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Commit e3ee2da2 authored by Steven Macenski's avatar Steven Macenski
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adding more fully described parameters and setup

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nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
+ 2
− 3
View file @ e3ee2da2
......@@ -117,7 +117,7 @@ def generate_launch_description():
declare_simulator_cmd = DeclareLaunchArgument(
'headless',
default_value='False',
default_value='True',
description='Whether to execute gzclient)')
declare_world_cmd = DeclareLaunchArgument(
......@@ -140,8 +140,7 @@ def generate_launch_description():
cmd=['gzclient'],
cwd=[launch_dir], output='screen')
urdf = os.path.join(
get_package_share_directory('turtlebot3_description'), 'urdf', 'turtlebot3_waffle.urdf')
urdf = os.path.join(bringup_dir, 'worlds', 'turtlebot3_waffle.urdf')
start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
......
nav2_bringup/bringup/params/nav2_params.yaml
+ 14
− 6
View file @ e3ee2da2
......@@ -115,14 +115,17 @@ controller_server_rclcpp_node:
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5
publish_frequency: 2
robot_base_frame: base_link
use_sim_time: True
global_frame: odom
plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
rolling_window: true
width: 3
height: 3
resolution: 0.05
plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
robot_radius: 0.22
inflation_layer:
cost_scaling_factor: 3.0
......@@ -139,8 +142,8 @@ local_costmap:
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: pointcloud
......@@ -163,10 +166,15 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1
publish_frequency: 1
robot_base_frame: base_link
global_frame: map
use_sim_time: True
plugin_names: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
robot_radius: 0.22
resolution: 0.05
obstacle_layer:
enabled: True
observation_sources: scan
......@@ -180,8 +188,8 @@ global_costmap:
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: pointcloud
......
nav2_bringup/bringup/worlds/turtlebot3_waffle.urdf 0 → 100644
+ 293
− 0
View file @ e3ee2da2
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
<xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
<!-- Init colour -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="dark">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="light_black">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235 0.0392 1.0"/>
</material>
<material name="brown">
<color rgba="0.8706 0.8118 0.7647 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
<geometry>
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.3729096e+00"/>
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
iyy="8.6195418e-03" iyz="-3.5422299e-06"
izz="1.4612727e-02" />
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_right_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="caster_back_left_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_left_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
<geometry>
<box size="0.012 0.132 0.020"/>
</geometry>
</collision>
<!-- This inertial field needs doesn't contain reliable data!! -->
<!-- <inertial>
<mass value="0.564" />
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
iyy="0.000498940" iyz="0.0"
izz="0.003879257" />
</inertial>-->
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
</robot>
nav2_bringup/bringup/worlds/waffle.model
+ 27
− 37
View file @ e3ee2da2
......@@ -403,9 +403,7 @@
</collision>
</link>
<link name="camera_link"/>
<link name="camera_rgb_frame">
<link name="camera_link">
<inertial>
<pose>0.069 -0.047 0.107 0 0 0</pose>
<inertia>
......@@ -418,7 +416,6 @@
</inertia>
<mass>0.035</mass>
</inertial>
<collision name="collision">
<pose>0 0.047 0 0 0 0</pose>
<geometry>
......@@ -427,42 +424,35 @@
</box>
</geometry>
</collision>
<pose>0.069 -0.047 0.107 0 0 0</pose>
<sensor name="camera" type="camera">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>30</update_rate>
<camera name="intel_realsense_r200">
<horizontal_fov>1.02974</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<sensor name="intel_realsense_r200_depth" type="depth">
<always_on>1</always_on>
<update_rate>5</update_rate>
<pose>0.064 -0.047 0.107 0 0 0</pose>
<camera name="realsense_depth_camera">
</camera>
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
<ros>
<!-- <namespace>test_cam</namespace> -->
<!-- <argument>image_raw:=image_demo</argument> -->
<!-- <argument>camera_info:=camera_info_demo</argument> -->
</ros>
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
<!-- frame_name>omit so it defaults to link name</frameName-->
<!-- <hack_baseline>0.07</hack_baseline> -->
</plugin>
<plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
<ros>
</ros>
<camera_name>intel_realsense_r200_depth</camera_name>
<frame_name>camera_depth_frame</frame_name>
<hack_baseline>0.07</hack_baseline>
<min_depth>0.001</min_depth>
<max_depth>5.0</max_depth>
</plugin>
</sensor>
<collision name="collision">
<pose>0 0.047 0 0 0 0</pose>
<geometry>
<box>
<size>0.008 0.130 0.022</size>
</box>
</geometry>
</collision>
<pose>0.069 -0.047 0.107 0 0 0</pose>
</link>
<joint name="base_joint" type="fixed">
......
nav2_costmap_2d/src/costmap_2d_ros.cpp
+ 2
− 2
View file @ e3ee2da2
......@@ -86,7 +86,8 @@ Costmap2DROS::Costmap2DROS(
declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
declare_parameter("global_frame", rclcpp::ParameterValue(std::string("map")));
declare_parameter("height", rclcpp::ParameterValue(10));
declare_parameter("height", rclcpp::ParameterValue(5));
declare_parameter("width", rclcpp::ParameterValue(5));
declare_parameter("lethal_cost_threshold", rclcpp::ParameterValue(100));
declare_parameter("map_topic", rclcpp::ParameterValue(
(parent_namespace_ == "/" ? "/" : parent_namespace_ + "/") + std::string("map")));
......@@ -106,7 +107,6 @@ Costmap2DROS::Costmap2DROS(
declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
declare_parameter("use_maximum", rclcpp::ParameterValue(false));
declare_parameter("width", rclcpp::ParameterValue(10));
declare_parameter("clearable_layers", rclcpp::ParameterValue(clearable_layers));
}
......
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