Further nav2 work
This commit is contained in:
Tim Korjakow
parent
95b9decbb6
commit
d9a618bcb9
@ -25,7 +25,7 @@ def generate_launch_description():
|
||||
package_name='dcaiti_control' #<--- CHANGE ME
|
||||
|
||||
use_ros2_control = LaunchConfiguration('use_ros2_control')
|
||||
world_path='~/.gazebo/models'
|
||||
world_path='worlds/cafe.world'
|
||||
|
||||
rsp = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
@ -34,6 +34,8 @@ def generate_launch_description():
|
||||
)
|
||||
gazebo_params_path = os.path.join(get_package_share_directory(package_name),'config','gazebo_config.yml')
|
||||
# Include the Gazebo launch file, provided by the gazebo_ros package
|
||||
|
||||
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
|
||||
@ -44,7 +46,8 @@ def generate_launch_description():
|
||||
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
|
||||
arguments=[
|
||||
'-topic', 'robot_description',
|
||||
'-entity', 'dcaiti_control'
|
||||
'-entity', 'dcaiti_control',
|
||||
'-z', '0.2',
|
||||
],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
@ -32,7 +32,8 @@ def generate_launch_description():
|
||||
|
||||
node_joint_state_publisher = Node(
|
||||
package='joint_state_publisher',
|
||||
executable='joint_state_publisher'
|
||||
executable='joint_state_publisher',
|
||||
parameters=[{'use_sim_time': use_sim_time}]
|
||||
)
|
||||
|
||||
|
||||
|
||||
@ -14,10 +14,7 @@ from launch_ros.substitutions import FindPackageShare
|
||||
def generate_launch_description():
|
||||
|
||||
# Set the path to different files and folders.
|
||||
pkg_share = get_package_share_directory('dcaiti_control')
|
||||
world_file_name = 'basic_mobile_bot_world/smalltown.world'
|
||||
world_path = os.path.join(pkg_share, 'worlds', world_file_name)
|
||||
static_map_path = os.path.join(pkg_share, 'maps', 'smalltown_world.yaml')
|
||||
pkg_share = get_package_share_directory('dcaiti_navigation')
|
||||
nav2_params_path = os.path.join(pkg_share, 'params', 'nav2_params.yaml')
|
||||
behavior_tree_xml_path = os.path.join(get_package_share_directory('nav2_bt_navigator'), 'behavior_trees', 'navigate_w_replanning_and_recovery.xml')
|
||||
|
||||
@ -60,65 +57,22 @@ def generate_launch_description():
|
||||
name='default_bt_xml_filename',
|
||||
default_value=behavior_tree_xml_path,
|
||||
description='Full path to the behavior tree xml file to use')
|
||||
|
||||
declare_map_yaml_cmd = DeclareLaunchArgument(
|
||||
name='map',
|
||||
default_value=static_map_path,
|
||||
description='Full path to map file to load')
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
name='params_file',
|
||||
default_value=nav2_params_path,
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes')
|
||||
|
||||
declare_simulator_cmd = DeclareLaunchArgument(
|
||||
name='headless',
|
||||
default_value='False',
|
||||
description='Whether to execute gzclient')
|
||||
|
||||
declare_slam_cmd = DeclareLaunchArgument(
|
||||
name='slam',
|
||||
default_value='False',
|
||||
description='Whether to run SLAM')
|
||||
|
||||
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
|
||||
name='use_robot_state_pub',
|
||||
default_value='True',
|
||||
description='Whether to start the robot state publisher')
|
||||
|
||||
declare_use_rviz_cmd = DeclareLaunchArgument(
|
||||
name='use_rviz',
|
||||
default_value='True',
|
||||
description='Whether to start RVIZ')
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
name='use_sim_time',
|
||||
default_value='True',
|
||||
description='Use simulation (Gazebo) clock if true')
|
||||
|
||||
declare_use_simulator_cmd = DeclareLaunchArgument(
