<depend>tatuira_description</depend>
<depend>tatuira_bringup</depend>
<depend>tatuira_ident</depend>
- <depend>tatuira_2dnav</depend>
+ <depend>tatuira_navigation</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(tatuira_navigation)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- move_base
- tatuira_bringup
- tatuira_description
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES tatuira_navigation
-# CATKIN_DEPENDS move_base tatuira_bringup tatuira_description
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(tatuira_bringup REQUIRED)
+find_package(tatuira_description REQUIRED)
+find_package(navigation2 REQUIRED)
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
+install(DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/tatuira_navigation.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/tatuira_navigation_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_navigation.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
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+
+ 9. Acceptance Not Required for Having Copies.
+
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+
+ 11. Patents.
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+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
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+
+ 13. Use with the GNU Affero General Public License.
+
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+
+ 14. Revised Versions of this License.
+
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+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
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+
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+
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+
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+
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+
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+
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+
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+free software which everyone can redistribute and change under these terms.
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+
+ <one line to give the program's name and a brief idea of what it does.>
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+
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+ it under the terms of the GNU General Public License as published by
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+ (at your option) any later version.
+
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+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+
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+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
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+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
+++ /dev/null
-TrajectoryPlannerROS:
- max_vel_x: 0.6
- min_vel_x: 0.35
- max_vel_theta: 4
- min_vel_theta: -4
- min_in_place_vel_theta: 1
- escape_vel: -0.4
-
- acc_lim_theta: 79.5
- acc_lim_x: 44.4
- acc_lim_y: 44.4
-
- holonomic_robot: false
-
- yaw_goal_tolerance: 0.15
- xy_goal_tolerance: 0.25
-
-controller_frequency: 4.0
-
--- /dev/null
+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", "wait"]
+ spin:
+ plugin: "nav2_behaviors/Spin"
+ backup:
+ plugin: "nav2_behaviors/BackUp"
+ drive_on_heading:
+ plugin: "nav2_behaviors/DriveOnHeading"
+ wait:
+ plugin: "nav2_behaviors/Wait"
+ global_frame: odom
+ robot_base_frame: origin_link
+ transform_timeout: 0.1
+ simulate_ahead_time: 2.0
+ max_rotational_vel: 1.0
+ min_rotational_vel: 0.4
+ rotational_acc_lim: 3.2
--- /dev/null
+bt_navigator:
+ ros__parameters:
+ global_frame: map
+ robot_base_frame: origin_link
+ odom_topic: /twist_mrac_linearizing_controller/odom
+ bt_loop_duration: 10
+ default_server_timeout: 20
+ enable_groot_monitoring: True
+ groot_zmq_publisher_port: 1666
+ groot_zmq_server_port: 1667
+ # '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_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
+ - nav2_single_trigger_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
--- /dev/null
+controller_server:
+ ros__parameters:
+ 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"]
+ 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
+ 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: origin_link
+ rolling_window: true
+ width: 3
+ height: 3
+ resolution: 0.05
+ robot_radius: 0.7
+ plugins: ["inflation_layer"]
+ inflation_layer:
+ plugin: "nav2_costmap_2d::InflationLayer"
+ cost_scaling_factor: 3.0
+ inflation_radius: 0.45
+ static_layer:
+ map_subscribe_transient_local: True
+ always_send_full_costmap: True
+++ /dev/null
-obstacle_range: 2.5
-raytrace_range: 3.0
-
-max_obstacle_height: 1,0
-min_obstacle_height: 0.05
-
-#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
-robot_radius: 0.3
-inflation_radius: 0.35
-#cost_scaling_factor: 10
-
-observation_sources: point_cloud_sensor
-
-point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}
+++ /dev/null
-global_costmap:
- global_frame: map
- robot_base_frame: origin_link
- update_frequency: 1.0
- static_map: true
-# resolution: 0.1
-# origin_x: -16.0
-# origin_y: -2.0
+++ /dev/null
-local_costmap:
- global_frame: odom
- robot_base_frame: origin_link
- update_frequency: 4.0
- publish_frequency: 2.0
- static_map: false
- rolling_window: true
- width: 6.0
- height: 6.0
- resolution: 0.01
--- /dev/null
+planner_server:
+ ros__parameters:
+ expected_planner_frequency: 20.0
+ planner_plugins: ["GridBased"]
+ GridBased:
+ plugin: "nav2_navfn_planner/NavfnPlanner"
+ tolerance: 0.5
+ use_astar: false
+ allow_unknown: true
+
+global_costmap:
+ global_costmap:
+ ros__parameters:
+ update_frequency: 1.0
+ publish_frequency: 1.0
+ global_frame: map
+ robot_base_frame: origin_link
+ robot_radius: 0.6
+ resolution: 0.05
+ track_unknown_space: true
+ plugins: ["static_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: 0.45
+ always_send_full_costmap: True
--- /dev/null
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /RobotModel1/Description Topic1
+ - /Ground Turth1/Shape1
+ - /Odometry1/Shape1
+ - /Camera Depth1/Visibility1
+ - /Map1/Topic1
+ - /Local Costmap 1/Topic1
+ Splitter Ratio: 0.5
