update
This commit is contained in:
parent
ae4f7f13a0
commit
31038085fb
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@ -0,0 +1,7 @@
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build/
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log/
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autorun_logs/
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__pycache__/
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*.pyc
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*.log
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node_modules/
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40
README.md
40
README.md
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@ -1,18 +1,34 @@
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# 开始拉取代码
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# 仓库 3D 场景
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## 场景预览
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---
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```
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git clone http://git-test.databall.tech:3000/databall-official/9b9c87b18201479ea66eb7e6b554a98e.git
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cd 9b9c87b18201479ea66eb7e6b554a98e
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## 启动（唯一命令，无需编译）
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# add your files to repo
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git push
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卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。
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```bash
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./gzsim_run.sh
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| `./gzsim_stop.sh` | 停止仿真 |
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```
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---
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**必须等到**终端出现：
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```text
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[autorun] GzWeb scene OK (... bytes), 9002 stable
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[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板
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```
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cd existing_repo
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git remote add origin http://git-test.databall.tech:3000/databall-official/9b9c87b18201479ea66eb7e6b554a98e.git
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git branch -M main
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git push -uf origin main
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```
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#!/usr/bin/env bash
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# 容器 INIT_SCRIPT 入口 — 仅调用唯一启动脚本
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exec /workspace/gzsim_run.sh
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@ -0,0 +1,40 @@
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# 仓库 3D 场景
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|
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## 场景预览
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|
||||
|
||||
|
||||
|
||||
---
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||||
|
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## 启动（唯一命令，无需编译）
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卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。
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```bash
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./gzsim_run.sh
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| `./gzsim_stop.sh` | 停止仿真 |
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```
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**必须等到**终端出现：
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```text
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[autorun] GzWeb scene OK (... bytes), 9002 stable
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[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板
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```
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打开rviz，显示实时点云数据
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```bash
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source install/setup.bash
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ros2 launch bcr_bot rviz.launch.py
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```
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Binary file not shown.
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After Width: | Height: | Size: 173 KiB |
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#!/usr/bin/env bash
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# 简要诊断 :9002 / gz-launch（GzWeb 使用 wss://同域/gzbridge/）
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set -euo pipefail
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echo "========== GzWeb / gzbridge (:9002) =========="
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echo "[1] port 9002"
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ss -ltnp 2>/dev/null | grep ':9002 ' || echo " (not listening)"
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echo
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echo "[2] processes"
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ps aux | grep -E 'gz sim|gz-launch|gz launch.*websocket|warehouse_gzweb' | grep -v grep || echo " (none)"
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echo
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echo "GzWeb panel: wss://{your-space}.spaces.databall.tech/gzbridge/"
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@ -0,0 +1,56 @@
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#!/usr/bin/env bash
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# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/）
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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sleep 3
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export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}"
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export LIBGL_ALWAYS_SOFTWARE=1
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export QT_QPA_PLATFORM=offscreen
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set +u
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source /opt/ros/humble/setup.bash
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[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash"
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set -u
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LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
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mkdir -p "$LOG_DIR"
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|
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pkill -f 'gz launch.*websocket' 2>/dev/null || true
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pkill -f 'gz-launch.*websocket' 2>/dev/null || true
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sleep 1
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echo "[autorun] launching warehouse Gazebo Sim ..."
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ros2 launch bcr_bot gz.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 &
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GZSIM_PID=$!
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sleep 15
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if ! ps -p "$GZSIM_PID" > /dev/null; then
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echo "[autorun] Gazebo exited early:"
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tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true
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exit 1
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fi
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WS_CONFIG="${ROOT}/src/websocket.gzlaunch"
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[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch"
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# WebsocketServer is a separate process from ros2 launch — it does NOT inherit
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# AppendEnvironmentVariable from warehouse_gzweb.launch.py. Without install/src
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# on GZ_SIM_RESOURCE_PATH, mesh requests get "Access denied" and GzWeb stays empty.
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export GZ_SIM_RESOURCE_PATH="${ROOT}/install:${ROOT}/src${GZ_SIM_RESOURCE_PATH:+:$GZ_SIM_RESOURCE_PATH}"
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export IGN_GAZEBO_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}"
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echo "[autorun] starting gz-launch websocket on :9002 ..."
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echo "[autorun] GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}"
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gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 &
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WEBSOCKET_PID=$!
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sleep 10
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if ! ps -p "$WEBSOCKET_PID" > /dev/null; then
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echo "[autorun] websocket exited:"
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cat "${LOG_DIR}/websocket.log" || true
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exit 1
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fi
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|
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echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}"
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wait
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#!/usr/bin/env bash
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# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/）
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set -euo pipefail
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||||
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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||||
|
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sleep 3
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||||
export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}"
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||||
export LIBGL_ALWAYS_SOFTWARE=1
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||||
export QT_QPA_PLATFORM=offscreen
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||||
set +u
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||||
source /opt/ros/humble/setup.bash
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||||
[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash"
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||||
set -u
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|
||||
# WebsocketServer asset whitelist (mesh under install/ share).
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export GZ_SIM_RESOURCE_PATH="/workspace/install/bcr_bot/share/bcr_bot:/workspace/install:${GZ_SIM_RESOURCE_PATH:-}"
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LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
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||||
mkdir -p "$LOG_DIR"
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||||
|
||||
pkill -f 'gz launch.*websocket' 2>/dev/null || true
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||||
pkill -f 'gz-launch.*websocket' 2>/dev/null || true
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||||
sleep 1
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||||
|
||||
echo "[autorun] launching warehouse Gazebo Sim ..."
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||||
ros2 launch bcr_bot warehouse_gzweb.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 &
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GZSIM_PID=$!
