nav2_map_server::MapServer',
|
||||
name='map_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_amcl',
|
||||
plugin='nav2_amcl::AmclNode',
|
||||
name='amcl',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_localization',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
|
||||
# Add the actions to launch all of the localiztion nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,272 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode, ParameterFile
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = ['controller_server',
|
||||
'smoother_server',
|
||||
'planner_server',
|
||||
'behavior_server',
|
||||
'bt_navigator',
|
||||
'waypoint_follower',
|
||||
'velocity_smoother']
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='False',
|
||||
description='Use composed bringup if True')
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name', default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
Node(
|
||||
package='nav2_controller',
|
||||
executable='controller_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
Node(
|
||||
package='nav2_smoother',
|
||||
executable='smoother_server',
|
||||
name='smoother_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_planner',
|
||||
executable='planner_server',
|
||||
name='planner_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_behaviors',
|
||||
executable='behavior_server',
|
||||
name='behavior_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_bt_navigator',
|
||||
executable='bt_navigator',
|
||||
name='bt_navigator',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_waypoint_follower',
|
||||
executable='waypoint_follower',
|
||||
name='waypoint_follower',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings),
|
||||
Node(
|
||||
package='nav2_velocity_smoother',
|
||||
executable='velocity_smoother',
|
||||
name='velocity_smoother',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_navigation',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}]),
|
||||
]
|
||||
)
|
||||
|
||||
load_composable_nodes = LoadComposableNodes(
|
||||
condition=IfCondition(use_composition),
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_controller',
|
||||
plugin='nav2_controller::ControllerServer',
|
||||
name='controller_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
|
||||
ComposableNode(
|
||||
package='nav2_smoother',
|
||||
plugin='nav2_smoother::SmootherServer',
|
||||
name='smoother_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_planner',
|
||||
plugin='nav2_planner::PlannerServer',
|
||||
name='planner_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_behaviors',
|
||||
plugin='behavior_server::BehaviorServer',
|
||||
name='behavior_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_bt_navigator',
|
||||
plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
|
||||
name='waypoint_follower',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings),
|
||||
ComposableNode(
|
||||
package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
|
||||
name='velocity_smoother',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings +
|
||||
[('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'node_names': lifecycle_nodes}]),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,109 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.events import Shutdown
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from nav2_common.launch import ReplaceString
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
# Create the launch configuration variables
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_namespace = LaunchConfiguration('use_namespace')
|
||||
rviz_config_file = LaunchConfiguration('rviz_config')
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='navigation',
|
||||
description=('Top-level namespace. The value will be used to replace the '
|
||||
'<robot_namespace> keyword on the rviz config file.'))
|
||||
|
||||
declare_use_namespace_cmd = DeclareLaunchArgument(
|
||||
'use_namespace',
|
||||
default_value='false',
|
||||
description='Whether to apply a namespace to the navigation stack')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config',
|
||||
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use')
|
||||
|
||||
# Launch rviz
|
||||
start_rviz_cmd = Node(
|
||||
condition=UnlessCondition(use_namespace),
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
arguments=['-d', rviz_config_file],
|
||||
output='screen')
|
||||
|
||||
namespaced_rviz_config_file = ReplaceString(
|
||||
source_file=rviz_config_file,
|
||||
replacements={'<robot_namespace>': ('/', namespace)})
|
||||
|
||||
start_namespaced_rviz_cmd = Node(
|
||||
condition=IfCondition(use_namespace),
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
namespace=namespace,
|
||||
arguments=['-d', namespaced_rviz_config_file],
|
||||
output='screen',
|
||||
remappings=[('/map', 'map'),
|
||||
('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static'),
|
||||
('/goal_pose', 'goal_pose'),
|
||||
('/clicked_point', 'clicked_point'),
|
||||
('/initialpose', 'initialpose')])
|
||||
|
||||
exit_event_handler = RegisterEventHandler(
|
||||
condition=UnlessCondition(use_namespace),
|
||||
event_handler=OnProcessExit(
|
||||
target_action=start_rviz_cmd,
|
||||
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
|
||||
|
||||