|
||||
name='use_simulator',
|
||||
default_value='True',
|
||||
description='Whether to start the simulator')
|
||||
|
||||
declare_world_cmd = DeclareLaunchArgument(
|
||||
name='world',
|
||||
default_value=world_path,
|
||||
description='Full path to the world model file to load')
|
||||
|
||||
# Specify the actions
|
||||
|
||||
# Launch the ROS 2 Navigation Stack
|
||||
start_ros2_navigation_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(get_package_share_directory('nav2'),'launch','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,
|
||||
'default_bt_xml_filename': default_bt_xml_filename,
|
||||
'autostart': autostart}.items())
|
||||
PythonLaunchDescriptionSource(get_package_share_directory('nav2'),'launch','navigation_launch.py'))
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
@ -128,15 +82,8 @@ def generate_launch_description():
|
||||
ld.add_action(declare_use_namespace_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_bt_xml_cmd)
|
||||
ld.add_action(declare_map_yaml_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_simulator_cmd)
|
||||
ld.add_action(declare_slam_cmd)
|
||||
ld.add_action(declare_use_robot_state_pub_cmd)
|
||||
ld.add_action(declare_use_rviz_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_use_simulator_cmd)
|
||||
ld.add_action(declare_world_cmd)
|
||||
|
||||
# Add any actions
|
||||
ld.add_action(start_ros2_navigation_cmd)
|
||||
|
||||
@ -188,7 +188,7 @@ local_costmap:
|
||||
width: 10
|
||||
height: 10
|
||||
resolution: 0.05
|
||||
robot_radius: 0.75
|
||||
footprint: "[ [0.21, 0.195], [0.21, -0.195], [-0.21, -0.195], [-0.21, 0.195] ]"
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
@ -232,7 +232,7 @@ global_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
robot_radius: 0.75
|
||||
robot_radius: 0.21
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
@ -339,12 +339,10 @@ slam_toolbox:
|
||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
||||
ceres_loss_function: None
|
||||
|
||||
# ROS Parameters
|
||||
odom_frame: odom
|
||||
map_frame: map
|
||||
base_frame: base_link
|
||||
map_update_interval: 1.0
|
||||
scan_topic: /scan
|
||||
mode: mapping #localization
|
||||
odom_topic: /diff_cont/odom
|
||||
|
||||
# if you'd like to immediately start continuing a map at a given pose
|
||||
# or at the dock, but they are mutually exclusive, if pose is given
|
||||
|
||||
@ -2,5 +2,5 @@ slam_toolbox:
|
||||
ros__parameters:
|
||||
base_frame: base_link
|
||||
map_update_interval: 1.0
|
||||
scan_topic: /scan_no_nan
|
||||
odom_topic: /odom
|
||||
scan_topic: /scan
|
||||
odom_topic: /diff_cont/odom
|
||||
|
||||
@ -24,27 +24,6 @@ def generate_launch_description():
|
||||
'slam_params_file': slam_params}.items()
|
||||
)
|
||||
|
||||
node_fix_lidar = Node(
|
||||
package="dcaitirobot",
|
||||
executable="fixlidar",
|
||||
name="fixlidar",
|
||||
)
|
||||
|
||||
node_scale_odom = Node(
|
||||
package="dcaitirobot",
|
||||
executable="scaleodom",
|
||||
name="scaleodom",
|
||||
)
|
||||
|
||||
tfs1 = Node(package = "tf2_ros",
|
||||
executable = "static_transform_publisher",
|
||||
arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "velodyne"])
|
||||
|
||||
tfs2 = Node(package = "tf2_ros",
|
||||
executable = "static_transform_publisher",
|
||||
arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "base_footprint"])
|
||||
|
||||
|
||||
return LaunchDescription([
|
||||
slam_toolbox, tfs1, tfs2, node_fix_lidar, node_scale_odom
|
||||
slam_toolbox
|
||||
])
|
||||
Loading…
x
Reference in New Issue
Block a user