--- /dev/null
+amcl:
+ ros__parameters:
+ use_sim_time: True
+ base_frame_id: "twil_origin"
+ global_frame_id: "map"
+ odom_frame_id: "odom"
+ tf_broadcast: true
+ scan_topic: camera/depth/image_scan
+ set_initial_pose: True
+ initial_pose:
+ x: 0.0
+ y: 0.0
+ z: 0.0
+ yaw: 0.0
+++ /dev/null
-### 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 theinputs. It will then run continuously at the
-# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
- frequency: 30.0
-
-# 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: true
-
-# Whether to publish the acceleration state. Defaults to false if unspecified.
- publish_acceleration: true
-
-# Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified.
- publish_tf: false
-
-# 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: map # Defaults to "map" if unspecified
- odom_frame: odom # Defaults to "odom" if unspecified
- base_link_frame: twil_origin # Defaults to "base_link" ifunspecified
- world_frame: odom # Defaults to the value ofodom_frame if unspecified
-
- #odom0 topic is set on launch file
- odom0_config: [true, true, false,
- false, false, false,
- false, false, false,
- false, false, true,
- false, false, false]
-
- imu0: sensor/imu
- imu0_config: [false, false, false,
- false, false, true,
- false, false, false,
- false, false, true,
- true, false, false]
\ No newline at end of file
--- /dev/null
+ekf_filter_node:
+ ros__parameters:
+ frequency: 30.0
+ two_d_mode: true
+ publish_acceleration: true # Whether to publish the acceleration state. Defaults to false if unspecified.
+ publish_tf: false # atualmente a tf é publicado pelo twist_mrac e não tem parametro para desativar
+ map_frame: map
+ odom_frame: odom
+ base_link_frame: twil_origin
+ world_frame: odom
+ # config order: (X,Y,Z,roll,pitch,yaw,X˙,Y˙,Z˙,roll˙,pitch˙,yaw˙,X¨,Y¨,Z¨)
+ # odom0 topic is set on launch file
+ odom0_config: [true, true, true,
+ false, false, false,
+ false, false, false,
+ false, false, true,
+ false, false, false]
+ imu0: sensor/imu
+ imu0_config: [false, false, false,
+ true, true, true,
+ false, false, false,
+ false, false, false,
+ false, false, false]
\ No newline at end of file
- /Odometry1
- /Global Plan1/Topic1
- /Camera Color1/Visibility1
+ - /LaserScan1
Splitter Ratio: 0.570588231086731
Tree Height: 189
- Class: rviz_common/Selection
Global Plan: false
Grid: true
Ground Truth: false
+ LaserScan: true
Local Costmap: false
Local Plan: false
Map: false
Global Plan: false
Grid: true
Ground Truth: false
+ LaserScan: true
Local Costmap: false
Local Plan: false
Map: false
Use Fixed Frame: true
Use rainbow: true
Value: true
+ - 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/LaserScan
+ Color: 255; 255; 0
+ Color Transformer: FlatColor
+ 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: LaserScan
+ Position Transformer: XYZ
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/depth/image_scan
+ Use Fixed Frame: true
+ Use rainbow: false
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Value: true
Views:
Current:
- Class: rviz_default_plugins/Orbit
- Distance: 26.927026748657227
+ Angle: 0
+ Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
- Focal Point:
- X: 0.0057085235603153706
- Y: 4.187395095825195
- Z: 6.038466930389404
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.735398530960083
- Target Frame: <Fixed Frame>
- Value: Orbit (rviz)
- Yaw: 4.70857572555542
+ Scale: 41.62940216064453
+ Target Frame: twil_origin
+ Value: TopDownOrtho (rviz_default_plugins)
+ X: 0.8133240938186646
+ Y: 0.01098377350717783
Saved: ~
Window Geometry:
Camera Color:
<param name="yaml_filename" value="$(var map)"/>
</node>
- <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="--frame-id map --child-frame-id odom"/>
-
<node pkg="nav2_controller" exec="controller_server" name="controller_server">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param from="$(find-pkg-share twil_2dnav)/config/controller_params.yaml"/>
<remap from="odom" to="$(var controller)/odom"/>
</node>
+ <node pkg="nav2_amcl" exec="amcl" name="amcl">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share twil_2dnav)/config/amcl_params.yaml"/>
+ </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',
+ 'amcl',
'controller_server',
'planner_server',
'behavior_server',
<node pkg="robot_localization" exec="ekf_node" name="ekf_filter_node" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="odom0" value="$(var controller)/odom"/>
- <param from="$(find-pkg-share twil_2dnav)/config/ekf.yaml"/>
+ <param from="$(find-pkg-share twil_2dnav)/config/ekf_params.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>
</launch>
projects / twil.git / commitdiff