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||||
|
||||
sleep 15
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||||
if ! ps -p "$GZSIM_PID" > /dev/null; then
|
||||
echo "[autorun] Gazebo exited early:"
|
||||
tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true
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||||
exit 1
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||||
fi
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||||
|
||||
WS_CONFIG="${ROOT}/src/websocket.gzlaunch"
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||||
[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch"
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||||
|
||||
echo "[autorun] starting gz-launch websocket on :9002 ..."
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||||
gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 &
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||||
WEBSOCKET_PID=$!
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||||
|
||||
sleep 10
|
||||
if ! ps -p "$WEBSOCKET_PID" > /dev/null; then
|
||||
echo "[autorun] websocket exited:"
|
||||
cat "${LOG_DIR}/websocket.log" || true
|
||||
exit 1
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||||
fi
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||||
|
||||
echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}"
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||||
wait
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||||
|
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@ -0,0 +1,31 @@
|
|||
#!/usr/bin/env bash
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||||
# 停止仓库 GzWeb 仿真（释放 9002 与单实例锁）
|
||||
set -euo pipefail
|
||||
|
||||
echo "[stop] stopping warehouse GzWeb services ..."
|
||||
|
||||
pkill -9 -f 'warehouse_foxglove_guard.sh' 2>/dev/null || true
|
||||
pkill -9 -f 'warehouse_gzsim_keepalive.sh' 2>/dev/null || true
|
||||
pkill -9 -f 'warehouse_gzweb.launch.py' 2>/dev/null || true
|
||||
pkill -9 -f 'gz-launch.*websocket' 2>/dev/null || true
|
||||
pkill -9 -f 'gz launch.*websocket' 2>/dev/null || true
|
||||
pkill -9 -f 'foxglove_bridge' 2>/dev/null || true
|
||||
pkill -9 -f 'gz sim' 2>/dev/null || true
|
||||
pkill -9 -f 'robot_state_publisher' 2>/dev/null || true
|
||||
sleep 1
|
||||
|
||||
pids="$(ss -ltnp 2>/dev/null | grep ':9002 ' | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
|
||||
if [[ -n "${pids}" ]]; then
|
||||
kill -9 ${pids} 2>/dev/null || true
|
||||
fi
|
||||
|
||||
rm -f /tmp/warehouse_gzsim.lock
|
||||
sleep 1
|
||||
|
||||
if ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep >/dev/null; then
|
||||
echo "[stop] WARN: some processes may remain:"
|
||||
ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep || true
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "[stop] done. 9002 free, lock removed. Now run: ./gzsim_run.sh"
|
||||
|
|
@ -0,0 +1 @@
|
|||
isolated
|
||||
|
|
@ -0,0 +1,406 @@
|
|||
# Copyright 2016-2019 Dirk Thomas
|
||||
# Licensed under the Apache License, Version 2.0
|
||||
|
||||
import argparse
|
||||
from collections import OrderedDict
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
|
||||
FORMAT_STR_COMMENT_LINE = '# {comment}'
|
||||
FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
|
||||
FORMAT_STR_USE_ENV_VAR = '$env:{name}'
|
||||
FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({
|
||||
'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basename_map = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basename_map:
|
||||
basename_map[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basename_map[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basename_map.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basename_map.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({
|
||||
'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# Append even if the variable has not been set yet, in case a shell script
|
||||
# sets the same variable without the knowledge of this Python script.
|
||||
# Later, _remove_ending_separators() will cleanup any unintentional
|
||||
# leading separator.
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# Prepend even if the variable has not been set yet, in case a shell script
|
||||
# sets the same variable without the knowledge of this Python script.
|
||||
# Later, _remove_ending_separators() will cleanup any unintentional
|
||||
# trailing separator.
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started
|
||||
# appending/prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
|
|
@ -0,0 +1,406 @@
|
|||
# Copyright 2016-2019 Dirk Thomas
|
||||
# Licensed under the Apache License, Version 2.0
|
||||
|
||||
import argparse
|
||||
from collections import OrderedDict
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
|
||||
FORMAT_STR_COMMENT_LINE = '# {comment}'
|
||||
FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
|
||||
FORMAT_STR_USE_ENV_VAR = '${name}'
|
||||
FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'export {name}=${{{name}#:}}' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'export {name}=${{{name}%:}}' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({
|
||||
'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basename_map = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basename_map:
|
||||
basename_map[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basename_map[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basename_map.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basename_map.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({
|
||||
'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# Append even if the variable has not been set yet, in case a shell script
|
||||
# sets the same variable without the knowledge of this Python script.
|
||||
# Later, _remove_ending_separators() will cleanup any unintentional
|
||||
# leading separator.
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# Prepend even if the variable has not been set yet, in case a shell script