exit_event_handler_namespaced = RegisterEventHandler(
|
||||
condition=IfCondition(use_namespace),
|
||||
event_handler=OnProcessExit(
|
||||
target_action=start_namespaced_rviz_cmd,
|
||||
on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_namespace_cmd)
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
|
||||
# Add any conditioned actions
|
||||
ld.add_action(start_rviz_cmd)
|
||||
ld.add_action(start_namespaced_rviz_cmd)
|
||||
|
||||
# Add other nodes and processes we need
|
||||
ld.add_action(exit_event_handler)
|
||||
ld.add_action(exit_event_handler_namespaced)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,142 @@
|
||||
# Copyright (c) 2020 Samsung Research Russia
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ParameterFile
|
||||
from nav2_common.launch import HasNodeParams, RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Input parameters declaration
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
# Variables
|
||||
lifecycle_nodes = ['map_saver']
|
||||
|
||||
# Getting directories and launch-files
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
slam_toolbox_dir = get_package_share_directory('slam_toolbox')
|
||||
slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py')
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {
|
||||
'use_sim_time': use_sim_time}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True),
|
||||
allow_substs=True)
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='True',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='True',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info',
|
||||
description='log level')
|
||||
|
||||
# Nodes launching commands
|
||||
|
||||
start_map_saver_server_cmd = Node(
|
||||
package='nav2_map_server',
|
||||
executable='map_saver_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[configured_params])
|
||||
|
||||
start_lifecycle_manager_cmd = Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_slam',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'use_sim_time': use_sim_time},
|
||||
{'autostart': autostart},
|
||||
{'node_names': lifecycle_nodes}])
|
||||
|
||||
# If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file'
|
||||
# LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load
|
||||
# the default file
|
||||
has_slam_toolbox_params = HasNodeParams(source_file=params_file,
|
||||
node_name='slam_toolbox')
|
||||
|
||||
start_slam_toolbox_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(slam_launch_file),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items(),
|
||||
condition=UnlessCondition(has_slam_toolbox_params))
|
||||
|
||||
start_slam_toolbox_cmd_with_params = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(slam_launch_file),
|
||||
launch_arguments={'use_sim_time': use_sim_time,
|
||||
'slam_params_file': params_file}.items(),
|
||||
condition=IfCondition(has_slam_toolbox_params))
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
|
||||
# Running Map Saver Server
|
||||
ld.add_action(start_map_saver_server_cmd)
|
||||
ld.add_action(start_lifecycle_manager_cmd)
|
||||
|
||||
# Running SLAM Toolbox (Only one of them will be run)
|
||||
ld.add_action(start_slam_toolbox_cmd)
|
||||
ld.add_action(start_slam_toolbox_cmd_with_params)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,252 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
"""This is all-in-one launch script intended for use by nav2 developers."""
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
|
||||
from launch.conditions import IfCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
launch_dir = os.path.join(bringup_dir, 'launch')
|
||||
|
||||
# Create the launch configuration variables
|
||||
slam = LaunchConfiguration('slam')
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_namespace = LaunchConfiguration('use_namespace')
|
||||
map_yaml_file = LaunchConfiguration('map')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
|
||||
# Launch configuration variables specific to simulation
|
||||
rviz_config_file = LaunchConfiguration('rviz_config_file')
|
||||
use_simulator = LaunchConfiguration('use_simulator')
|
||||
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
|
||||
use_rviz = LaunchConfiguration('use_rviz')
|
||||
headless = LaunchConfiguration('headless')
|
||||
world = LaunchConfiguration('world')
|
||||
pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
|
||||
'y': LaunchConfiguration('y_pose', default='-0.50'),
|
||||
'z': LaunchConfiguration('z_pose', default='0.01'),
|
||||
'R': LaunchConfiguration('roll', default='0.00'),
|
||||
'P': LaunchConfiguration('pitch', default='0.00'),
|
||||
'Y': LaunchConfiguration('yaw', default='0.00')}
|
||||
robot_name = LaunchConfiguration('robot_name')
|
||||
robot_sdf = LaunchConfiguration('robot_sdf')
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', 'tf'),
|
||||
('/tf_static', 'tf_static')]
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='',
|
||||
description='Top-level namespace')
|
||||
|
||||
declare_use_namespace_cmd = DeclareLaunchArgument(
|
||||
'use_namespace',
|
||||
default_value='false',
|
||||
description='Whether to apply a namespace to the navigation stack')
|
||||
|
||||
declare_slam_cmd = DeclareLaunchArgument(
|
||||
'slam',
|
||||
default_value='False',
|
||||
description='Whether run a SLAM')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
