From 2888b676bdd85ed878a113daeae1285285c9c0fc Mon Sep 17 00:00:00 2001 From: Rooholla-KhorramBakht Date: Wed, 24 Apr 2024 06:52:35 +0800 Subject: [PATCH] junk files deleted --- .../nav2_ws/sportmode_nav2_new/CMakeLists.txt | 63 ---- .../launch/localization.launch.py | 27 -- .../launch/localization_async.launch.py | 59 --- .../launch/mapping.launch.py | 27 -- .../launch/mapping_async.launch.py | 59 --- .../launch/navigation.launch.py | 146 -------- .../launch/navigation_launch.py | 272 -------------- .../launch/ros_ekf.launch.py | 35 -- deploy/nav2_ws/sportmode_nav2_new/package.xml | 22 -- .../params/localization_async.yaml | 73 ---- .../params/mapping_async.yaml | 73 ---- .../params/nav2_params.yaml | 349 ------------------ .../sportmode_nav2_new/params/ros_ekf.yaml | 219 ----------- 13 files changed, 1424 deletions(-) delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/CMakeLists.txt delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/localization.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/localization_async.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/mapping.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/mapping_async.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/navigation.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/navigation_launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/launch/ros_ekf.launch.py delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/package.xml delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/params/localization_async.yaml delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/params/mapping_async.yaml delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/params/nav2_params.yaml delete mode 100644 deploy/nav2_ws/sportmode_nav2_new/params/ros_ekf.yaml diff --git a/deploy/nav2_ws/sportmode_nav2_new/CMakeLists.txt b/deploy/nav2_ws/sportmode_nav2_new/CMakeLists.txt deleted file mode 100644 index b214568..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/CMakeLists.txt +++ /dev/null @@ -1,63 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(sportmode_nav2) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - - -include_directories(include include/common include/nlohmann) -link_directories(src) - -set ( - DEPENDENCY_LIST - rclcpp - std_msgs - rosbag2_cpp - sensor_msgs - geometry_msgs - nav_msgs - tf2 - tf2_geometry_msgs - tf2_ros - tf2_sensor_msgs -) - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) -find_package(rosbag2_cpp REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(tf2_sensor_msgs REQUIRED) - -# Install params config files. -install(DIRECTORY - params - launch - DESTINATION share/${PROJECT_NAME} - USE_SOURCE_PERMISSIONS -) - - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/localization.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/localization.launch.py deleted file mode 100644 index 839f1ce..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/localization.launch.py +++ /dev/null @@ -1,27 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory - -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node - - -def generate_launch_description(): - - robot_localization = IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('sportmode_nav2'), 'launch'), - '/ros_ekf.launch.py']) - ) - async_mapping = IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('sportmode_nav2'), 'launch'), - '/localization_async.launch.py']) - ) - - return LaunchDescription([ - robot_localization, - async_mapping, - ]) \ No newline at end of file diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/localization_async.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/localization_async.launch.py deleted file mode 100644 index 70db31e..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/localization_async.launch.py +++ /dev/null @@ -1,59 +0,0 @@ -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 diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/mapping.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/mapping.launch.py deleted file mode 100644 index 526fc21..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/mapping.launch.py +++ /dev/null @@ -1,27 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory - -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node - - -def generate_launch_description(): - - robot_localization = IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('sportmode_nav2'), 'launch'), - '/ros_ekf.launch.py']) - ) - async_mapping = IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('sportmode_nav2'), 'launch'), - '/mapping_async.launch.py']) - ) - - return LaunchDescription([ - robot_localization, - async_mapping, - ]) \ No newline at end of file diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/mapping_async.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/mapping_async.launch.py deleted file mode 100644 index 939c31a..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/mapping_async.launch.py +++ /dev/null @@ -1,59 +0,0 @@ -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 diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/navigation.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/navigation.launch.py deleted file mode 100644 index c48a741..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/navigation.launch.py +++ /dev/null @@ -1,146 +0,0 @@ -# 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'), - ('/cmd_vel', '/go2/cmd_vel')] - - # 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}]), - - ]) diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/navigation_launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/navigation_launch.py deleted file mode 100644 index 685b1c6..