|
||||
# sets the same variable without the knowledge of this Python script.
|
||||
# Later, _remove_ending_separators() will cleanup any unintentional
|
||||
# trailing separator.
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started
|
||||
# appending/prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
#! /usr/bin/env python3
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import QoSProfile, ReliabilityPolicy, QoSDurabilityPolicy
|
||||
from geometry_msgs.msg import Twist
|
||||
|
||||
class CmdVelRemapper(Node):
|
||||
def __init__(self):
|
||||
super().__init__('cmd_vel_remapper')
|
||||
|
||||
qos_profile = QoSProfile(
|
||||
reliability=ReliabilityPolicy.RELIABLE,
|
||||
durability=QoSDurabilityPolicy.VOLATILE,
|
||||
depth=10
|
||||
)
|
||||
|
||||
# Create a subscriber for the cmd_vel topic
|
||||
self.subscription = self.create_subscription(
|
||||
Twist,
|
||||
'cmd_vel',
|
||||
self.cmd_vel_callback,
|
||||
qos_profile
|
||||
)
|
||||
self.subscription # Prevent unused variable warning
|
||||
|
||||
# Create a publisher for the bcr_bot/cmd_vel topic
|
||||
self.publisher = self.create_publisher(Twist, 'bcr_bot/cmd_vel', qos_profile)
|
||||
|
||||
def cmd_vel_callback(self, msg):
|
||||
# Republish the received message to bcr_bot/cmd_vel
|
||||
self.publisher.publish(msg)
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
cmd_vel_remapper = CmdVelRemapper()
|
||||
|
||||
try:
|
||||
rclpy.spin(cmd_vel_remapper)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
cmd_vel_remapper.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
ament_index_python;launch;launch_ros;robot_state_publisher;xacro
|
||||
|
|
@ -0,0 +1 @@
|
|||
/workspace/install/bcr_bot:/opt/ros/humble
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
|
||||
set(PACKAGE_VERSION "1.0.2")
|
||||
|
||||
set(PACKAGE_VERSION_EXACT False)
|
||||
set(PACKAGE_VERSION_COMPATIBLE False)
|
||||
|
||||
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
|
||||
set(PACKAGE_VERSION_EXACT True)
|
||||
set(PACKAGE_VERSION_COMPATIBLE True)
|
||||
endif()
|
||||
|
||||
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
|
||||
set(PACKAGE_VERSION_COMPATIBLE True)
|
||||
endif()
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
# generated from ament/cmake/core/templates/nameConfig.cmake.in
|
||||
|
||||
# prevent multiple inclusion
|
||||
if(_bcr_bot_CONFIG_INCLUDED)
|
||||
# ensure to keep the found flag the same
|
||||
if(NOT DEFINED bcr_bot_FOUND)
|
||||
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
|
||||
set(bcr_bot_FOUND FALSE)
|
||||
elseif(NOT bcr_bot_FOUND)
|
||||
# use separate condition to avoid uninitialized variable warning
|
||||
set(bcr_bot_FOUND FALSE)
|
||||
endif()
|
||||
return()
|
||||
endif()
|
||||
set(_bcr_bot_CONFIG_INCLUDED TRUE)
|
||||
|
||||
# output package information
|
||||
if(NOT bcr_bot_FIND_QUIETLY)
|
||||
message(STATUS "Found bcr_bot: 1.0.2 (${bcr_bot_DIR})")
|
||||
endif()
|
||||
|
||||
# warn when using a deprecated package
|
||||
if(NOT "" STREQUAL "")
|
||||
set(_msg "Package 'bcr_bot' is deprecated")
|
||||
# append custom deprecation text if available
|
||||
if(NOT "" STREQUAL "TRUE")
|
||||
set(_msg "${_msg} ()")
|
||||
endif()
|
||||
# optionally quiet the deprecation message
|
||||
if(NOT ${bcr_bot_DEPRECATED_QUIET})
|
||||
message(DEPRECATION "${_msg}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# flag package as ament-based to distinguish it after being find_package()-ed
|
||||
set(bcr_bot_FOUND_AMENT_PACKAGE TRUE)
|
||||
|
||||
# include all config extra files
|
||||
set(_extras "")
|
||||
foreach(_extra ${_extras})
|
||||
include("${bcr_bot_DIR}/${_extra}")
|
||||
endforeach()
|
||||
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,7 @@
|
|||
image: bcr_map.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [-14.3, -15.5, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
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: base_link
|
||||
scan_topic: /bcr_bot/scan
|
||||
use_map_saver: true
|
||||
mode: 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: test_steve
|
||||
# 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
|
||||
min_laser_range: 0.0 #for rastering images
|
||||
max_laser_range: 20.0 #for rastering images
|
||||
minimum_time_interval: 0.5
|
||||
transform_timeout: 0.2
|
||||
tf_buffer_duration: 30.0
|
||||
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
|
||||
|
|
@ -0,0 +1,323 @@
|
|||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_link"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 1.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: /bcr_bot/scan
|
||||
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /bcr_bot/odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
# '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 is used to add custom BT plugins to the executor (vector of strings).
|
||||
# Built-in plugins are added automatically
|
||||
# plugin_lib_names: []
|
||||
|
||||
# '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
|
||||
#/home/tiger/new_nav2/src/bcr_bot_nav2/config/tree.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_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_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
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
||||
goal_checker_plugins: ["goal_checker"]
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
goal_checker:
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
stateful: True
|
||||
FollowPath:
|
||||
plugin: "nav2_rotation_shim_controller::RotationShimController"