default_value=os.path.join(
|
||||
bringup_dir, 'maps', 'turtlebot3_world.yaml'),
|
||||
description='Full path to map file to load')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='true',
|
||||
description='Automatically startup the nav2 stack')
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition', default_value='True',
|
||||
description='Whether to use composed bringup')
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn', default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config_file',
|
||||
default_value=os.path.join(
|
||||
bringup_dir, 'rviz', 'nav2_default_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use')
|
||||
|
||||
declare_use_simulator_cmd = DeclareLaunchArgument(
|
||||
'use_simulator',
|
||||
default_value='True',
|
||||
description='Whether to start the simulator')
|
||||
|
||||
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
|
||||
'use_robot_state_pub',
|
||||
default_value='True',
|
||||
description='Whether to start the robot state publisher')
|
||||
|
||||
declare_use_rviz_cmd = DeclareLaunchArgument(
|
||||
'use_rviz',
|
||||
default_value='True',
|
||||
description='Whether to start RVIZ')
|
||||
|
||||
declare_simulator_cmd = DeclareLaunchArgument(
|
||||
'headless',
|
||||
default_value='True',
|
||||
description='Whether to execute gzclient)')
|
||||
|
||||
declare_world_cmd = DeclareLaunchArgument(
|
||||
'world',
|
||||
# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
|
||||
# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
|
||||
# worlds/turtlebot3_worlds/waffle.model')
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
|
||||
description='Full path to world model file to load')
|
||||
|
||||
declare_robot_name_cmd = DeclareLaunchArgument(
|
||||
'robot_name',
|
||||
default_value='turtlebot3_waffle',
|
||||
description='name of the robot')
|
||||
|
||||
declare_robot_sdf_cmd = DeclareLaunchArgument(
|
||||
'robot_sdf',
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
|
||||
description='Full path to robot sdf file to spawn the robot in gazebo')
|
||||
|
||||
# Specify the actions
|
||||
start_gazebo_server_cmd = ExecuteProcess(
|
||||
condition=IfCondition(use_simulator),
|
||||
cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
|
||||
'-s', 'libgazebo_ros_factory.so', world],
|
||||
cwd=[launch_dir], output='screen')
|
||||
|
||||
start_gazebo_client_cmd = ExecuteProcess(
|
||||
condition=IfCondition(PythonExpression(
|
||||
[use_simulator, ' and not ', headless])),
|
||||
cmd=['gzclient'],
|
||||
cwd=[launch_dir], output='screen')
|
||||
|
||||
urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
|
||||
with open(urdf, 'r') as infp:
|
||||
robot_description = infp.read()
|
||||
|
||||
start_robot_state_publisher_cmd = Node(
|
||||
condition=IfCondition(use_robot_state_pub),
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
namespace=namespace,
|
||||
output='screen',
|
||||
parameters=[{'use_sim_time': use_sim_time,
|
||||
'robot_description': robot_description}],
|
||||
remappings=remappings)
|
||||
|
||||
start_gazebo_spawner_cmd = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
output='screen',
|
||||
arguments=[
|
||||
'-entity', robot_name,
|
||||
'-file', robot_sdf,
|
||||
'-robot_namespace', namespace,
|
||||
'-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
|
||||
'-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']])
|
||||
|
||||
rviz_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'rviz_launch.py')),
|
||||
condition=IfCondition(use_rviz),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_namespace': use_namespace,
|
||||
'rviz_config': rviz_config_file}.items())
|
||||
|
||||
bringup_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'bringup_launch.py')),
|
||||
launch_arguments={'namespace': namespace,
|
||||
'use_namespace': use_namespace,
|
||||
'slam': slam,
|
||||
'map': map_yaml_file,
|
||||
'use_sim_time': use_sim_time,
|
||||
'params_file': params_file,
|
||||
'autostart': autostart,
|
||||
'use_composition': use_composition,
|
||||
'use_respawn': use_respawn}.items())
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_namespace_cmd)
|
||||
ld.add_action(declare_slam_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
ld.add_action(declare_use_simulator_cmd)
|
||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_simulator_cmd)
|
||||
ld.add_action(declare_world_cmd)
|
||||
ld.add_action(declare_robot_name_cmd)
|
||||
ld.add_action(declare_robot_sdf_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
|
||||
# Add any conditioned actions
|
||||
ld.add_action(start_gazebo_server_cmd)
|
||||
ld.add_action(start_gazebo_client_cmd)
|
||||
ld.add_action(start_gazebo_spawner_cmd)
|
||||
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(start_robot_state_publisher_cmd)
|
||||
ld.add_action(rviz_cmd)
|
||||
ld.add_action(bringup_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,190 @@
|
||||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
"""
|
||||
Example for spawning multiple robots in Gazebo.
|
||||
|
||||
This is an example on how to create a launch file for spawning multiple robots into Gazebo
|
||||
and launch multiple instances of the navigation stack, each controlling one robot.
|
||||
The robots co-exist on a shared environment and are controlled by independent nav stacks.