+ Tree Height: 102
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: PointCloud2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ awac_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ center_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ center_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_axle_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_fixture_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_leg_left_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_leg_right_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_plate_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_wheel_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_wheel_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_back_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_back_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_pinion_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ origin_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ right_back_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_back_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_pinion_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Command
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /command_stamped
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Keep: 100
+ Name: Ground Turth
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 170; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /ground_truth
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 85; 0; 255
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /twist_mrac_linearizing_controller/odom
+ Value: true
+ - Class: rviz_default_plugins/Camera
+ Enabled: true
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: Camera Color
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/color/image_raw
+ Value: true
+ Visibility:
+ Camera Depth: false
+ Command: true
+ Global Costmap: false
+ Global Footprint: false
+ Grid: true
+ Ground Turth: true
+ "Local Costmap ": false
+ Local Footprint: false
+ Local Plan: false
+ Map: false
+ Odometry: true
+ Plan: false
+ PointCloud2: false
+ Received Global Plan: false
+ RobotModel: false
+ Transformed Global Plan: false
+ Value: true
+ Zoom Factor: 1
+ - Class: rviz_default_plugins/Camera
+ Enabled: true
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: Camera Depth
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/depth/image_raw
+ Value: true
+ Visibility:
+ Camera Color: false
+ Command: true
+ Global Costmap: false
+ Global Footprint: false
+ Grid: true
+ Ground Turth: true
+ "Local Costmap ": false
+ Local Footprint: false
+ Local Plan: false
+ Map: false
+ Odometry: true
+ Plan: false
+ PointCloud2: true
+ Received Global Plan: false
+ RobotModel: false
+ Transformed Global Plan: false
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/depth/points
+ Use Fixed Frame: true
+ Use rainbow: true
+ 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: Transient Local
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /map
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /map_updates
+ Use Timestamp: false
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz_default_plugins/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: Global Costmap
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /global_costmap/costmap
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /global_costmap/costmap_updates
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/Polygon
+ Color: 13; 128; 0
+ Enabled: true
+ Name: Global Footprint
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /global_costmap/published_footprint
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz_default_plugins/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: "Local Costmap "
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /local_costmap/costmap
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /local_costmap/costmap_updates
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: Local Footprint
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /local_costmap/published_footprint
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz_default_plugins/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /plan
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz_default_plugins/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Local Plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /local_plan
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz_default_plugins/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Received Global Plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /received_global_plan
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz_default_plugins/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Transformed Global Plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /transformed_global_plan
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 24.55069923400879
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.09179027378559113
+ Y: 4.097352981567383
+ Z: 2.83469557762146
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5997958779335022
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 4.713583469390869
+ Saved: ~
+Window Geometry:
+ Camera Color:
+ collapsed: false
+ Camera Depth:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 691
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000015600000215fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000f1000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001800430061006d00650072006100200043006f006c006f00720100000134000000870000002800fffffffb0000001800430061006d00650072006100200044006500700074006801000001c1000000910000002800ffffff000000010000010f00000215fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000215000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000021500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1280
+ X: 640
+ Y: 0
--- /dev/null
+waypoint_follower:
+ ros__parameters:
+ 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
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="world" default ="$(find ufrgs_gazebo)/worlds/centenario.world"/>
- <arg name="controller" default="twist_mrac_linearizing_controller"/>