|
||||
primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
||||
angular_dist_threshold: 0.785
|
||||
forward_sampling_distance: 0.5
|
||||
rotate_to_heading_angular_vel: 1.8
|
||||
max_angular_accel: 3.2
|
||||
simulate_ahead_time: 1.0
|
||||
rotate_to_goal_heading: false
|
||||
|
||||
# Primary controller params can be placed here below
|
||||
# ...
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: True
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /bcr_bot/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 1.0
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /bcr_bot/scan
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
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: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
||||
yaml_filename: ""
|
||||
|
||||
map_saver:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
save_map_timeout: 5.0
|
||||
free_thresh_default: 0.25
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 0.0000000000000001
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoother_plugins: ["simple_smoother"]
|
||||
simple_smoother:
|
||||
plugin: "nav2_smoother::SimpleSmoother"
|
||||
tolerance: 1.0e-10
|
||||
max_its: 1000
|
||||
do_refinement: True
|
||||
|
||||
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", "assisted_teleop", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
assisted_teleop:
|
||||
plugin: "nav2_behaviors/AssistedTeleop"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 0.1
|
||||
use_sim_time: true
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
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
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
max_velocity: [0.26, 0.0, 1.0]
|
||||
min_velocity: [-0.26, 0.0, -1.0]
|
||||
max_accel: [2.5, 0.0, 3.2]
|
||||
max_decel: [-2.5, 0.0, -3.2]
|
||||
odom_topic: "odom"
|
||||
odom_duration: 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
# copied from
|
||||
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
|
||||
|
||||
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1 @@
|
|||
prepend-non-duplicate-if-exists;PATH;bin
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
|
||||
|
||||
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
|
||||
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
|
||||
fi
|
||||
|
|
@ -0,0 +1 @@
|
|||
prepend-non-duplicate;CMAKE_PREFIX_PATH;
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1,88 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
from os.path import join
|
||||
import xacro
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration, Command
|
||||
from launch.substitutions import PythonExpression
|
||||
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def get_xacro_to_doc(xacro_file_path, mappings):
|
||||
doc = xacro.parse(open(xacro_file_path))
|
||||
xacro.process_doc(doc, mappings=mappings)
|
||||
return doc
|
||||
|
||||
def generate_launch_description():
|
||||
# Get bcr_bot package's share directory path
|
||||
bcr_bot_path = get_package_share_directory('bcr_bot')
|
||||
|
||||
# Retrieve launch configuration arguments
|
||||
position_x = LaunchConfiguration("position_x")
|
||||
position_y = LaunchConfiguration("position_y")
|
||||
orientation_yaw = LaunchConfiguration("orientation_yaw")
|
||||
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
|
||||
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
|
||||
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
|
||||
odometry_source = LaunchConfiguration("odometry_source", default="world")
|
||||
robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot')
|
||||
|
||||
# Path to the Xacro file
|
||||
xacro_path = join(bcr_bot_path, 'urdf', 'bcr_bot.xacro')
|
||||
#doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom", "sim_gazebo": "true", "two_d_lidar_enabled": "true", "camera_enabled": "true"})
|
||||
|
||||
# Launch the robot_state_publisher node
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{'robot_description': Command( \
|
||||
['xacro ', xacro_path,
|
||||
' camera_enabled:=', camera_enabled,
|
||||
' stereo_camera_enabled:=', stereo_camera_enabled,
|
||||
' two_d_lidar_enabled:=', two_d_lidar_enabled,
|
||||
' sim_gazebo:=', "true",
|
||||
' odometry_source:=', odometry_source,
|
||||
' robot_namespace:=', robot_namespace,
|
||||
])}],
|
||||
remappings=[
|
||||
('/joint_states', PythonExpression(['"', robot_namespace, '/joint_states"'])),
|
||||
]
|
||||
)
|
||||
|
||||
# Launch the spawn_entity node to spawn the robot in Gazebo
|
||||
spawn_entity = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
output='screen',
|
||||
arguments=[
|
||||
'-topic', "/robot_description",
|
||||
'-entity', PythonExpression(['"', robot_namespace, '_robot"']), #default enitity name _bcr_bot
|
||||
'-z', "0.28",
|
||||
'-x', position_x,
|
||||
'-y', position_y,
|
||||
'-Y', orientation_yaw
|
||||
]
|
||||
)
|
||||
|
||||
|
||||
|
||||
return LaunchDescription([
|
||||
# Declare launch arguments
|
||||
DeclareLaunchArgument("camera_enabled", default_value = camera_enabled),
|
||||
DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled),
|
||||
DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled),
|
||||
DeclareLaunchArgument("position_x", default_value="0.0"),
|
||||
DeclareLaunchArgument("position_y", default_value="0.0"),
|
||||
DeclareLaunchArgument("orientation_yaw", default_value="0.0"),
|
||||
DeclareLaunchArgument("odometry_source", default_value = odometry_source),
|
||||
DeclareLaunchArgument("robot_namespace", default_value = robot_namespace),
|
||||
# DeclareLaunchArgument('robot_description', default_value=doc.toxml()),
|
||||
robot_state_publisher,
|
||||
spawn_entity
|
||||
])
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
#!/usr/bin/python3
|
||||
|
||||
from os.path import join
|
||||
from xacro import parse, process_doc
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration, Command
|
||||
|
||||
from launch_ros.actions import Node
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
def get_xacro_to_doc(xacro_file_path, mappings):
|
||||
doc = parse(open(xacro_file_path))
|
||||
process_doc(doc, mappings=mappings)
|
||||
return doc
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
bcr_bot_path = get_package_share_directory("bcr_bot")
|
||||
position_x = LaunchConfiguration("position_x")
|
||||
position_y = LaunchConfiguration("position_y")
|
||||
orientation_yaw = LaunchConfiguration("orientation_yaw")
|
||||
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
|
||||