|
||||
"""
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
|
||||
IncludeLaunchDescription, LogInfo)
|
||||
from launch.conditions import IfCondition
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, TextSubstitution
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
launch_dir = os.path.join(bringup_dir, 'launch')
|
||||
|
||||
# Names and poses of the robots
|
||||
robots = [
|
||||
{'name': 'robot1', 'x_pose': 0.0, 'y_pose': 0.5, 'z_pose': 0.01,
|
||||
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0},
|
||||
{'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01,
|
||||
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}]
|
||||
|
||||
# Simulation settings
|
||||
world = LaunchConfiguration('world')
|
||||
simulator = LaunchConfiguration('simulator')
|
||||
|
||||
# On this example all robots are launched with the same settings
|
||||
map_yaml_file = LaunchConfiguration('map')
|
||||
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
rviz_config_file = LaunchConfiguration('rviz_config')
|
||||
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
|
||||
use_rviz = LaunchConfiguration('use_rviz')
|
||||
log_settings = LaunchConfiguration('log_settings', default='true')
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_world_cmd = DeclareLaunchArgument(
|
||||
'world',
|
||||
default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
|
||||
description='Full path to world file to load')
|
||||
|
||||
declare_simulator_cmd = DeclareLaunchArgument(
|
||||
'simulator',
|
||||
default_value='gazebo',
|
||||
description='The simulator to use (gazebo or gzserver)')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
'map',
|
||||
default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
|
||||
description='Full path to map file to load')
|
||||
|
||||
declare_robot1_params_file_cmd = DeclareLaunchArgument(
|
||||
'robot1_params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for robot1 launched nodes')
|
||||
|
||||
declare_robot2_params_file_cmd = DeclareLaunchArgument(
|
||||
'robot2_params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for robot2 launched nodes')
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart', default_value='false',
|
||||
description='Automatically startup the stacks')
|
||||
|
||||
declare_rviz_config_file_cmd = DeclareLaunchArgument(
|
||||
'rviz_config',
|
||||
default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
|
||||
description='Full path to the RVIZ config file to use.')
|
||||
|
||||
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
|
||||
'use_robot_state_pub',
|
||||
default_value='True',
|
||||
description='Whether to start the robot state publisher')
|
||||
|
||||
declare_use_rviz_cmd = DeclareLaunchArgument(
|
||||
'use_rviz',
|
||||
default_value='True',
|
||||
description='Whether to start RVIZ')
|
||||
|
||||
# Start Gazebo with plugin providing the robot spawning service
|
||||
start_gazebo_cmd = ExecuteProcess(
|
||||
cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
|
||||
'-s', 'libgazebo_ros_factory.so', world],
|
||||
output='screen')
|
||||
|
||||
# Define commands for launching the navigation instances
|
||||
nav_instances_cmds = []
|
||||
for robot in robots:
|
||||
params_file = LaunchConfiguration(f"{robot['name']}_params_file")
|
||||
|
||||
group = GroupAction([
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_dir, 'rviz_launch.py')),
|
||||
condition=IfCondition(use_rviz),
|
||||
launch_arguments={
|
||||
'namespace': TextSubstitution(text=robot['name']),
|
||||
'use_namespace': 'True',
|
||||
'rviz_config': rviz_config_file}.items()),
|
||||
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(os.path.join(bringup_dir,
|
||||
'launch',
|
||||
'tb3_simulation_launch.py')),
|
||||
launch_arguments={'namespace': robot['name'],
|
||||
'use_namespace': 'True',
|
||||
'map': map_yaml_file,
|
||||
'use_sim_time': 'True',
|
||||
'params_file': params_file,
|
||||
'autostart': autostart,
|
||||
'use_rviz': 'False',
|
||||
'use_simulator': 'False',
|
||||
'headless': 'False',
|
||||
'use_robot_state_pub': use_robot_state_pub,
|
||||
'x_pose': TextSubstitution(text=str(robot['x_pose'])),
|
||||
'y_pose': TextSubstitution(text=str(robot['y_pose'])),
|
||||
'z_pose': TextSubstitution(text=str(robot['z_pose'])),
|
||||
'roll': TextSubstitution(text=str(robot['roll'])),
|
||||
'pitch': TextSubstitution(text=str(robot['pitch'])),
|
||||
'yaw': TextSubstitution(text=str(robot['yaw'])),
|
||||
'robot_name':TextSubstitution(text=robot['name']), }.items()),
|
||||
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=['Launching ', robot['name']]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' map yaml: ', map_yaml_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' params yaml: ', params_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' rviz config file: ', rviz_config_file]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' using robot state pub: ', use_robot_state_pub]),
|
||||
LogInfo(
|
||||
condition=IfCondition(log_settings),
|
||||
msg=[robot['name'], ' autostart: ', autostart])
|
||||
])
|
||||
|
||||
nav_instances_cmds.append(group)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_simulator_cmd)
|
||||
ld.add_action(declare_world_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_robot1_params_file_cmd)
|
||||
ld.add_action(declare_robot2_params_file_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_rviz_config_file_cmd)
|
||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
|
||||
# Add the actions to start gazebo, robots and simulations
|
||||
ld.add_action(start_gazebo_cmd)
|
||||
|
||||
for simulation_instance_cmd in nav_instances_cmds:
|
||||
ld.add_action(simulation_instance_cmd)
|
||||
|
||||
return ld
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,6 @@
|
||||
image: turtlebot3_world.pgm
|
||||
resolution: 0.050000
|
||||
origin: [-10.000000, -10.000000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
@@ -0,0 +1,33 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>nav2_bringup</name>
|
||||
<version>1.1.18</version>
|
||||
<description>Bringup scripts and configurations for the Nav2 stack</description>
|
||||
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
|
||||
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
|
||||