- <arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
-
- <remap from="/twist_mrac_linearizing_controller/command" to="/cmd_vel" />
-
- <include file="$(find tatuira_bringup)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="controller" value="$(arg controller)"/>
- <arg name="config" default="$(arg config)"/>
- <arg name="d435" value="true"/>
- <arg name="world" value="$(arg world)" />
- </include>
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tatuira_navigation)/rviz/tatuira_navigation.rviz" required="true"/>
-
- <include file="$(find tatuira_navigation)/launch/move_base.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Navigation
+ Gazebo Launch File
+ Copyright (C) 2019..2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <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 tatuira_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="d435" value="true"/>
+ <arg name="world" value="$(var world)"/>
+ <arg name="controller" value="$(var controller)"/>
+ <arg name="config" value="$(var config)"/>
+ </include>
+
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share tatuira_navigation)/config/tatuira_navigation.rviz">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+
+ <include file="$(find-pkg-share tatuira_navigation)/launch/nav2_navigator.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="controller" value="$(var controller)"/>
+ </include>
+</launch>
+++ /dev/null
-<launch>
- <node name="map_server" pkg="map_server" type="map_server" args="$(find ufrgs_maps)/map/centenario1.yaml"/>
-
- <!--include file="$(find amcl)/examples/amcl_omni.launch" /-->
-
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <rosparam file="$(find tatuira_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find tatuira_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find tatuira_navigation)/config/local_costmap.yaml" command="load" />
- <rosparam file="$(find tatuira_navigation)/config/global_costmap.yaml" command="load" />
- <rosparam file="$(find tatuira_navigation)/config/base_local_planner.yaml" command="load" />
- </node>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Navigation
+ Nav2 Navigator Launch File
+ Copyright (C) 2019..2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="use_sim_time" default="false"/>
+ <arg name="map" default="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
+ <arg name="autostart" default="true"/>
+ <arg name="controller" default=""/>
+
+ <node name="map_server" pkg="nav2_map_server" exec="map_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param name="yaml_filename" value="$(var map)"/>
+ </node>
+
+ <!--include file="$(find-pkg-share amcl)/examples/amcl_omni.launch" /-->
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="--frame-id map --child-frame-id odom --yaw -1.5708"/>
+
+ <node pkg="nav2_controller" exec="controller_server" name="controller_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share tatuira_navigation)/config/controller_params.yaml"/>
+ <remap from="odom" to="$(var controller)/odom"/>
+ <remap from="cmd_vel" to="$(var controller)/command"/>
+ </node>
+
+ <node pkg="nav2_planner" exec="planner_server" name="planner_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share tatuira_navigation)/config/planner_params.yaml"/>
+ </node>
+
+ <node pkg="nav2_behaviors" exec="behavior_server" name="behavior_server">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share tatuira_navigation)/config/behavior_params.yaml"/>
+ <param name="robot_base_frame" value="origin_link"/>
+ <remap from="cmd_vel" to="$(var controller)/command"/>
+ </node>
+
+ <node pkg="nav2_bt_navigator" exec="bt_navigator" name="bt_navigator">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share tatuira_navigation)/config/bt_navigator_params.yaml"/>
+ <param name="robot_base_frame" value="origin_link"/>
+ <remap from="odom" to="$(var controller)/odom"/>
+ </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>
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>tatuira_navigation</name>
- <version>0.0.1</version>
- <description>The tatuira_navigation package</description>
+ <version>2.0.0</version>
+ <description>Tatuira navigation package</description>
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+ <license>GPL-3.0-only</license>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="fetter@ee.ufrgs.br">Walter Fetter Lages</maintainer>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>tatuira_bringup</depend>
+ <depend>tatuira_description</depend>
+ <depend>navigation2</depend>
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>GPLv3</license>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/tatuira_navigation</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ee.ufrgs.br">Walter Fetter Lages</author>
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>move_base</build_depend>
- <build_depend>tatuira_bringup</build_depend>
- <build_depend>tatuira_description</build_depend>
- <build_export_depend>move_base</build_export_depend>
- <build_export_depend>tatuira_bringup</build_export_depend>
- <build_export_depend>tatuira_description</build_export_depend>
- <exec_depend>move_base</exec_depend>
- <exec_depend>tatuira_bringup</exec_depend>
- <exec_depend>tatuira_description</exec_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
+++ /dev/null
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /DepthCloud1/Auto Size1
- Splitter Ratio: 0.5
- Tree Height: 370
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: true
- Name: Time
- SyncMode: 0
- SyncSource: DepthCloud
-Preferences:
- PromptSaveOnExit: true
-Toolbars:
- toolButtonStyle: 2
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.029999999329447746
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 50
- Reference Frame: <Fixed Frame>
