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