<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<build_depend>nav2_common</build_depend>
|
||||
|
||||
<build_depend>navigation2</build_depend>
|
||||
<build_depend>launch_ros</build_depend>
|
||||
|
||||
<exec_depend>launch_ros</exec_depend>
|
||||
<exec_depend>navigation2</exec_depend>
|
||||
<exec_depend>nav2_common</exec_depend>
|
||||
<exec_depend>slam_toolbox</exec_depend>
|
||||
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_cmake_gtest</test_depend>
|
||||
<test_depend>ament_cmake_pytest</test_depend>
|
||||
<test_depend>launch</test_depend>
|
||||
<test_depend>launch_testing</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,297 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 1.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: scan
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
wait_for_service_timeout: 1000
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["goal_checker"]
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
goal_checker:
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
stateful: True
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 0.2
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 0.0
|
||||
GoalAlign.scale: 0.0
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: odom
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: False
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /robot1/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /robot1/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
yaml_filename: "turtlebot3_world.yaml"
|
||||
save_map_timeout: 5.0
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
behavior_server:
|
||||
ros__parameters:
|
||||
costmap_topic: local_costmap/costmap_raw
|
||||
footprint_topic: local_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 0.1
|
||||
use_sim_time: true
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
@@ -0,0 +1,296 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 1.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: scan
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
wait_for_service_timeout: 1000
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["goal_checker"]
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
goal_checker:
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
stateful: True
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 0.2
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 0.0
|
||||
GoalAlign.scale: 0.0
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: odom
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: False
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /robot2/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /robot2/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
yaml_filename: "turtlebot3_world.yaml"
|
||||
save_map_timeout: 5.0
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
behavior_server:
|
||||
ros__parameters:
|
||||
costmap_topic: local_costmap/costmap_raw
|
||||
footprint_topic: local_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 0.1
|
||||
use_sim_time: true
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
@@ -0,0 +1,346 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 1.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: scan
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
wait_for_service_timeout: 1000
|
||||
navigators: ["navigate_to_pose", "navigate_through_poses"]
|
||||
navigate_to_pose:
|
||||
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
|
||||
navigate_through_poses:
|
||||
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_are_error_codes_active_condition_bt_node
|
||||
- nav2_would_a_controller_recovery_help_condition_bt_node
|
||||
- nav2_would_a_planner_recovery_help_condition_bt_node
|
||||
- nav2_would_a_smoother_recovery_help_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
error_code_names:
|
||||
- compute_path_error_code
|
||||
- follow_path_error_code
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
failure_tolerance: 0.3
|
||||
progress_checker_plugins: ["progress_checker"]
|
||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
#precise_goal_checker:
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.25
|
||||
# yaw_goal_tolerance: 0.25
|
||||
# stateful: True
|
||||
general_goal_checker:
|
||||
stateful: True
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 0.2
|
||||
xy_goal_tolerance: 0.25
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 32.0
|
||||
PathAlign.forward_point_distance: 0.1
|
||||
GoalAlign.scale: 24.0
|
||||
GoalAlign.forward_point_distance: 0.1
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: True
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
# '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
|
||||
# It doesn't need to start with '/'
|
||||
topic: <robot_namespace>/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 1.0
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
robot_radius: 0.22
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
# '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
|
||||
# It doesn't need to start with '/'
|
||||
topic: <robot_namespace>/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
|
||||
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
|
||||
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
|
||||
# map_server:
|
||||
# ros__parameters:
|
||||
# yaml_filename: ""
|
||||
|
||||
map_saver:
|
||||
ros__parameters:
|
||||
save_map_timeout: 5.0
|
||||
free_thresh_default: 0.25
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 20.0
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
smoother_plugins: ["simple_smoother"]
|
||||
simple_smoother:
|
||||
plugin: "nav2_smoother::SimpleSmoother"
|
||||
tolerance: 1.0e-10
|
||||
max_its: 1000
|
||||
do_refinement: True
|
||||
|
||||
behavior_server:
|
||||
ros__parameters:
|
||||
local_costmap_topic: local_costmap/costmap_raw
|
||||
global_costmap_topic: global_costmap/costmap_raw
|
||||
local_footprint_topic: local_costmap/published_footprint
|
||||
global_footprint_topic: global_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
assisted_teleop:
|
||||
plugin: "nav2_behaviors/AssistedTeleop"
|
||||
local_frame: odom
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 0.1
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
max_velocity: [0.26, 0.0, 1.0]
|
||||
min_velocity: [-0.26, 0.0, -1.0]
