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sample maps and localization plus nav2 launch files added

This commit is contained in:
Rooholla-KhorramBakht 2024-02-16 13:19:22 +08:00
parent ee8edb14c3
commit f8e047c9e5
18 changed files with 996 additions and 2 deletions
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image: lab_and_hallway.pgm
mode: trinary
resolution: 0.05
origin: [-20, -27.7, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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image: map_028.pgm
mode: trinary
resolution: 0.05
origin: [-4.43, -1.69, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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deploy/nav2_ws/src/sportmode_nav2/launch/localization_async.launch.py Normal file
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import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from nav2_common.launch import HasNodeParams
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default=False)
params_file = LaunchConfiguration('params_file')
default_params_file = os.path.join(get_package_share_directory("sportmode_nav2"),
'params', 'localization_async.yaml')
declare_use_sim_time_argument = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation/Gazebo clock')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=default_params_file,
description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
# If the provided param file doesn't have slam_toolbox params, we must pass the
# default_params_file instead. This could happen due to automatic propagation of
# LaunchArguments. See:
# https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
has_node_params = HasNodeParams(source_file=params_file,
node_name='slam_toolbox')
actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
' else "', default_params_file, '"'])
log_param_change = LogInfo(msg=['provided params_file ', params_file,
' does not contain slam_toolbox parameters. Using default: ',
default_params_file],
condition=UnlessCondition(has_node_params))
start_async_slam_toolbox_node = Node(
parameters=[
actual_params_file,
{'use_sim_time': use_sim_time}
],
package='slam_toolbox',
executable='async_slam_toolbox_node',
name='slam_toolbox',
output='screen')
ld = LaunchDescription()
ld.add_action(declare_use_sim_time_argument)
ld.add_action(declare_params_file_cmd)
ld.add_action(log_param_change)
ld.add_action(start_async_slam_toolbox_node)
return ld

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deploy/nav2_ws/src/sportmode_nav2/launch/localization_launch.py Normal file
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# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
namespace = LaunchConfiguration('namespace')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
lifecycle_nodes = ['map_server', 'amcl']
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
# https://github.com/ros/geometry2/issues/32
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'yaml_filename': map_yaml_file}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'map',
default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
description='Full path to map yaml file to load'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
])

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deploy/nav2_ws/src/sportmode_nav2/launch/mapping_async.launch.py
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@ -17,7 +17,7 @@ def generate_launch_description():
declare_use_sim_time_argument = DeclareLaunchArgument(
'use_sim_time',
default_value='true',
default_value='false',
description='Use simulation/Gazebo clock')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',

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# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import PushRosNamespace
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('sportmode_nav2')
launch_dir = os.path.join(bringup_dir, 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
slam = LaunchConfiguration('slam')
map_yaml_file = LaunchConfiguration('map')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
autostart = LaunchConfiguration('autostart')
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace')
declare_use_namespace_cmd = DeclareLaunchArgument(
'use_namespace',
default_value='false',
description='Whether to apply a namespace to the navigation stack')
declare_slam_cmd = DeclareLaunchArgument(
'slam',
default_value='False',
description='Whether run a SLAM')
declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
description='Full path to map yaml file to load')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_bt_xml_cmd = DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(
condition=IfCondition(use_namespace),
namespace=namespace),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
condition=IfCondition(slam),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file}.items()),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir,
'localization_launch.py')),
condition=IfCondition(PythonExpression(['not ', slam])),
launch_arguments={'namespace': namespace,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'use_lifecycle_mgr': 'false'}.items()),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'default_bt_xml_filename': default_bt_xml_filename,
'use_lifecycle_mgr': 'false',
'map_subscribe_transient_local': 'true'}.items()),
])
# Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_bt_xml_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld

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# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('sportmode_nav2')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
lifecycle_nodes = ['controller_server',
'planner_server',
'recoveries_server',
'bt_navigator',
'waypoint_follower']
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
# https://github.com/ros/geometry2/issues/32
# https://github.com/ros/robot_state_publisher/pull/30
# TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', '/tf'),
('/tf_static', '/tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time,
'default_bt_xml_filename': default_bt_xml_filename,
'autostart': autostart,
'map_subscribe_transient_local': map_subscribe_transient_local}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack'),
DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
DeclareLaunchArgument(
'default_bt_xml_filename',
default_value=os.path.join(
get_package_share_directory('nav2_bt_navigator'),
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_recoveries',
executable='recoveries_server',
name='recoveries_server',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}]),
])