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
|
||||
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
|
||||
odometry_source = LaunchConfiguration("odometry_source")
|
||||
|
||||
# robot_description_content = get_xacro_to_doc(
|
||||
# join(bcr_bot_path, "urdf", "bcr_bot.xacro"),
|
||||
# {"sim_gz": "true",
|
||||
# "two_d_lidar_enabled": "true",
|
||||
# "conveyor_enabled": "false",
|
||||
# "camera_enabled": "true"
|
||||
# }
|
||||
# ).toxml()
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
parameters=[
|
||||
{'robot_description': Command( \
|
||||
['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
|
||||
' camera_enabled:=', camera_enabled,
|
||||
' stereo_camera_enabled:=', stereo_camera_enabled,
|
||||
' two_d_lidar_enabled:=', two_d_lidar_enabled,
|
||||
' odometry_source:=', odometry_source,
|
||||
' sim_gz:=', "true"
|
||||
])}],
|
||||
remappings=[
|
||||
('/joint_states', 'bcr_bot/joint_states'),
|
||||
]
|
||||
)
|
||||
|
||||
gz_spawn_entity = Node(
|
||||
package="ros_gz_sim",
|
||||
executable="create",
|
||||
arguments=[
|
||||
"-topic", "/robot_description",
|
||||
"-name", "bcr_bot",
|
||||
"-allow_renaming", "true",
|
||||
"-z", "0.28",
|
||||
"-x", position_x,
|
||||
"-y", position_y,
|
||||
"-Y", orientation_yaw
|
||||
]
|
||||
)
|
||||
|
||||
gz_ros2_bridge = Node(
|
||||
package="ros_gz_bridge",
|
||||
executable="parameter_bridge",
|
||||
arguments=[
|
||||
"/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
|
||||
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
|
||||
"/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
|
||||
"/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V",
|
||||
"/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
|
||||
"/kinect_camera@sensor_msgs/msg/Image[gz.msgs.Image",
|
||||
"/stereo_camera/left/image_raw@sensor_msgs/msg/Image[gz.msgs.Image",
|
||||
"stereo_camera/right/image_raw@sensor_msgs/msg/Image[gz.msgs.Image",
|
||||
"kinect_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
|
||||
"stereo_camera/left/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
|
||||
"stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
|
||||
"/kinect_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
|
||||
"/imu@sensor_msgs/msg/Imu[gz.msgs.IMU",
|
||||
"/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model"
|
||||
],
|
||||
remappings=[
|
||||
('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'),
|
||||
('/odom', 'bcr_bot/odom'),
|
||||
('/scan', 'bcr_bot/scan'),
|
||||
('/kinect_camera', 'bcr_bot/kinect_camera'),
|
||||
('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'),
|
||||
('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'),
|
||||
('/imu', 'bcr_bot/imu'),
|
||||
('/cmd_vel', 'bcr_bot/cmd_vel'),
|
||||
('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'),
|
||||
('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'),
|
||||
('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'),
|
||||
('/kinect_camera/points', 'bcr_bot/kinect_camera/points'),
|
||||
]
|
||||
)
|
||||
|
||||
transform_publisher = Node(
|
||||
package="tf2_ros",
|
||||
executable="static_transform_publisher",
|
||||
arguments = ["--x", "0.0",
|
||||
"--y", "0.0",
|
||||
"--z", "0.0",
|
||||
"--yaw", "0.0",
|
||||
"--pitch", "0.0",
|
||||
"--roll", "0.0",
|
||||
"--frame-id", "kinect_camera",
|
||||
"--child-frame-id", "bcr_bot/base_footprint/kinect_camera"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument("camera_enabled", default_value = camera_enabled),
|
||||
DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled),
|
||||
DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled),
|
||||
DeclareLaunchArgument("position_x", default_value="0.0"),
|
||||
DeclareLaunchArgument("position_y", default_value="0.0"),
|
||||
DeclareLaunchArgument("orientation_yaw", default_value="0.0"),
|
||||
DeclareLaunchArgument("odometry_source", default_value="world"),
|
||||
robot_state_publisher,
|
||||
gz_spawn_entity, transform_publisher, gz_ros2_bridge
|
||||
])
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
#!/usr/bin/python3
|
||||
|
||||
from os.path import join
|
||||
from xacro import parse, process_doc
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration, Command
|
||||
|
||||
from launch_ros.actions import Node
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
def get_xacro_to_doc(xacro_file_path, mappings):
|
||||
doc = parse(open(xacro_file_path))
|
||||
process_doc(doc, mappings=mappings)
|
||||
return doc
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
bcr_bot_path = get_package_share_directory("bcr_bot")
|
||||
position_x = LaunchConfiguration("position_x")
|
||||
position_y = LaunchConfiguration("position_y")
|
||||
orientation_yaw = LaunchConfiguration("orientation_yaw")
|
||||
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
|
||||
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
|
||||
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
|
||||
odometry_source = LaunchConfiguration("odometry_source")
|
||||
|
||||
# robot_description_content = get_xacro_to_doc(
|
||||
# join(bcr_bot_path, "urdf", "bcr_bot.xacro"),
|
||||
# {"sim_gz": "true",
|
||||
# "two_d_lidar_enabled": "true",
|
||||
# "conveyor_enabled": "false",
|
||||
# "camera_enabled": "true"
|
||||
# }
|
||||
# ).toxml()
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
parameters=[
|
||||
{'robot_description': Command( \
|
||||
['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
|
||||
' camera_enabled:=', camera_enabled,
|
||||
' stereo_camera_enabled:=', stereo_camera_enabled,
|
||||
' two_d_lidar_enabled:=', two_d_lidar_enabled,
|
||||
' odometry_source:=', odometry_source,
|
||||
' sim_ign:=', "true"
|
||||
])}],
|
||||
remappings=[
|
||||
('/joint_states', 'bcr_bot/joint_states'),
|
||||
]
|
||||
)
|
||||
|
||||
gz_spawn_entity = Node(
|
||||
package="ros_gz_sim",
|
||||
executable="create",
|
||||
arguments=[
|
||||
"-topic", "/robot_description",
|
||||
"-name", "bcr_bot",
|
||||
"-allow_renaming", "true",
|
||||
"-z", "0.28",
|
||||
"-x", position_x,
|
||||
"-y", position_y,
|
||||
"-Y", orientation_yaw
|
||||
]
|
||||
)
|
||||
|
||||
gz_ros2_bridge = Node(
|
||||
package="ros_gz_bridge",
|
||||
executable="parameter_bridge",
|
||||
arguments=[
|
||||
"/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist",
|
||||
"/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
|
||||
"/odom@nav_msgs/msg/Odometry[ignition.msgs.Odometry",
|
||||
"/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V",
|
||||
"/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
|
||||
"/kinect_camera@sensor_msgs/msg/Image[ignition.msgs.Image",
|
||||
"/stereo_camera/left/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image",
|
||||
"stereo_camera/right/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image",
|
||||
"kinect_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
|
||||
"stereo_camera/left/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
|
||||
"stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
|
||||
"/kinect_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
|
||||
"/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU",
|
||||
"/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model"
|
||||
],
|
||||
remappings=[
|
||||
('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'),
|
||||
('/odom', 'bcr_bot/odom'),
|
||||
('/scan', 'bcr_bot/scan'),
|
||||
('/kinect_camera', 'bcr_bot/kinect_camera'),
|
||||
('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'),
|
||||
('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'),
|
||||
('/imu', 'bcr_bot/imu'),
|
||||
('/cmd_vel', 'bcr_bot/cmd_vel'),
|
||||
('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'),
|
||||
('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'),
|
||||
('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'),
|
||||
('/kinect_camera/points', 'bcr_bot/kinect_camera/points'),
|
||||
]
|
||||
)
|
||||
|
||||
transform_publisher = Node(
|
||||
package="tf2_ros",
|
||||
executable="static_transform_publisher",
|
||||
arguments = ["--x", "0.0",
|
||||
"--y", "0.0",
|
||||
"--z", "0.0",
|
||||
"--yaw", "0.0",
|
||||
"--pitch", "0.0",
|
||||
"--roll", "0.0",
|
||||
"--frame-id", "kinect_camera",
|
||||
"--child-frame-id", "bcr_bot/base_footprint/kinect_camera"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument("camera_enabled", default_value = camera_enabled),
|
||||
DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled),
|
||||
DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled),
|
||||
DeclareLaunchArgument("position_x", default_value="0.0"),
|
||||
DeclareLaunchArgument("position_y", default_value="0.0"),
|
||||
DeclareLaunchArgument("orientation_yaw", default_value="0.0"),
|
||||
DeclareLaunchArgument("odometry_source", default_value="world"),
|
||||
robot_state_publisher,
|
||||
gz_spawn_entity, transform_publisher, gz_ros2_bridge
|
||||
])
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
from os.path import join
|
||||
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.actions import SetEnvironmentVariable
|
||||
from launch.actions import AppendEnvironmentVariable
|
||||
|
||||
def generate_launch_description():
|
||||
# Get bcr_bot package's share directory path
|
||||
bcr_bot_path = get_package_share_directory('bcr_bot')
|
||||
|
||||
# Retrieve launch configuration arguments
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
|
||||
|
||||
world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, 'worlds', 'small_warehouse.sdf'))
|
||||
|
||||
# Include the Gazebo launch file
|
||||
gazebo_share = get_package_share_directory("gazebo_ros")
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(gazebo_share, "launch", "gazebo.launch.py"))
|
||||
)
|
||||
|
||||
# spawing bcr_bot
|
||||
spawn_bcr_bot_node = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_gazebo_spawn.launch.py")),
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
# Declare launch arguments
|
||||
|
||||
AppendEnvironmentVariable(
|
||||
name='GAZEBO_MODEL_PATH',
|
||||
value=join(bcr_bot_path, "models")),
|
||||
|
||||
SetEnvironmentVariable(
|
||||
name='GAZEBO_RESOURCE_PATH',
|
||||
value="/usr/share/gazebo-11:" + join(bcr_bot_path, "worlds")),
|
||||
DeclareLaunchArgument('world', default_value = world_file),
|
||||
DeclareLaunchArgument('gui', default_value='true'),
|
||||
DeclareLaunchArgument('verbose', default_value='false'),
|
||||
DeclareLaunchArgument('use_sim_time', default_value = use_sim_time),
|
||||
gazebo,spawn_bcr_bot_node
|
||||
])
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
#!/usr/bin/python3
|
||||
|
||||
from os.path import join
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.substitutions import LaunchConfiguration,PythonExpression
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch.actions import AppendEnvironmentVariable
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
use_sim_time = LaunchConfiguration("use_sim_time", default=True)
|
||||
|
||||
bcr_bot_path = get_package_share_directory("bcr_bot")
|
||||
world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, "worlds", "small_warehouse.sdf"))
|
||||
gz_sim_share = get_package_share_directory("ros_gz_sim")
|
||||
|
||||
gz_sim = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")),
|
||||
launch_arguments={
|
||||
"gz_args" : PythonExpression(["'", world_file, " -r -s'"])
|
||||
|
||||
}.items()
|
||||
)
|
||||
|
||||
spawn_bcr_bot_node = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_gz_spawn.launch.py")),
|
||||
launch_arguments={
|
||||
# Pass any arguments if your spawn.launch.py requires
|
||||
}.items()
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
AppendEnvironmentVariable(
|
||||
name='GZ_SIM_RESOURCE_PATH',
|
||||
value=join(bcr_bot_path, "worlds")),
|
||||
|
||||
AppendEnvironmentVariable(
|
||||
name='GZ_SIM_RESOURCE_PATH',
|
||||
value=join(bcr_bot_path, "models")),
|
||||
|
||||
DeclareLaunchArgument("use_sim_time", default_value=use_sim_time),
|
||||
DeclareLaunchArgument("world_file", default_value=world_file),
|
||||
|
||||
gz_sim, spawn_bcr_bot_node
|
||||
])
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
#!/usr/bin/python3
|
||||
|
||||
from os.path import join
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
from launch.substitutions import LaunchConfiguration,PythonExpression
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch.actions import AppendEnvironmentVariable
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
use_sim_time = LaunchConfiguration("use_sim_time", default=True)
|
||||
|
||||
bcr_bot_path = get_package_share_directory("bcr_bot")
|
||||
world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, "worlds", "small_warehouse.sdf"))
|
||||
gz_sim_share = get_package_share_directory("ros_gz_sim")
|
||||
|
||||
gz_sim = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")),
|
||||
launch_arguments={
|
||||
"gz_args" : PythonExpression(["'", world_file, " -r'"])
|
||||
|
||||
}.items()
|
||||
)
|
||||
|
||||