|
||||
max_accel: [2.5, 0.0, 3.2]
|
||||
max_decel: [-2.5, 0.0, -3.2]
|
||||
odom_topic: "odom"
|
||||
odom_duration: 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
@@ -0,0 +1,350 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 1.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: scan
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
wait_for_service_timeout: 1000
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
failure_tolerance: 0.3
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
#precise_goal_checker:
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.25
|
||||
# yaw_goal_tolerance: 0.25
|
||||
# stateful: True
|
||||
general_goal_checker:
|
||||
stateful: True
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 0.2
|
||||
xy_goal_tolerance: 0.25
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 32.0
|
||||
PathAlign.forward_point_distance: 0.1
|
||||
GoalAlign.scale: 24.0
|
||||
GoalAlign.forward_point_distance: 0.1
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: True
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 1.0
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
||||
yaml_filename: ""
|
||||
|
||||
map_saver:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
save_map_timeout: 5.0
|
||||
free_thresh_default: 0.25
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 20.0
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoother_plugins: ["simple_smoother"]
|
||||
simple_smoother:
|
||||
plugin: "nav2_smoother::SimpleSmoother"
|
||||
tolerance: 1.0e-10
|
||||
max_its: 1000
|
||||
do_refinement: True
|
||||
|
||||
behavior_server:
|
||||
ros__parameters:
|
||||
costmap_topic: local_costmap/costmap_raw
|
||||
footprint_topic: local_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
assisted_teleop:
|
||||
plugin: "nav2_behaviors/AssistedTeleop"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 0.1
|
||||
use_sim_time: true
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
max_velocity: [0.26, 0.0, 1.0]
|
||||
min_velocity: [-0.26, 0.0, -1.0]
|
||||
max_accel: [2.5, 0.0, 3.2]
|
||||
max_decel: [-2.5, 0.0, -3.2]
|
||||
odom_topic: "odom"
|
||||
odom_duration: 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
@@ -0,0 +1,598 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
- /TF1/Tree1
|
||||
Splitter Ratio: 0.5833333134651184
|
||||
Tree Height: 606
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: nav2_rviz_plugins/Navigation 2
|
||||
Name: Navigation 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
|
||||
Enabled: false
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: ""
|
||||
Mass Properties:
|
||||
Inertia: false
|
||||
Mass: false
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
base_scan:
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
camera_rgb_frame:
|
||||
Value: true
|
||||
camera_rgb_optical_frame:
|
||||
Value: true
|
||||
caster_back_left_link:
|
||||
Value: true
|
||||
caster_back_right_link:
|
||||
Value: true
|
||||
imu_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
wheel_left_link:
|
||||
Value: true
|
||||
wheel_right_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_scan:
|
||||
{}
|
||||
camera_link:
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
camera_rgb_frame:
|
||||
camera_rgb_optical_frame:
|
||||
{}
|
||||
caster_back_left_link:
|
||||
{}
|
||||
caster_back_right_link:
|
||||
{}
|
||||
imu_link:
|
||||
{}
|
||||
wheel_left_link:
|
||||
{}
|
||||
wheel_right_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
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_default_plugins/LaserScan
|
||||
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: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: /scan
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
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_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: ""
|
||||
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: Bumper Hit
|
||||
Position Transformer: ""
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.07999999821186066
|
||||
Style: Spheres
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: /mobile_base/sensors/bumper_pointcloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: true
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /map
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: nav2_rviz_plugins/ParticleCloud
|
||||
Color: 0; 180; 0
|
||||
Enabled: true
|
||||
Max Arrow Length: 0.3
|
||||
Min Arrow Length: 0.02
|
||||
Name: Amcl Particle Swarm
|
||||
Shape: Arrow (Flat)
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: /particle_cloud
|
||||
Value: true
|
||||
- Class: rviz_common/Group
|
||||
Displays:
|
||||
- Alpha: 0.3
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Global Costmap
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /global_costmap/costmap
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 0.3
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Downsampled Costmap
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /downsampled_costmap
|
||||
Update Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /downsampled_costmap_updates
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 255; 0; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.019999999552965164
|
||||
Head Length: 0.019999999552965164
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: Arrows
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.004999999888241291
|
||||
Shaft Length: 0.019999999552965164
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /plan
|
||||
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_default_plugins/PointCloud2
|
||||
Color: 125; 125; 125
|
||||
Color Transformer: FlatColor
|
||||
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: VoxelGrid
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.05000000074505806
|
||||
Style: Boxes
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /global_costmap/voxel_marked_cloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Polygon
|
||||
Color: 25; 255; 0
|
||||
Enabled: false
|
||||
Name: Polygon
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /global_costmap/published_footprint
|
||||
Value: false
|
||||
Enabled: true
|
||||
Name: Global Planner
|
||||
- Class: rviz_common/Group
|
||||
Displays:
|
||||
- Alpha: 0.699999988079071