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# Copyright (c) 2020 Samsung Research Russia
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Input parameters declaration
namespace = LaunchConfiguration('namespace')
params_file = LaunchConfiguration('params_file')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
# Variables
lifecycle_nodes = ['map_saver']
# Getting directories and launch-files
bringup_dir = get_package_share_directory('sportmode_nav2')
slam_toolbox_dir = get_package_share_directory('sportmode_nav2')
slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'mapping.launch.py')
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='true',
description='Use simulation (Gazebo) clock if true')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack')
# Nodes launching commands
start_slam_toolbox_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(slam_launch_file),
launch_arguments={'use_sim_time': use_sim_time}.items())
start_map_saver_server_cmd = Node(
package='nav2_map_server',
node_executable='map_saver_server',
output='screen',
parameters=[configured_params])
start_lifecycle_manager_cmd = Node(
package='nav2_lifecycle_manager',
node_executable='lifecycle_manager',
node_name='lifecycle_manager_slam',
output='screen',
parameters=[{'use_sim_time': use_sim_time},
{'autostart': autostart},
{'node_names': lifecycle_nodes}])
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_autostart_cmd)
# Running SLAM Toolbox
ld.add_action(start_slam_toolbox_cmd)
# Running Map Saver Server
ld.add_action(start_map_saver_server_cmd)
ld.add_action(start_lifecycle_manager_cmd)
return ld

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import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from nav2_common.launch import HasNodeParams
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default=False)
params_file = LaunchConfiguration('params_file')
default_params_file = os.path.join(get_package_share_directory("sportmode_nav2"),
'params', 'mapping_async.yaml')
declare_use_sim_time_argument = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation/Gazebo clock')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=default_params_file,
description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
# If the provided param file doesn't have slam_toolbox params, we must pass the
# default_params_file instead. This could happen due to automatic propagation of
# LaunchArguments. See:
# https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
has_node_params = HasNodeParams(source_file=params_file,
node_name='slam_toolbox')
actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
' else "', default_params_file, '"'])
log_param_change = LogInfo(msg=['provided params_file ', params_file,
' does not contain slam_toolbox parameters. Using default: ',
default_params_file],
condition=UnlessCondition(has_node_params))
start_async_slam_toolbox_node = Node(
parameters=[
actual_params_file,
{'use_sim_time': use_sim_time}
],
package='slam_toolbox',
executable='async_slam_toolbox_node',
name='slam_toolbox',
output='screen')
ld = LaunchDescription()
ld.add_action(declare_use_sim_time_argument)
ld.add_action(declare_params_file_cmd)
ld.add_action(log_param_change)
ld.add_action(start_async_slam_toolbox_node)
return ld

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deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml Normal file
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slam_toolbox:
ros__parameters:
# Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link # ToDo: add a base_footprint to the URDF
scan_topic: /go2/scan
mode: localization
# 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
# will use pose
map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/lab_and_hallway
# map_start_pose: [0.0, 0.0, 0.0]
map_start_at_dock: true
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 5.0
resolution: 0.05
max_laser_range: 20.0 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode: true
# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 10.0
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 1.5
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

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amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "differential"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: /go2/scan
amcl_map_client:
ros__parameters:
use_sim_time: False
amcl_rclcpp_node:
ros__parameters:
use_sim_time: False
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /utlidar/robot_odom
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugin: "progress_checker"
goal_checker_plugin: "goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /go2/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /go2/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "/home/unitree/Generated_Maps/basement/hallway-basement.yaml"
map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: False
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "back_up", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
back_up:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: False

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

@ -66,7 +66,7 @@ ekf_filter_node:
# 3a. Set your "world_frame" to your map_frame value
# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
# estimation node from robot_localization! However, that instance should *not* fuse the global data.
map_frame: map # Defaults to "map" if unspecified
map_frame: odom # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified