nav2 params and exploration docker is updated

deploy/docker/Dockerfile.mexplore

@@ -12,17 +12,21 @@ RUN apt-get update && apt-get install -y \
     cmake \
     git \
     ros-humble-cv-bridge \
+    ros-humble-image-geometry \ 
+    ros-humble-map-msgs \
+    ros-humble-nav2-costmap-2d \
+    ros-humble-nav2-msgs \
     && rm -rf /var/lib/apt/lists/*
 
 # Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
-RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
-git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+# git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
-cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
 
 # copy the required scripts and source files
 COPY ros2_nodes/m-explore-ros2 /explore_ws/src/m-explore-ros2
 # RUN cd /explore_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
-
+COPY docker/scripts /root/scripts
 # set the entrypoint to bash
 #ENTRYPOINT ["/bin/bash"]
-ENTRYPOINT ["/bin/bash", "/root/scripts/front_cam_publisher.sh"]
+ENTRYPOINT ["/bin/bash", "/root/scripts/mexplore_start.sh"]

deploy/docker/Dockerfile.nav2

@@ -12,9 +12,9 @@ RUN apt-get update && apt-get install -y \
     && rm -rf /var/lib/apt/lists/*
 
 # Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
-RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
-git clone https://github.com/ros2/rmw_cyclonedds -b rolling && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+# git clone https://github.com/ros2/rmw_cyclonedds -b rolling && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
-cd .. && colcon build --packages-select cyclonedds && source /opt/ros/rolling/setup.bash && colcon build
+# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/rolling/setup.bash && colcon build
 
 # copy the go2py ros2 nodes
 # COPY ros2_nodes/go2py_messages /bridge_ws/src/go2py_messages

deploy/docker/scripts/mexplore_start.sh

@@ -1,7 +1,8 @@
-source /opt/ros/humble/setup.bash
+# source /opt/ros/humble/setup.bash
-source /unitree_ros2/cyclonedds_ws/install/setup.bash
+# source /unitree_ros2/cyclonedds_ws/install/setup.bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+# export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
-                            <NetworkInterface name="eth0" priority="default" multicast="default" />
+#                             <NetworkInterface name="eth0" priority="default" multicast="default" />
-                        </Interfaces></General></Domain></CycloneDDS>'
+#                         </Interfaces></General></Domain></CycloneDDS>'
-source /explore_ws/install/setup.bash && /bin/bash
+# source /explore_ws/install/setup.bash && /bin/bash
+/bin/bash

deploy/docker/scripts/nav2_start.sh

@@ -1,7 +1,7 @@
-source /opt/ros/rolling/setup.bash
+# source /opt/ros/rolling/setup.bash
-source /unitree_ros2/cyclonedds_ws/install/setup.bash
+# source /unitree_ros2/cyclonedds_ws/install/setup.bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+# export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
-                            <NetworkInterface name="eth0" priority="default" multicast="default" />
+#                             <NetworkInterface name="eth0" priority="default" multicast="default" />
-                        </Interfaces></General></Domain></CycloneDDS>'
+#                         </Interfaces></General></Domain></CycloneDDS>'
 source /opt/overlay_ws/install/setup.bash && /bin/bash

deploy/ros2_nodes/sportmode_nav2/params/nav2_params.yaml

@@ -106,10 +106,10 @@ controller_server:
       vx_std: 0.5
       vy_std: 0.2
       wz_std: 0.4
-      vx_max: 1.0
+      vx_max: 0.5
-      vx_min: -0.8
+      vx_min: -0.4
-      vy_max: 1.0
+      vy_max: 0.5
-      wz_max: 2.0
+      wz_max: 1.0
       ax_max: 1004.0
       ax_min: -1004.0
       ay_max: 1004.0

deploy/ros2_nodes/sportmode_nav2/params/navigate_through_poses_w_replanning_and_recovery.xml

@@ -42,7 +42,7 @@
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
             <Wait wait_duration="2.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/>
+            <!-- <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/> -->
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

deploy/ros2_nodes/sportmode_nav2/params/navigate_to_pose_w_replanning_and_recovery.xml

@@ -40,7 +40,7 @@
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/>
+            <!-- <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/> -->
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

scripts/run_mexplore.sh

@@ -41,6 +41,6 @@ if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
     check_docker
 else
     echo "Starting new container: $CONTAINER_NAME"
-    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/m-explore-ros2:/home/explore_ws/src/m-explore-ros2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --workdir /home/explore_ws go2py_mexplore:latest  
+    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host -v $(pwd)/deploy/ros2_nodes/m-explore-ros2:/home/explore_ws/src/m-explore-ros2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --workdir /home/explore_ws go2py_mexplore:latest  
     check_docker
 fi

scripts/run_nav2.sh

@@ -41,6 +41,6 @@ if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
     check_docker
 else
     echo "Starting new container: $CONTAINER_NAME"
-    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --workdir /home/nav2_ws go2py_nav2:latest  
+    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 -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --workdir /home/nav2_ws go2py_nav2:latest  
     check_docker
 fi