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2023-07-10 16:23:45 +02:00
parent 09095001bc
commit 2c8d926ce5
6 changed files with 22 additions and 19 deletions
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1
src/dcaitirobot/config/slam.yml
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@ -3,3 +3,4 @@ slam_toolbox:
base_frame: base_link base_frame: base_link
map_update_interval: 1.0 map_update_interval: 1.0
scan_topic: /scan_no_nan scan_topic: /scan_no_nan
odom_topic: /odom_scaled

4
src/dcaitirobot/dcaitirobot/twist.py
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@ -7,8 +7,8 @@ from sensor_msgs.msg import Joy
import numpy as np import numpy as np
SCALE_LINEAR_VELOCITY = 0.1 SCALE_LINEAR_VELOCITY = 0.2
SCALE_ANGULAR_VELOCITY = 0.1 SCALE_ANGULAR_VELOCITY = 0.7
PUBLISH_FREQUENCY_HZ = 30 PUBLISH_FREQUENCY_HZ = 30
SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20]) SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20])

25
src/dcaitirobot/launch/frames.gv
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@ -1,19 +1,14 @@
digraph G { digraph G {
"odom" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 29.645\nBuffer length: 4.284\nMost recent transform: 109.56\nOldest transform: 105.276\n"]; "base_link" -> "velodyne"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_footprint" -> "base_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "base_link" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_depth_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "chassis" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "base_link" -> "chassis"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_depth_frame" -> "camera_depth_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "camera_link" -> "camera_link_optical"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_rgb_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "chassis" -> "caster_wheel_back"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_rgb_frame" -> "camera_rgb_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "chassis" -> "caster_wheel_front"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "caster_back_left_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; "chassis" -> "laser_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "caster_back_right_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "imu_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "base_scan"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "wheel_left_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"];
"base_link" -> "wheel_right_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"];
edge [style=invis]; edge [style=invis];
subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
"Recorded at time: 1688900208.2025208"[ shape=plaintext ] ; "Recorded at time: 1688907915.1191485"[ shape=plaintext ] ;
}->"odom"; }->"base_link";
} }

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src/dcaitirobot/launch/frames.pdf
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8
src/dcaitirobot/launch/launch_slam.py
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@ -32,6 +32,12 @@ def generate_launch_description():
name="fixlidar", name="fixlidar",
) )
node_scale_odom = Node(
package="dcaitirobot",
executable="scaleodom",
name="scaleodom",
)
tfs1 = Node(package = "tf2_ros", tfs1 = Node(package = "tf2_ros",
executable = "static_transform_publisher", executable = "static_transform_publisher",
arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "velodyne"]) arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "velodyne"])
@ -42,5 +48,5 @@ def generate_launch_description():
return LaunchDescription([ return LaunchDescription([
slam_toolbox, tfs1, tfs2, node_fix_lidar slam_toolbox, tfs1, tfs2, node_fix_lidar, node_scale_odom
]) ])

3
src/dcaitirobot/setup.py
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@ -28,7 +28,8 @@ setup(
'twistcalc = dcaitirobot.twist:main', 'twistcalc = dcaitirobot.twist:main',
'serial_comms = dcaitirobot.serial_comms:main', 'serial_comms = dcaitirobot.serial_comms:main',
'joy = dcaitirobot.joy:main', 'joy = dcaitirobot.joy:main',
"fixlidar = dcaitirobot.handle_nan_scan:main" "fixlidar = dcaitirobot.handle_nan_scan:main",
"scaleodom = dcaitirobot.scale_odom:main"
], ],
}, },
) )