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Go2Py
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Merge branch 'main' of github.com:Rooholla-KhorramBakht/Go2Py into main

This commit is contained in:
Rooholla-KhorramBakht 2024-02-14 23:15:57 -05:00
parent c14cffd08c ee8edb14c3
commit 4e67ddae04
3 changed files with 6 additions and 26 deletions
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9
deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
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@ -295,13 +295,13 @@ inline void SourceDriver::publishLaserScan(
scan_msg->angle_min = -3.1415; scan_msg->angle_min = -3.1415;
scan_msg->angle_max = 3.1415; scan_msg->angle_max = 3.1415;
scan_msg->angle_increment = 2*3.1415/1800.; scan_msg->angle_increment = 0.0087/2.;
scan_msg->time_increment = 0.0; scan_msg->time_increment = 0.0;
scan_msg->scan_time = 1./10.; scan_msg->scan_time = 0.3333;
scan_msg->range_min = 0.2; scan_msg->range_min = 0.2;
scan_msg->range_max = 100; scan_msg->range_max = 100;
float max_height_ = 0.5; float max_height_ = 1.0;
float min_height_ = -0.5; float min_height_ = 0.;
// determine amount of rays to create // determine amount of rays to create
@ -310,6 +310,7 @@ inline void SourceDriver::publishLaserScan(
// determine if laserscan rays with no obstacle data will evaluate to infinity or max_range // determine if laserscan rays with no obstacle data will evaluate to infinity or max_range
scan_msg->ranges.assign(ranges_size, std::numeric_limits<double>::infinity()); scan_msg->ranges.assign(ranges_size, std::numeric_limits<double>::infinity());
// scan_msg->intensities.assign(ranges_size, 255);
// Iterate through pointcloud // Iterate through pointcloud
for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(*cloud_msg, "x"), for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(*cloud_msg, "x"),
iter_y(*cloud_msg, "y"), iter_z(*cloud_msg, "z"); iter_y(*cloud_msg, "y"), iter_z(*cloud_msg, "z");

21
deploy/nav2_ws/src/sportmode_nav2/launch/mapping.launch.py
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@ -9,26 +9,6 @@ from launch_ros.actions import Node
def generate_launch_description(): def generate_launch_description():
laser_scan = Node(
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
remappings=[('cloud_in', '/go2/lidar_points'),
('scan', '/go2/lidar_scans')],
parameters=[{
'target_frame': 'go2/hesai_lidar',
'transform_tolerance': 0.01,
'min_height': 0.0,
'max_height': 1.0,
'angle_min': -1.5708, # -M_PI/2
'angle_max': 1.5708, # M_PI/2
'angle_increment': 0.0087, # M_PI/360.0
'scan_time': 0.3333,
'range_min': 0.45,
'range_max': 100.0,
'use_inf': True,
'inf_epsilon': 1.0
}],
name='pointcloud_to_laserscan'
)
robot_localization = IncludeLaunchDescription( robot_localization = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(
@ -44,5 +24,4 @@ def generate_launch_description():
return LaunchDescription([ return LaunchDescription([
robot_localization, robot_localization,
async_mapping, async_mapping,
laser_scan
]) ])

2
deploy/nav2_ws/src/sportmode_nav2/params/mapping_async.yaml
View File

@ -13,7 +13,7 @@ slam_toolbox:
odom_frame: odom odom_frame: odom
map_frame: map map_frame: map
base_frame: base_link # ToDo: add a base_footprint to the URDF base_frame: base_link # ToDo: add a base_footprint to the URDF
scan_topic: /go2/lidar_scans scan_topic: /go2/scan
mode: mapping #localization mode: mapping #localization
# if you'd like to immediately start continuing a map at a given pose # if you'd like to immediately start continuing a map at a given pose