add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.5)
+project(dwb_msgs)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_2d_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(dwb_msgs
+    "msg/CriticScore.msg"
+    "msg/LocalPlanEvaluation.msg"
+    "msg/Trajectory2D.msg"
+    "msg/TrajectoryScore.msg"
+    "srv/DebugLocalPlan.srv"
+    "srv/GenerateTrajectory.srv"
+    "srv/GenerateTwists.srv"
+    "srv/GetCriticScore.srv"
+    "srv/ScoreTrajectory.srv"
+    DEPENDENCIES geometry_msgs std_msgs nav_2d_msgs nav_msgs builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
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+# The result from one critic scoring a Twist.
+# Name of the critic
+string name
+# Score for the critic, not multiplied by the scale
+float32 raw_score
+# Scale for the critic, multiplied by the raw_score and added to the total score
+float32 scale
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+# Full Scoring for running the local planner
+
+# Header, used for timestamp
+std_msgs/Header header
+# All the trajectories evaluated and their scores
+TrajectoryScore[] twists
+# Convenience index of the best (lowest) score in the twists array
+uint16 best_index
+# Convenience index of the worst (highest) score in the twists array. Useful for scaling.
+uint16 worst_index
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+# For a given velocity command, the poses that the robot will go to in the allotted time.
+
+# Input Velocity
+nav_2d_msgs/Twist2D velocity
+# Time difference between first and last poses
+builtin_interfaces/Duration[] time_offsets
+# Poses the robot will go to, given our kinematic model
+geometry_msgs/Pose2D[] poses
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+# Complete scoring for a given twist.
+
+# The trajectory being scored
+Trajectory2D traj
+# The Scores for each of the critics employed
+CriticScore[] scores
+# Convenience member that totals the critic scores
+float32 total
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+<?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>dwb_msgs</name>
+  <version>1.1.18</version>
+  <description>Message/Service definitions specifically for the dwb_core</description>
+  <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_2d_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rosidl_default_runtime</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  </package>
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+# For a given pose velocity and global_plan, run the local planner and return full results
+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+---
+LocalPlanEvaluation results
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+# For a given start pose, velocity and desired velocity, generate which poses will be visited
+geometry_msgs/Pose2D start_pose
+nav_2d_msgs/Twist2D start_vel
+nav_2d_msgs/Twist2D cmd_vel
+---
+Trajectory2D traj
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+# For a given velocity, generate which twist commands will be evaluated
+nav_2d_msgs/Twist2D current_vel
+---
+nav_2d_msgs/Twist2D[] twists
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+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+Trajectory2D traj
+string critic_name
+---
+CriticScore score
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+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+Trajectory2D traj
+---
+TrajectoryScore score