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Go2Py_SIM
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nav2 and slam toolbox configurations are fixed

This commit is contained in:
Rooholla-KhorramBakht 2024-05-31 08:32:53 +08:00
parent f97a201eae
commit 9fc828ac93
9 changed files with 84 additions and 36 deletions
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2
deploy/docker/Dockerfile.nav2
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@ -13,6 +13,7 @@ RUN apt-get update && apt-get install -y \
ros-humble-nav2-* ros-humble-navigation2 \
ros-humble-slam-toolbox \
ros-humble-robot-localization\
ros-humble-image-geometry \
&& rm -rf /var/lib/apt/lists/*
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
@ -22,6 +23,7 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
# copy the go2py ros2 nodes
COPY ros2_nodes/sportmode_nav2 /nav2_ws/src/sportmode_nav2
COPY ros2_nodes/m-explore-ros2 /nav2_ws/src/m-explore-ros2
COPY ros2_nodes/go2py_messages /nav2_ws/src/go2py_messages
RUN cd /nav2_ws && source /opt/ros/humble/setup.bash && source /unitree_ros2/cyclonedds_ws/install/setup.bash && colcon build --symlink-install

4
deploy/ros2_nodes/go2_description/xacro/robot.xacro
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@ -157,7 +157,7 @@
</visual>
</link>
<link name="utlidar">
<!-- <link name="utlidar">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
@ -169,7 +169,7 @@
<parent link="base_link"/>
<child link="utlidar"/>
<axis xyz="0 0 0"/>
</joint>
</joint> -->
<link name="hesai">
<inertial>

4
deploy/ros2_nodes/lidar_node/src/manager/source_driver_ros2.hpp
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@ -298,10 +298,10 @@ inline void SourceDriver::publishLaserScan(
scan_msg->angle_increment = 0.0087/2.;
scan_msg->time_increment = 0.0;
scan_msg->scan_time = 0.3333;
scan_msg->range_min = 0.2;
scan_msg->range_min = 0.3;
scan_msg->range_max = 100;
float max_height_ = 1.0;
float min_height_ = -0.33;
float min_height_ = -0.1;
// determine amount of rays to create

4
deploy/ros2_nodes/sportmode_nav2/launch/cbf_navigation_launch.py
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@ -28,10 +28,10 @@ from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
bringup_dir = get_package_share_directory('sportmode_nav2')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_composition = LaunchConfiguration('use_composition')

4
deploy/ros2_nodes/sportmode_nav2/launch/navigation_launch.py
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@ -28,10 +28,10 @@ from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('nav2_bringup')
bringup_dir = get_package_share_directory('sportmode_nav2')
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
use_composition = LaunchConfiguration('use_composition')

2
deploy/ros2_nodes/sportmode_nav2/params/mapping_async.yaml
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@ -28,7 +28,7 @@ slam_toolbox:
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
max_laser_range: 5.0 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.

46
deploy/ros2_nodes/sportmode_nav2/params/nav2_params.yaml
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@ -1,12 +1,12 @@
amcl:
ros__parameters:
use_sim_time: True
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
@ -37,14 +37,14 @@ amcl:
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
scan_topic: /go2/scan
bt_navigator:
ros__parameters:
use_sim_time: True
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
odom_topic: /go2/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:
@ -102,15 +102,15 @@ bt_navigator:
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: True
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
@ -134,8 +134,8 @@ controller_server:
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 1.
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
@ -186,7 +186,7 @@ local_costmap:
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
use_sim_time: False
rolling_window: true
width: 3
height: 3
@ -229,10 +229,10 @@ global_costmap:
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
use_sim_time: False
robot_radius: 0.22
resolution: 0.05
track_unknown_space: false
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
@ -259,14 +259,14 @@ global_costmap:
map_server:
ros__parameters:
use_sim_time: True
use_sim_time: False
# 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
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
@ -275,7 +275,7 @@ map_saver:
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
@ -285,7 +285,7 @@ planner_server:
smoother_server:
ros__parameters:
use_sim_time: True
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
@ -312,7 +312,7 @@ behavior_server:
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: true
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
@ -320,11 +320,11 @@ behavior_server:
robot_state_publisher:
ros__parameters:
use_sim_time: True
use_sim_time: False
waypoint_follower:
ros__parameters:
use_sim_time: True
use_sim_time: False
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
@ -335,7 +335,7 @@ waypoint_follower:
velocity_smoother:
ros__parameters:
use_sim_time: True
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
@ -343,7 +343,7 @@ velocity_smoother:
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_topic: "/go2/odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
velocity_timeout: 1.0

46
scripts/run_nav2.sh Executable file
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@ -0,0 +1,46 @@
#!/bin/bash
CONTAINER_NAME="go2py_nav2"
# Function to print usage
function usage() {
echo "Usage: run_go2py_nav2.sh"
}
# Function to check if docker command succeeded
function check_docker() {
if [ $? -ne 0 ]; then
echo "Docker command failed. Please check your Docker installation."
exit 1
fi
}
# Prevent running as root
if [ $(id -u) -eq 0 ]; then
echo "This script cannot be executed with root privileges."
echo "Please re-run without sudo and configure docker for non-root user if needed."
exit 1
fi
# Check if user can run docker without root
if [[ ! $(groups $USER) =~ docker ]]; then
echo "User |$USER| is not a member of the 'docker' group and cannot run docker commands without sudo."
echo "Run 'sudo usermod -aG docker \$USER && newgrp docker' to add user to 'docker' group, then re-run this script."
echo "See: https://docs.docker.com/engine/install/linux-postinstall/"
exit 1
fi
# Check if able to run docker commands
docker ps &>/dev/null
check_docker
# Check if the container is running
if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
echo "Attaching to running container: $CONTAINER_NAME"
docker exec -it --workdir /home/nav2_ws $CONTAINER_NAME /bin/bash
check_docker
else
echo "Starting new container: $CONTAINER_NAME"
sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia --workdir /home/nav2_ws go2py_nav2:latest
check_docker
fi

8
setup.cfg
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@ -18,7 +18,7 @@ include_package_data = True
install_requires =
pygame
pyyaml
pynput
pin
mujoco
cyclonedds
# pynput
# pin
# mujoco
cyclonedds