robot_radius: 0.3
resolution: 0.05
track_unknown_space: true
- plugins: ["static_layer", "inflation_layer", "voxel_layer", "obstacle_layer"]
+ plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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: 0.35
- voxel_layer:
- plugin: "nav2_costmap_2d::VoxelLayer"
+ obstacle_layer:
+ plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
- footprint_clearing_enabled: true
- max_obstacle_height: 2.0
- # publish_voxel_map: True
- origin_z: 0.0
- z_resolution: 0.05
- z_voxels: 16
- max_obstacle_height: 2.0
- unknown_threshold: 15
- mark_threshold: 0
- observation_sources: pointcloud
- combination_method: 1
- pointcloud: # no frame set, uses frame from message
- topic: /camera/depth/points
+ observation_sources: scan
+ scan:
+ topic: /camera/depth/image_scan
max_obstacle_height: 2.0
- min_obstacle_height: 0.0
- obstacle_max_range: 2.5
- obstacle_min_range: 0.0
- raytrace_max_range: 2.5
- raytrace_min_range: 0.0
clearing: True
marking: True
- data_type: "PointCloud2"
- obstacle_layer:
- plugin: "nav2_costmap_2d::ObstacleLayer"
- enabled: True
- combination_method: 0 # o padrão é 1, que parece ser o melhor na maioria dos casos
- observation_sources: pointcloud
- pointcloud:
- topic: /camera/depth/points
- data_type: "PointCloud2"
+ data_type: "LaserScan"
+ raytrace_max_range: 3.0
+ raytrace_min_range: 0.0
+ obstacle_max_range: 2.5
+ obstacle_min_range: 0.0
+ inflation_layer:
+ plugin: "nav2_costmap_2d::InflationLayer"
+ cost_scaling_factor: 3.0
+ inflation_radius: 0.35
always_send_full_costmap: True
--- /dev/null
+# modified version of online async parameters file of the slam_toolbox package
+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: twil_origin
+ scan_topic: /camera/depth/image_scan
+ use_map_saver: true
+ mode: mapping
+ # 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: /map
+ # 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: 10.0 #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
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
LaserScan: true
Local Costmap: false
Local Plan: false
- Map: false
+ Map: true
Odometry: false
PointCloud2: false
Pose Reference: false
LaserScan: true
Local Costmap: false
Local Plan: false
- Map: false
+ Map: true
Odometry: false
PointCloud2: true
Pose Reference: false
Use Fixed Frame: true
Use rainbow: false
Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz_default_plugins/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /slam_map
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /slam_map_updates
+ Use Timestamp: false
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
--- /dev/null
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_broadcaster:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
+ - tower_joint
+
+twist_mrac_linearizing_controller:
+ ros__parameters:
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ Alpha: [10.0, 10.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ # o base_frame está diferente do robo real para a tf odom->base_link poder ser publicada por outro pacote(robot_localization, por exemplo)
+ base_frame_id: "controller_odom_frame"
+ priority: 99
+ time_step: 0.01
+ adaptive: false
+ Epsilon: [0.01, 0.01]
<arg name="gps" default="false"/>
<arg name="world" default ="$(find-pkg-share ufrgs_gazebo)/worlds/centenario.world"/>
<arg name="controller" default="twist_mrac_linearizing_controller"/>
- <arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
+ <arg name="localization" default="slam_toolbox_mapping"/>
+ <arg name="config" default="$(find-pkg-share twil_2dnav)/config/$(var controller)_no_tf.yaml"/>
<include file="$(find-pkg-share twil_bringup)/launch/gazebo.launch.xml">
<arg name="pause" value="$(var pause)"/>
<include file="$(find-pkg-share twil_2dnav)/launch/nav2_navigator.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="controller" value="$(var controller)"/>
+ <arg name="localization" value="$(var localization)"/>
</include>
<node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/config/twil_2dnav.rviz">
<launch>
+ <arg name="use_sim_time" default="false"/>
+
+ <node pkg="nav2_map_server" name="map_server" exec="map_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param name="yaml_filename" value="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
+ </node>
+
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" exec="depthimage_to_laserscan_node">
<remap from="depth" to="/camera/depth/image_raw"/>
<remap from="depth_camera_info" to="/camera/depth/camera_info"/>
--- /dev/null
+<launch>
+ <arg name="use_sim_time" default="false"/>
+
+ <node pkg="nav2_map_server" name="map_server" exec="map_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param name="yaml_filename" value="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
+ </node>
+
+ <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" exec="depthimage_to_laserscan_node">
+ <remap from="depth" to="/camera/depth/image_raw"/>
+ <remap from="depth_camera_info" to="/camera/depth/camera_info"/>
+ <remap from="scan" to="/camera/depth/image_scan"/>
+ <param name="output_frame" type="str" value="camera_link"/>
+ </node>
+
+ <node pkg="slam_toolbox" exec="async_slam_toolbox_node" name="slam_toolbox">
+ <param name="use_sim_time" value="$(var use_sim_time)" />
+ <param from="$(find-pkg-share twil_2dnav)/config/slam_toolbox_mapping_params.yaml"/>
+ <remap from="map" to="slam_map"/>
+ </node>
+
+ <node pkg="nav2_lifecycle_manager" exec="lifecycle_manager" name="lifecycle_manager_nav2">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param name="autostart" value="$(var autostart)"/>
+ <param name="node_names" value="[
+ 'map_server',
+ 'controller_server',
+ 'planner_server',
+ 'behavior_server',
+ 'bt_navigator']"/>
+ </node>
+</launch>
<arg name="map" default="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
<arg name="autostart" default="true"/>
<arg name="controller" default=""/>
- <arg name="localization" default="amcl"/>
-
- <node pkg="nav2_map_server" name="map_server" exec="map_server">
- <param name="use_sim_time" value="$(var use_sim_time)"/>
- <param name="yaml_filename" value="$(var map)"/>
- </node>
+ <arg name="localization" default="slam_toolbox_mapping"/>
<node pkg="nav2_controller" exec="controller_server" name="controller_server">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share twil_2dnav)/launch/localization_$(var localization).launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
</launch>
wheel_separation: 0.322
wheel_radius: [0.075, 0.075]
odom_frame_id: "odom"
- # a transformada vai ser publicada pelo robot_localization posteriormente
- # entao coloquei um nome diferente pra nao afetar a publicada pelo robot_localization e poder comparar as duas
- # base_frame_id: "twil_origin"
- base_frame_id: "twil_origin_controller_frame"
+ base_frame_id: "twil_origin"
priority: 99
time_step: 0.01
adaptive: false
<node name="controller_spawner" pkg="controller_manager" exec="spawner"
args="-t effort_controllers/TwistMracLinearizingController -p $(var config) twist_mrac_linearizing_controller"/>
- <!-- eu queria passar parametros pra esse nodo no launch mas não deu porque os parametros sao passados no arg do comando -->
- <!-- nao tem como passar esses parametros com um <param from="..."?> -->
- <!-- nos exemplos do ros_control é usado um ros2_control_node que recebe os parametros... -->
<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
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