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/navigation_launch.py +++ /dev/null @@ -1,272 +0,0 @@ -# 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, SetEnvironmentVariable -from launch.conditions import IfCondition -from launch.substitutions import LaunchConfiguration, PythonExpression -from launch_ros.actions import LoadComposableNodes -from launch_ros.actions import Node -from launch_ros.descriptions import ComposableNode, ParameterFile -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') - use_sim_time = LaunchConfiguration('use_sim_time') - autostart = LaunchConfiguration('autostart') - params_file = LaunchConfiguration('params_file') - use_composition = LaunchConfiguration('use_composition') - container_name = LaunchConfiguration('container_name') - container_name_full = (namespace, '/', container_name) - use_respawn = LaunchConfiguration('use_respawn') - log_level = LaunchConfiguration('log_level') - - lifecycle_nodes = ['controller_server', - 'smoother_server', - 'planner_server', - 'behavior_server', - 'bt_navigator', - 'waypoint_follower', - 'velocity_smoother'] - - # 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'),('/cmd_vel', '/go2/cmd_vel')] - - # Create our own temporary YAML files that include substitutions - param_substitutions = { - 'use_sim_time': use_sim_time, - 'autostart': autostart} - - configured_params = ParameterFile( - RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites=param_substitutions, - convert_types=True), - allow_substs=True) - - stdout_linebuf_envvar = SetEnvironmentVariable( - 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') - - declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') - - 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_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') - - declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='False', - description='Use composed bringup if True') - - declare_container_name_cmd = DeclareLaunchArgument( - 'container_name', default_value='nav2_container', - description='the name of conatiner that nodes will load in if use composition') - - declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') - - declare_log_level_cmd = DeclareLaunchArgument( - 'log_level', default_value='info', - description='log level') - - load_nodes = GroupAction( - condition=IfCondition(PythonExpression(['not ', use_composition])), - actions=[ - Node( - package='nav2_controller', - executable='controller_server', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), - Node( - package='nav2_smoother', - executable='smoother_server', - name='smoother_server', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), - Node( - package='nav2_planner', - executable='planner_server', - name='planner_server', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), - Node( - package='nav2_behaviors', - executable='behavior_server', - name='behavior_server', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), - Node( - package='nav2_bt_navigator', - executable='bt_navigator', - name='bt_navigator', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), - Node( - package='nav2_waypoint_follower', - executable='waypoint_follower', - name='waypoint_follower', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), - Node( - package='nav2_velocity_smoother', - executable='velocity_smoother', - name='velocity_smoother', - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[configured_params], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings + - [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_navigation', - output='screen', - arguments=['--ros-args', '--log-level', log_level], - parameters=[{'use_sim_time': use_sim_time}, - {'autostart': autostart}, - {'node_names': lifecycle_nodes}]), - ] - ) - - load_composable_nodes = LoadComposableNodes( - condition=IfCondition(use_composition), - target_container=container_name_full, - composable_node_descriptions=[ - ComposableNode( - package='nav2_controller', - plugin='nav2_controller::ControllerServer', - name='controller_server', - parameters=[configured_params], - remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), - ComposableNode( - package='nav2_smoother', - plugin='nav2_smoother::SmootherServer', - name='smoother_server', - parameters=[configured_params], - remappings=remappings), - ComposableNode( - package='nav2_planner', - plugin='nav2_planner::PlannerServer', - name='planner_server', - parameters=[configured_params], - remappings=remappings), - ComposableNode( - package='nav2_behaviors', - plugin='behavior_server::BehaviorServer', - name='behavior_server', - parameters=[configured_params], - remappings=remappings), - ComposableNode( - package='nav2_bt_navigator', - plugin='nav2_bt_navigator::BtNavigator', - name='bt_navigator', - parameters=[configured_params], - remappings=remappings), - ComposableNode( - package='nav2_waypoint_follower', - plugin='nav2_waypoint_follower::WaypointFollower', - name='waypoint_follower', - parameters=[configured_params], - remappings=remappings), - ComposableNode( - package='nav2_velocity_smoother', - plugin='nav2_velocity_smoother::VelocitySmoother', - name='velocity_smoother', - parameters=[configured_params], - remappings=remappings + - [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), - ComposableNode( - package='nav2_lifecycle_manager', - plugin='nav2_lifecycle_manager::LifecycleManager', - name='lifecycle_manager_navigation', - parameters=[{'use_sim_time': use_sim_time, - 'autostart': autostart, - 'node_names': lifecycle_nodes}]), - ], - ) - - # 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_sim_time_cmd) - ld.add_action(declare_params_file_cmd) - ld.add_action(declare_autostart_cmd) - ld.add_action(declare_use_composition_cmd) - ld.add_action(declare_container_name_cmd) - ld.add_action(declare_use_respawn_cmd) - ld.add_action(declare_log_level_cmd) - # Add the actions to launch all of the navigation nodes - ld.add_action(load_nodes) - ld.add_action(load_composable_nodes) - - return ld diff --git a/deploy/nav2_ws/sportmode_nav2_new/launch/ros_ekf.launch.py b/deploy/nav2_ws/sportmode_nav2_new/launch/ros_ekf.launch.py deleted file mode 100644 index 1ee570a..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/launch/ros_ekf.launch.py +++ /dev/null @@ -1,35 +0,0 @@ -# Copyright 2018 Open Source Robotics Foundation, Inc. -# Copyright 2019 Samsung Research America -# -# 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. - -from launch import LaunchDescription -from ament_index_python.packages import get_package_share_directory -import launch_ros.actions -import os -import yaml -from launch.substitutions import EnvironmentVariable -import pathlib -import launch.actions -from launch.actions import DeclareLaunchArgument - -def generate_launch_description(): - return LaunchDescription([ - launch_ros.actions.Node( - package='robot_localization', - executable='ekf_node', - name='ekf_filter_node', - output='screen', - parameters=[os.path.join(get_package_share_directory("sportmode_nav2"), 'params', 'ros_ekf.yaml')], - ), -]) diff --git a/deploy/nav2_ws/sportmode_nav2_new/package.xml b/deploy/nav2_ws/sportmode_nav2_new/package.xml deleted file mode 100644 index 6e7a413..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - sportmode_nav2 - 0.0.0 - TODO: Package description - zeen - TODO: License declaration - - ament_cmake - - rclcpp - - ament_lint_auto - ament_lint_common - robot_locoalization - slam_toolbox - - - ament_cmake - - diff --git a/deploy/nav2_ws/sportmode_nav2_new/params/localization_async.yaml b/deploy/nav2_ws/sportmode_nav2_new/params/localization_async.yaml deleted file mode 100644 index 3506980..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/params/localization_async.yaml +++ /dev/null @@ -1,73 +0,0 @@ -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/maps/feb23_basement - #map_start_pose: [0.33, 1.49, 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 diff --git a/deploy/nav2_ws/sportmode_nav2_new/params/mapping_async.yaml b/deploy/nav2_ws/sportmode_nav2_new/params/mapping_async.yaml deleted file mode 100644 index b4dfd4c..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/params/mapping_async.yaml +++ /dev/null @@ -1,73 +0,0 @@ -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: mapping #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: test_steve - # 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 diff --git a/deploy/nav2_ws/sportmode_nav2_new/params/nav2_params.yaml b/deploy/nav2_ws/sportmode_nav2_new/params/nav2_params.yaml deleted file mode 100644 index 6602ad5..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/params/nav2_params.yaml +++ /dev/null @@ -1,349 +0,0 @@ -amcl: - ros__parameters: - use_sim_time: True - alpha1: 0.2 - alpha2: 0.2 - alpha3: 0.2 - alpha4: 0.2 - alpha5: 0.2 - base_frame_id: "base_footprint" - 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: "nav2_amcl::DifferentialMotionModel" - 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: scan - -bt_navigator: - ros__parameters: - use_sim_time: True - global_frame: map - robot_base_frame: base_link - odom_topic: /odom - bt_loop_duration: 10 - default_server_timeout: 20 - # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: - # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml - # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node - - nav2_is_battery_charging_condition_bt_node - -bt_navigator_navigate_through_poses_rclcpp_node: - ros__parameters: - use_sim_time: True - -bt_navigator_navigate_to_pose_rclcpp_node: - ros__parameters: - use_sim_time: True - -controller_server: - ros__parameters: - use_sim_time: True - controller_frequency: 20.0 - min_x_velocity_threshold: 0.001 - min_y_velocity_threshold: 0.5 - min_theta_velocity_threshold: 0.001 - failure_tolerance: 0.3 - progress_checker_plugin: "progress_checker" - goal_checker_plugins: ["general_goal_checker"] # "precise_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 - #precise_goal_checker: - # plugin: "nav2_controller::SimpleGoalChecker" - # xy_goal_tolerance: 0.25 - # yaw_goal_tolerance: 0.25 - # stateful: True - general_goal_checker: - stateful: True - plugin: "nav2_controller::SimpleGoalChecker" - xy_goal_tolerance: 0.25 - yaw_goal_tolerance: 0.25 - # 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 - -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: True - 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" - raytrace_max_range: 3.0 - raytrace_min_range: 0.0 - obstacle_max_range: 2.5 - obstacle_min_range: 0.0 - static_layer: - plugin: "nav2_costmap_2d::StaticLayer" - map_subscribe_transient_local: True - always_send_full_costmap: True - -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: True - 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" - raytrace_max_range: 3.0 - raytrace_min_range: 0.0 - obstacle_max_range: 2.5 - obstacle_min_range: 0.0 - 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 - -map_server: - ros__parameters: - use_sim_time: True - # Overridden in launch by the "map" launch configuration or provided default value. - # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. - yaml_filename: "" - -map_saver: - ros__parameters: - use_sim_time: True - save_map_timeout: 5.0 - free_thresh_default: 0.25 - occupied_thresh_default: 0.65 - map_subscribe_transient_local: True - -planner_server: - ros__parameters: - expected_planner_frequency: 20.0 - use_sim_time: True - planner_plugins: ["GridBased"] - GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" - tolerance: 0.5 - use_astar: false - allow_unknown: true - -smoother_server: - ros__parameters: - use_sim_time: True - smoother_plugins: ["simple_smoother"] - simple_smoother: - plugin: "nav2_smoother::SimpleSmoother" - tolerance: 1.0e-10 - max_its: 1000 - do_refinement: True - -behavior_server: - ros__parameters: - costmap_topic: local_costmap/costmap_raw - footprint_topic: local_costmap/published_footprint - cycle_frequency: 10.0 - behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] - spin: - plugin: "nav2_behaviors/Spin" - backup: - plugin: "nav2_behaviors/BackUp" - drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" - wait: - plugin: "nav2_behaviors/Wait" - assisted_teleop: - plugin: "nav2_behaviors/AssistedTeleop" - global_frame: odom - robot_base_frame: base_link - transform_tolerance: 0.1 - use_sim_time: true - 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: True - -waypoint_follower: - ros__parameters: - use_sim_time: True - loop_rate: 20 - stop_on_failure: false - waypoint_task_executor_plugin: "wait_at_waypoint" - wait_at_waypoint: - plugin: "nav2_waypoint_follower::WaitAtWaypoint" - enabled: True - waypoint_pause_duration: 200 - -velocity_smoother: - ros__parameters: - use_sim_time: True - smoothing_frequency: 20.0 - scale_velocities: False - feedback: "OPEN_LOOP" - max_velocity: [0.26, 0.0, 1.0] - min_velocity: [-0.26, 0.0, -1.0] - max_accel: [2.5, 0.0, 3.2] - max_decel: [-2.5, 0.0, -3.2] - odom_topic: "odom" - odom_duration: 0.1 - deadband_velocity: [0.0, 0.0, 0.0] - velocity_timeout: 1.0 diff --git a/deploy/nav2_ws/sportmode_nav2_new/params/ros_ekf.yaml b/deploy/nav2_ws/sportmode_nav2_new/params/ros_ekf.yaml deleted file mode 100644 index f1b2cfd..0000000 --- a/deploy/nav2_ws/sportmode_nav2_new/params/ros_ekf.yaml +++ /dev/null @@ -1,219 +0,0 @@ -### ekf config file ### -ekf_filter_node: - ros__parameters: -# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin -# computation until it receives at least one message from one of the inputs. It will then run continuously at the -# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. - frequency: 100.0 - -# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict -# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the -# filter will generate new output. Defaults to 1 / frequency if not specified. - sensor_timeout: 0.1 - -# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is -# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar -# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected -# by, for example, an IMU. Defaults to false if unspecified. - two_d_mode: false - -# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for -# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if -# unspecified. - transform_time_offset: 0.0 - -# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. -# Defaults to 0.0 if unspecified. - transform_timeout: 0.0 - -# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is -# unhappy with any settings or data. - print_diagnostics: true - -# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by -# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious -# effects on the performance of the node. Defaults to false if unspecified. - debug: false - -# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. - debug_out_file: /path/to/debug/file.txt - -# Whether we'll allow old measurements to cause a re-publication of the updated state - permit_corrected_publication: false - -# Whether to publish the acceleration state. Defaults to false if unspecified. - publish_acceleration: false - -# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. - publish_tf: true - -# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and -# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. -# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be -# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom -# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your -# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based -# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. -# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. -# Here is how to use the following settings: -# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. -# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of -# odom_frame. -# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set -# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. -# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates -# from landmark observations) then: -# 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: 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 - -# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, -# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, -# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, -# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no -# default values, and must be specified. - odom0: /utlidar/robot_odom - -# Each sensor reading updates some or all of the filter's state. These options give you greater control over which -# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only -# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the -# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types -# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message -# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false -# if unspecified, effectively making this parameter required for each sensor. - odom0_config: [true, true, true, - true, true, true, - true, true, true, - true, true, true, - false, false, false] - -# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase -# the size of the subscription queue so that more measurements are fused. - odom0_queue_size: 2 - -# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result -# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's -# algorithm. - odom0_nodelay: false - -# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- -# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they -# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also -# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't -# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose -# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then -# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true -# for twist measurements has no effect. - odom0_differential: false - -# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" -# for all future measurements. While you can achieve the same effect with the differential paremeter, the key -# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before -# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. - odom0_relative: true - -# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to -# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to -# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not -# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. -# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying -# the thresholds. - odom0_pose_rejection_threshold: 5.0 - odom0_twist_rejection_threshold: 1.0 - - # imu0: /utlidar/imu - # imu0_config: [false, false, false, - # true, true, true, - # false, false, false, - # true, true, true, - # true, true, true] - # imu0_nodelay: false - # imu0_differential: false - # imu0_relative: true - # imu0_queue_size: 5 - # imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names - # imu0_twist_rejection_threshold: 0.8 # - # imu0_linear_acceleration_rejection_threshold: 0.8 # - -# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set -# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. - imu0_remove_gravitational_acceleration: true - -# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no -# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During -# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be -# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When -# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially -# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance -# for the velocity variable in question, or decrease the variance of the variable in question in the measurement -# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we -# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during -# predicition. Note that if an acceleration measurement for the variable in question is available from one of the -# inputs, the control term will be ignored. -# Whether or not we use the control input during predicition. Defaults to false. - use_control: true -# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to -# false. - stamped_control: false -# The last issued control command will be used in prediction for this period. Defaults to 0.2. - control_timeout: 0.2 -# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. - control_config: [true, false, false, false, false, true] -# Places limits on how large the acceleration term will be. Should match your robot's kinematics. - acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] -# Acceleration and deceleration limits are not always the same for robots. - deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] -# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these -# gains - acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] -# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these -# gains - deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] -# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is -# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each -# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. -# However, if users find that a given variable is slow to converge, one approach is to increase the -# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error -# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are -# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if -# unspecified. - process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015] -# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal -# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in -# question. Users should take care not to use large values for variables that will not be measured directly. The values -# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below -#if unspecified. - initial_estimate_covariance: [1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9] -