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- battery:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bottom_sonar_box:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bottom_sonar_cover:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bottom_sonar_sensor:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- camera_bottom_screw_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- camera_usb_plug_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- caster_base:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- caster_support:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- caster_wheel:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- chassis:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- chassis_top:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- cpu:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fan:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_caster_base:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_caster_support:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_caster_wheel:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_wheel:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_wheel_support:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- motor_driver:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- plugin_camera_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- power_supply:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_wheel:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_wheel_support:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- stepper_driver:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- top_sonar_box:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- top_sonar_cover:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- top_sonar_sensor:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- tower:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- tower_motor:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- twil_origin:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Angle Tolerance: 0.10000000149011612
- Class: rviz/Odometry
- Covariance:
- Orientation:
- Alpha: 0.5
- Color: 255; 255; 127
- Color Style: Unique
- Frame: Local
- Offset: 1
- Scale: 1
- Value: true
- Position:
- Alpha: 0.30000001192092896
- Color: 204; 51; 204
- Scale: 1
- Value: true
- Value: true
- Enabled: true
- Keep: 42
- Name: Odometry
- Position Tolerance: 0.30000001192092896
- Queue Size: 10
- Shape:
- Alpha: 1
- Axes Length: 1
- Axes Radius: 0.10000000149011612
- Color: 255; 25; 0
- Head Length: 0.30000001192092896
- Head Radius: 0.10000000149011612
- Shaft Length: 1
- Shaft Radius: 0.05000000074505806
- Value: Arrow
- Topic: /twist_mrac_linearizing_controller/odom
- Unreliable: false
- Value: true
- - Alpha: 0.699999988079071
- Class: rviz/Map
- Color Scheme: costmap
- Draw Behind: false
- Enabled: true
- Name: Map
- Topic: /move_base/global_costmap/costmap
- Unreliable: false
- Use Timestamp: false
- Value: true
- - Alpha: 1
- Axes Length: 1
- Axes Radius: 0.10000000149011612
- Class: rviz/Pose
- Color: 255; 255; 0
- Enabled: true
- Head Length: 0.30000001192092896
- Head Radius: 0.10000000149011612
- Name: Pose (goal)
- Queue Size: 10
- Shaft Length: 1
- Shaft Radius: 0.05000000074505806
- Shape: Arrow
- Topic: /move_base/current_goal
- Unreliable: false
- Value: true
- - Alpha: 1
- Buffer Length: 1
- Class: rviz/Path
- Color: 25; 255; 0
- Enabled: true
- Head Diameter: 0.30000001192092896
- Head Length: 0.20000000298023224
- Length: 0.30000001192092896
- Line Style: Lines
- Line Width: 0.029999999329447746
- Name: Path
- Offset:
- X: 0
- Y: 0
- Z: 0
- Pose Color: 255; 85; 255
- Pose Style: None
- Queue Size: 10
- Radius: 0.029999999329447746
- Shaft Diameter: 0.10000000149011612
- Shaft Length: 0.10000000149011612
- Topic: /move_base/TrajectoryPlannerROS/global_plan
- Unreliable: false
- Value: true
- - Alpha: 1
- Auto Size:
- Auto Size Factor: 1
- Value: true
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/DepthCloud
- Color: 255; 255; 255
- Color Image Topic: /camera/color/image_raw
- Color Transformer: RGB8
- Color Transport Hint: raw
- Decay Time: 0
- Depth Map Topic: /camera/depth/image_raw
- Depth Map Transport Hint: raw
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: DepthCloud
- Occlusion Compensation:
- Occlusion Time-Out: 30
- Value: false
- Position Transformer: XYZ
- Queue Size: 5
- Selectable: true
- Size (Pixels): 3
- Style: Flat Squares
- Topic Filter: true
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Class: rviz/Camera
- Enabled: true
- Image Rendering: background and overlay
- Image Topic: /camera/depth/image_raw
- Name: Camera (depth)
- Overlay Alpha: 0.5
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: true
- Visibility:
- Camera (color): true
- DepthCloud: true
- Grid: true
- Map: true
- Odometry: true
- Path: true
- Pose (goal): true
- RobotModel: true
- Value: true
- Zoom Factor: 1
- - Class: rviz/Camera
- Enabled: true
- Image Rendering: background and overlay
- Image Topic: /camera/color/image_raw
- Name: Camera (color)
- Overlay Alpha: 0.5
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: true
- Visibility:
- Camera (depth): true
- DepthCloud: true
- Grid: true
- Map: true
- Odometry: true
- Path: true
- Pose (goal): true
- RobotModel: true
- Value: true
- Zoom Factor: 1
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: map
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Theta std deviation: 0.2617993950843811
- Topic: /initialpose
- X std deviation: 0.5
- Y std deviation: 0.5
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 8.200119972229004
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Field of View: 0.7853981852531433
- Focal Point:
- X: 0.19336318969726562
- Y: 2.774914026260376
- Z: 2.59694242477417
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 1.4347964525222778
- Target Frame: <Fixed Frame>
- Yaw: 4.71176290512085
- Saved: ~
-Window Geometry:
- Camera (color):
- collapsed: false
- Camera (depth):
- collapsed: false
- Displays:
- collapsed: false
- Height: 1025
- Hide Left Dock: false
- Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001c00430061006d00650072006100200028006400650070007400680029010000023c000000980000001600fffffffb0000001c00430061006d006500720061002000280063006f006c006f0072002901000002da000000c80000001600ffffff000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002c400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: true
- Width: 1853
- X: 59
- Y: 4
projects / tatuira.git / commitdiff