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Local Costmap
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /local_costmap/costmap
|
||||
Update Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /local_costmap/costmap_updates
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 0; 12; 255
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Local Plan
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /local_plan
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/MarkerArray
|
||||
Enabled: false
|
||||
Name: Trajectories
|
||||
Namespaces:
|
||||
{}
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /marker
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Polygon
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Name: Polygon
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /local_costmap/published_footprint
|
||||
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_default_plugins/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: VoxelGrid
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /local_costmap/voxel_marked_cloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Controller
|
||||
- Class: rviz_common/Group
|
||||
Displays:
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: RealsenseCamera
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /intel_realsense_r200_depth/image_raw
|
||||
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_default_plugins/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: RealsenseDepthImage
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /intel_realsense_r200_depth/points
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: false
|
||||
Name: Realsense
|
||||
- Class: rviz_default_plugins/MarkerArray
|
||||
Enabled: true
|
||||
Name: MarkerArray
|
||||
Namespaces:
|
||||
{}
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /waypoints
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
- Class: nav2_rviz_plugins/GoalTool
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Angle: -1.5708
|
||||
Class: rviz_default_plugins/TopDownOrtho
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Scale: 160
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: TopDownOrtho (rviz_default_plugins)
|
||||
X: 0
|
||||
Y: 0
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 932
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Navigation 2:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002de000000a90000008100fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
RealsenseCamera:
|
||||
collapsed: false
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1545
|
||||
X: 696
|
||||
Y: 229
|
||||
@@ -0,0 +1,378 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 195
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /RobotModel1/Status1
|
||||
- /TF1/Frames1
|
||||
- /TF1/Tree1
|
||||
- /Global Planner1/Global Costmap1
|
||||
Splitter Ratio: 0.5833333134651184
|
||||
Tree Height: 464
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: nav2_rviz_plugins/Navigation 2
|
||||
Name: Navigation 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/robot_description
|
||||
Enabled: false
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
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_default_plugins/LaserScan
|
||||
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: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: <robot_namespace>/scan
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
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_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: ""
|
||||
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: Bumper Hit
|
||||
Position Transformer: ""
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.07999999821186066
|
||||
Style: Spheres
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: true
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/map
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: nav2_rviz_plugins/ParticleCloud
|
||||
Color: 0; 180; 0
|
||||
Enabled: true
|
||||
Max Arrow Length: 0.3
|
||||
Min Arrow Length: 0.02
|
||||
Name: Amcl Particle Swarm
|
||||
Shape: Arrow (Flat)
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Best Effort
|
||||
Value: <robot_namespace>/particle_cloud
|
||||
Value: true
|
||||
- Class: rviz_common/Group
|
||||
Displays:
|
||||
- Alpha: 0.30000001192092896
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Global Costmap
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/global_costmap/costmap
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 255; 0; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.019999999552965164
|
||||
Head Length: 0.019999999552965164
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: Arrows
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.004999999888241291
|
||||
Shaft Length: 0.019999999552965164
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/plan
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Polygon
|
||||
Color: 25; 255; 0
|
||||
Enabled: false
|
||||
Name: Polygon
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/global_costmap/published_footprint
|
||||
Value: false
|
||||
Enabled: true
|
||||
Name: Global Planner
|
||||
- Class: rviz_common/Group
|
||||
Displays:
|
||||
- Alpha: 0.699999988079071
|
||||
Class: rviz_default_plugins/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Local Costmap
|
||||
Topic:
|
||||
Depth: 1
|
||||
Durability Policy: Transient Local
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/local_costmap/costmap
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz_default_plugins/Path
|
||||
Color: 0; 12; 255
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Local Plan
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/local_plan
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/MarkerArray
|
||||
Enabled: false
|
||||
Name: Trajectories
|
||||
Namespaces:
|
||||
{}
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/marker
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/Polygon
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Name: Polygon
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/local_costmap/published_footprint
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Controller
|
||||
- Class: rviz_default_plugins/MarkerArray
|
||||
Enabled: true
|
||||
Name: MarkerArray
|
||||
Namespaces:
|
||||
{}
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/waypoints
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: <robot_namespace>/initialpose
|
||||
- Class: nav2_rviz_plugins/GoalTool
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Angle: -1.5708
|
||||
Class: rviz_default_plugins/TopDownOrtho
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Scale: 160
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: TopDownOrtho (rviz_default_plugins)
|
||||
X: 0
|
||||
Y: 0
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 914
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Navigation 2:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000003070000006e0000006200ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1545
|
||||
X: 186
|
||||
Y: 117
|
||||
@@ -0,0 +1,293 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
|
||||
|
||||
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
|
||||
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
|
||||
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
|
||||
<xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
|
||||
|
||||
<!-- Init colour -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="dark">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="light_black">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.4235 0.0392 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="0.8706 0.8118 0.7647 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.010" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="light_black"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="1.3729096e+00"/>
|
||||
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
|
||||
iyy="8.6195418e-03" iyz="-3.5422299e-06"
|
||||
izz="1.4612727e-02" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_left_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_left_link"/>
|
||||
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_right_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_right_link"/>
|
||||
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_right_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_right_link"/>
|
||||
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_right_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_left_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_left_link"/>
|
||||
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_left_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link"/>
|
||||
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_scan"/>
|
||||
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_scan">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0315" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.114" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.012 0.132 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<!-- This inertial field needs doesn't contain reliable data!! -->
|
||||
<!-- <inertial>
|
||||
<mass value="0.564" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
|
||||
iyy="0.000498940" iyz="0.0"
|
||||
izz="0.003879257" />
|
||||
</inertial>-->
|
||||
</link>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
|
||||
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_rgb_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_frame"/>
|
||||
|
||||
<joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
|
||||
<parent link="camera_rgb_frame"/>
|
||||
<child link="camera_rgb_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_optical_frame"/>
|
||||
|
||||
<joint name="camera_depth_joint" type="fixed">
|
||||
<origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
|
||||
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_depth_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_frame"/>
|
||||
|
||||
<joint name="camera_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="camera_depth_frame"/>
|
||||
<child link="camera_depth_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_optical_frame"/>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,504 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<model name="turtlebot3_waffle">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.15 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>20.0</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_right_link'>
|
||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_left_link'>
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link">
|
||||
<inertial>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0.047 -0.005 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
|
||||
<sensor name="intel_realsense_r200_depth" type="depth">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>5</update_rate>
|
||||
<pose>0.064 -0.047 0.107 0 0 0</pose>
|
||||
<camera name="realsense_depth_camera">
|
||||
</camera>
|
||||
<plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
</ros>
|
||||
<camera_name>intel_realsense_r200_depth</camera_name>
|
||||
<frame_name>camera_depth_frame</frame_name>
|
||||
<hack_baseline>0.07</hack_baseline>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_depth>5.0</max_depth>
|
||||
</plugin>
|
||||
</sensor>
|
||||
|
||||
<collision name="collision">
|
||||
<pose>0 0.047 -0.005 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<!--since gazebo_plugins publish tf topic in global namespace /tf only and it
|
||||
cannot be remapped like (namespace/tf) through launch arguments -->
|
||||
<remapping>/tf:=tf</remapping>
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<scene>
|
||||
<shadows>false</shadows>
|
||||
</scene>
|
||||
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose frame=''>0 0 10 0 1.570796 0</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
|
||||
<physics type="ode">
|
||||
<real_time_update_rate>1000.0</real_time_update_rate>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>150</iters>
|
||||
<precon_iters>0</precon_iters>
|
||||
<sor>1.400000</sor>
|
||||
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.00001</cfm>
|
||||
<erp>0.2</erp>
|
||||
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.01000</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
</physics>
|
||||
|
||||
<model name="turtlebot3_world">
|
||||
<static>1</static>
|
||||
<include>
|
||||
<uri>model://turtlebot3_world</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user