spawn_bcr_bot_node = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_ign_spawn.launch.py")),
|
||||
launch_arguments={
|
||||
# Pass any arguments if your spawn.launch.py requires
|
||||
}.items()
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
AppendEnvironmentVariable(
|
||||
name='IGN_GAZEBO_RESOURCE_PATH',
|
||||
value=join(bcr_bot_path, "worlds")),
|
||||
|
||||
AppendEnvironmentVariable(
|
||||
name='IGN_GAZEBO_RESOURCE_PATH',
|
||||
value=join(bcr_bot_path, "models")),
|
||||
|
||||
DeclareLaunchArgument("use_sim_time", default_value=use_sim_time),
|
||||
DeclareLaunchArgument("world_file", default_value=world_file),
|
||||
|
||||
gz_sim, spawn_bcr_bot_node
|
||||
])
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_slam_toolbox_dir = get_package_share_directory('slam_toolbox')
|
||||
pkg_bcr = get_package_share_directory('bcr_bot')
|
||||
|
||||
# Declare launch arguments
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='True')
|
||||
autostart = LaunchConfiguration('autostart', default='True')
|
||||
|
||||
declare_use_sim_time = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true'
|
||||
)
|
||||
|
||||
declare_autostart = DeclareLaunchArgument(
|
||||
'autostart',
|
||||
default_value='true',
|
||||
description='Automatically start the slam_toolbox stack'
|
||||
)
|
||||
|
||||
# Include slam_toolbox launch file
|
||||
slam_toolbox_launch_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_slam_toolbox_dir, 'launch', 'online_async_launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'use_sim_time': use_sim_time,
|
||||
'slam_params_file': os.path.join(pkg_bcr, 'config', 'mapper_params_online_async.yaml'),
|
||||
}.items()
|
||||
)
|
||||
|
||||
# Launch RViz
|
||||
rviz_launch_cmd = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
arguments=[
|
||||
'-d', os.path.join(pkg_bcr, 'rviz', 'map.rviz')
|
||||
]
|
||||
)
|
||||
|
||||
# Static transform publisher
|
||||
static_transform_publisher_node = Node(
|
||||
package='tf2_ros',
|
||||
executable='static_transform_publisher',
|
||||
name='map_to_odom',
|
||||
output='screen',
|
||||
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
|
||||
)
|
||||
|
||||
# Create launch description and add actions
|
||||
ld = LaunchDescription()
|
||||
|
||||
ld.add_action(declare_use_sim_time)
|
||||
ld.add_action(declare_autostart)
|
||||
ld.add_action(slam_toolbox_launch_cmd)
|
||||
ld.add_action(rviz_launch_cmd)
|
||||
ld.add_action(static_transform_publisher_node)
|
||||
|
||||
return ld
|
||||
|
||||
|
|
@ -0,0 +1,83 @@
|
|||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_nav2_dir = get_package_share_directory('nav2_bringup')
|
||||
pkg_bcr = get_package_share_directory('bcr_bot')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='True')
|
||||
autostart = LaunchConfiguration('autostart', default='True')
|
||||
|
||||
nav2_launch_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_nav2_dir, 'launch', 'bringup_launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'use_sim_time': use_sim_time,
|
||||
'autostart': autostart,
|
||||
'map': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml'),
|
||||
'params_file': os.path.join(pkg_bcr, 'config', 'nav2_params.yaml'),
|
||||
'package_path': pkg_bcr,
|
||||
}.items()
|
||||
)
|
||||
|
||||
rviz_launch_cmd = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
arguments=[
|
||||
'-d' + os.path.join(
|
||||
get_package_share_directory('nav2_bringup'),
|
||||
'rviz',
|
||||
'nav2_default_view.rviz'
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
amcl_node = Node(
|
||||
package='nav2_amcl',
|
||||
executable='amcl',
|
||||
name='amcl',
|
||||
output='screen',
|
||||
parameters=[os.path.join(pkg_bcr, 'config', 'amcl_params.yaml')],
|
||||
)
|
||||
|
||||
map_server_node = Node(
|
||||
package='nav2_map_server',
|
||||
executable='map_server',
|
||||
name='map_server',
|
||||
output='screen',
|
||||
parameters=[{'yaml_filename': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml')}],
|
||||
)
|
||||
|
||||
static_transform_publisher_node = Node(
|
||||
package='tf2_ros',
|
||||
executable='static_transform_publisher',
|
||||
name='map_to_odom',
|
||||
output='screen',
|
||||
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
|
||||
)
|
||||
|
||||
remapper_node = Node(
|
||||
package='bcr_bot',
|
||||
executable='remapper.py',
|
||||
name='remapper',
|
||||
output='screen',
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
ld.add_action(nav2_launch_cmd)
|
||||
ld.add_action(rviz_launch_cmd)
|
||||
ld.add_action(amcl_node)
|
||||
ld.add_action(map_server_node)
|
||||
ld.add_action(static_transform_publisher_node)
|
||||
ld.add_action(remapper_node)
|
||||
|
||||
return ld
|
||||
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
#!/usr/bin/env python3
|
||||
import os
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
|
||||
def get_xacro_to_doc(xacro_file_path, mappings):
|
||||
doc = xacro.parse(open(xacro_file_path))
|
||||
xacro.process_doc(doc, mappings=mappings)
|
||||
return doc
|
||||
|
||||
def generate_launch_description():
|
||||
# Launch configurations
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
|
||||
isaac_sim = LaunchConfiguration('isaac_sim')
|
||||
|
||||
# Process XACRO
|
||||
xacro_path = os.path.join(get_package_share_directory('bcr_bot'), 'urdf', 'bcr_bot.xacro')
|
||||
doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom"})
|
||||
|
||||
# Nodes
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
output='screen',
|
||||
parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}],
|
||||
condition=UnlessCondition(isaac_sim) # Only start if isaac_sim is false
|
||||
)
|
||||
|
||||
rviz = Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
output='screen',
|
||||
arguments=['-d', os.path.join(get_package_share_directory('bcr_bot'), 'rviz', 'entire_setup.rviz')]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
# Declare arguments
|
||||
DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation time if true'
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'isaac_sim',
|
||||
default_value='false',
|
||||
description='Set to true when using Isaac Sim'
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'robot_description',
|
||||
default_value=doc.toxml(),
|
||||
description='Robot description in URDF/XACRO format'
|
||||
),
|
||||
# Nodes
|
||||
robot_state_publisher,
|
||||
rviz
|
||||
])
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
#!/usr/bin/python3
|
||||
"""GzWeb 迷你仓库场景：仅 Gazebo Sim + 机器人，无 RViz / Nav2 / SLAM。"""
|
||||
from os.path import join
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (
|
||||
AppendEnvironmentVariable,
|
||||
DeclareLaunchArgument,
|
||||
IncludeLaunchDescription,
|
||||
TimerAction,
|
||||
)
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
bcr_bot_path = get_package_share_directory('bcr_bot')
|
||||
world_file = LaunchConfiguration(
|
||||
'world_file',
|
||||
default=join(bcr_bot_path, 'worlds', 'small_warehouse.sdf'),
|
||||
)
|
||||
gz_sim_share = get_package_share_directory('ros_gz_sim')
|
||||
|
||||
gz_sim = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
join(gz_sim_share, 'launch', 'gz_sim.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'gz_args': PythonExpression(["'-r -s ", world_file, "'"]),
|
||||
}.items(),
|
||||
)
|
||||
|
||||
spawn = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
join(bcr_bot_path, 'launch', 'warehouse_spawn.launch.py')
|
||||
),
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
AppendEnvironmentVariable(
|
||||
name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')),
|
||||
AppendEnvironmentVariable(
|
||||
name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'models')),
|
||||
AppendEnvironmentVariable(
|
||||
name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')),
|
||||
AppendEnvironmentVariable(
|
||||
name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'models')),
|
||||
DeclareLaunchArgument('world_file', default_value=world_file),
|
||||
gz_sim,
|
||||
TimerAction(period=8.0, actions=[spawn]),
|
||||
])
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
#!/usr/bin/python3
|
||||
"""生成 BCR 机器人（GzWeb 可视化，无 ros_gz_bridge / Nav2）。"""
|
||||
from os.path import join
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import Command, LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
bcr_bot_path = get_package_share_directory('bcr_bot')
|
||||
position_x = LaunchConfiguration('position_x', default='0.0')
|
||||
position_y = LaunchConfiguration('position_y', default='0.0')
|
||||
orientation_yaw = LaunchConfiguration('orientation_yaw', default='0.0')
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[{
|
||||
'robot_description': Command([
|
||||
'xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
|
||||
' camera_enabled:=false',
|
||||
' stereo_camera_enabled:=false',
|
||||
' two_d_lidar_enabled:=false',
|
||||
' odometry_source:=world',
|
||||
' sim_gz:=true',
|
||||
]),
|
||||
}],
|
||||
remappings=[('/joint_states', 'bcr_bot/joint_states')],
|
||||
)
|
||||
|
||||
gz_spawn_entity = Node(
|
||||
package='ros_gz_sim',
|
||||
executable='create',
|
||||
arguments=[
|
||||
'-topic', '/robot_description',
|
||||
'-name', 'bcr_bot',
|
||||
'-allow_renaming', 'true',
|
||||
'-z', '0.28',
|
||||
'-x', position_x,
|
||||
'-y', position_y,
|
||||
'-Y', orientation_yaw,
|
||||
],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument('position_x', default_value='0.0'),
|
||||
DeclareLaunchArgument('position_y', default_value='0.0'),
|
||||
DeclareLaunchArgument('orientation_yaw', default_value='0.0'),
|
||||
robot_state_publisher,
|
||||
gz_spawn_entity,
|
||||
])
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
# generated from ament_package/template/package_level/local_setup.bash.in
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
source;share/bcr_bot/environment/ament_prefix_path.sh
|
||||
source;share/bcr_bot/environment/path.sh
|
||||
|
|
@ -0,0 +1,184 @@
|
|||
# generated from ament_package/template/package_level/local_setup.sh.in
|
||||
|
||||
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
|
||||
# or fall back to the destination set at configure time
|
||||
: ${AMENT_CURRENT_PREFIX:="/workspace/install/bcr_bot"}
|
||||
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
|
||||
"exist. Consider sourcing a different extension than '.sh'." 1>&2
|
||||
else
|
||||
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to append values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# avoid leading separator
|
||||
eval _values=\"\$$_listname\"
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
_ament_append_value_IFS=$IFS
|
||||
unset IFS
|
||||
eval export $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
IFS=$_ament_append_value_IFS
|
||||
unset _ament_append_value_IFS
|
||||
fi
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to append non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_unique_value() {
|
||||
# arguments
|
||||
_listname=$1
|
||||
_value=$2
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\$$_listname
|
||||
_duplicate=
|
||||
_ament_append_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ $_item = $_value ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# append only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid leading separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_append_unique_value_IFS
|
||||
unset _ament_append_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to prepend non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding trailing separators
|
||||
ament_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\"\$$_listname\"
|
||||
_duplicate=
|
||||
_ament_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# prepend only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid trailing separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval export $_listname=\"$_value:\$$_listname\"
|
||||
#eval echo "prepend list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_prepend_unique_value_IFS
|
||||
unset _ament_prepend_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# list all environment hooks of this package
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/path.sh"
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
if [ -f "$_hook" ]; then
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_hook\""
|
||||
fi
|
||||
. "$_hook"
|
||||
fi
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to wordaround SH_WORD_SPLIT not being set
|
||||
ament_zsh_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
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# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
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unset AMENT_CURRENT_PREFIX
|
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|
|
@ -0,0 +1,786 @@
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BIN
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Normal file
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Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue