From 2f6a498e4a96b7c5b062dcc4faa316820a1fee1d Mon Sep 17 00:00:00 2001 From: Huang77 <2366619700@qq.com> Date: Sun, 26 Jul 2026 13:35:16 +0800 Subject: [PATCH] update --- .env | 0 .gitattributes | 0 .gitignore | 19 + CHANGELOG.rst | 8 + CMakeLists.txt | 17 + Dockerfile | 47 + LICENSE | 201 + README.md | 326 +- autorun.sh | 0 config/bcr_map.pgm | 4 + config/bcr_map.yaml | 7 + config/mapper_params_online_async.yaml | 75 + config/nav2_params.yaml | 323 + launch/bcr_bot_gazebo_spawn.launch.py | 88 + launch/bcr_bot_gz_spawn.launch.py | 129 + launch/bcr_bot_ign_spawn.launch.py | 129 + launch/gazebo.launch.py | 50 + launch/gz.launch.py | 48 + launch/ign.launch.py | 48 + launch/mapping.launch.py | 69 + launch/nav2.launch.py | 83 + launch/rviz.launch.py | 63 + launch/warehouse_gzweb.launch.py | 52 + launch/warehouse_spawn.launch.py | 55 + meshes/bcr_bot_mesh.dae | 432 + meshes/kinect/d415.dae | 3094 +++ meshes/kinect/kinect.dae | 165 + meshes/kinect/kinect.jpg | Bin 0 -> 45027 bytes 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mode 100644 index e69de29..0000000 diff --git a/.gitattributes b/.gitattributes deleted file mode 100644 index e69de29..0000000 diff --git a/.gitignore b/.gitignore index e69de29..43ed185 100644 --- a/.gitignore +++ b/.gitignore @@ -0,0 +1,19 @@ +# Python +__pycache__/ +*.pyc + +# ROS +build/ +devel/ +logs/ +install/ +build_isolated/ +devel_isolated/ +*.bag +CATKIN_IGNORE + +# Misc +.vscode/ +*.swp +log/ +test/ diff --git a/CHANGELOG.rst b/CHANGELOG.rst new file mode 100644 index 0000000..12606fa --- /dev/null +++ b/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package bcr_bot +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.2 (2024-04-02) +------------------ +* Setting Gazebo resource paths through launch files +* Modified launch files to dynamically spawn bcr_bot diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..5ef2cd9 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.5) +project(bcr_bot) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY launch meshes models urdf worlds rviz + DESTINATION share/${PROJECT_NAME}/ +) + +install( DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config) + + +install(PROGRAMS scripts/remapper.py + DESTINATION lib/${PROJECT_NAME}) + +ament_package() diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..3826686 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,47 @@ +ARG ROS_DISTRO=humble + +# Use base image, https://hub.docker.com/_/ros/ +FROM ros:$ROS_DISTRO-ros-base + +# Prevent console from interacting with the user +# Read more here - https://bobcares.com/blog/debian_frontendnoninteractive-docker +ARG DEBIAN_FRONTEND=noninteractive + +# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs +RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq + +# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz +RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root +ENV XDG_RUNTIME_DIR='/tmp/runtime-root' + +# https://stackoverflow.com/questions/51023312/docker-having-issues-installing-apt-utils + +# Non Python/ROS Dependencies +# apt-utils: https://stackoverflow.com/questions/51023312/docker-having-issues-installing-apt-utils +RUN apt-get install --no-install-recommends -yqqq \ + apt-utils \ + vim \ + git + +# Python Dependencies +RUN apt-get install --no-install-recommends -yqqq \ + python3-pip + +# Install additional ROS packages +RUN apt-get install --no-install-recommends -yqq \ + ros-$ROS_DISTRO-rviz2 \ + ros-$ROS_DISTRO-xacro \ + ros-$ROS_DISTRO-teleop-twist-keyboard \ + ros-$ROS_DISTRO-navigation2 \ + ros-$ROS_DISTRO-nav2-bringup + +# Using shell to use bash commands like 'source' +SHELL ["/bin/bash", "-c"] + +# Target workspace for ROS2 packages +ARG WORKSPACE=/root/ros2_ws + +# Add target workspace in environment +ENV WORKSPACE=$WORKSPACE + +WORKDIR $WORKSPACE diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - + +1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004) +2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204) +3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204) +4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204) +5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204) + +Each of the following sections describes depedencies, build and run instructions for each of the above combinations + +## Noetic + Classic (Ubuntu 20.04) + +### Dependencies + +In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y ``` ---- + +### Source Build + +```bash +catkin build --packages-select bcr_bot ``` -cd existing_repo -git remote add origin http://git-test.databall.tech:3000/databall-official/3ebe2700b00340d09a1256d3b4a34b9b.git -git branch -M main -git push -uf origin main -``` \ No newline at end of file + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-noetic-bcr-bot +``` +### Run + +To launch the robot in Gazebo, +```bash +roslaunch bcr_bot gazebo.launch +``` +To view in rviz, +```bash +roslaunch bcr_bot rviz.launch +``` +### Configuration + +The launch file accepts multiple launch arguments, +```bash +roslaunch bcr_bot gazebo.launch + camera_enabled:=True \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.world \ + robot_namespace:="bcr_bot" +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc +``` + +## Humble + Classic (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress) + +```bash +sudo apt-get install ros-humble-gazebo-ros-pkgs +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Source Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-humble-bcr-bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot gazebo.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot gazebo.launch.py \ + camera_enabled:=True \ + two_d_lidar_enabled:=True \ + stereo_camera_enabled:=False \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf \ + robot_namespace:="bcr_bot" +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` +## Humble + Fortress (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, + +```bash +sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Source Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-humble-bcr-bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot ign.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` + +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot ign.launch.py \ + camera_enabled:=True \ + stereo_camera_enabled:=False \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` + +## Humble + Harmonic (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and [Gazebo Harmonic installations](https://gazebosim.org/docs/harmonic/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, + +```bash +sudo apt-get install ros-humble-ros-gzharmonic +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot gz.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` + +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot gz.launch.py \ + camera_enabled:=True \ + stereo_camera_enabled:=False \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf +``` +**Note:** +1. To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` +2. Harmonic support is not available in the bcr_bot binaries yet. + +**Warning:** `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool. + +### Humble + Isaac Sim (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Run + +To launch the robot in Isaac Sim: +- Open Isaac Sim and load the `warehouse_scene.usd` or `scene.usd` from [here](usd). +- Add in extra viewports for different camera views. +- Start the Simulation: Run the simulation directly within Isaac Sim. +- The following USDs are included in the package: + - `warehouse_scene.usd` - Warehouse scene with a robot. + - `scene.usd` - Scene with a robot in a empty world. + - `bcr_bot.usd` - Robot model that can be imported into any scene. + - `ActionGraphFull.usd` - Action graph for the robot to publish all the required topics. + +To view in rviz: +```bash +ros2 launch bcr_bot rviz.launch.py +``` +NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox). + +### Mapping with SLAM Toolbox + +SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation. + +NOTE: The command to run mapping is common between all versions of gazebo. + +To start mapping: +```bash +ros2 launch bcr_bot mapping.launch.py +``` + +Use the teleop twist keyboard to control the robot and map the area: +```bash +ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel +``` + +To save the map: +```bash +cd src/bcr_bot/config +ros2 run nav2_map_server map_saver_cli -f bcr_map +``` + +### Using Nav2 with bcr_bot + +Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs. + +NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim. + +To run Nav2 on bcr_bot: +```bash +ros2 launch bcr_bot nav2.launch.py +``` + +### Simulation and Visualization +1. Gz Sim (Ignition Gazebo) (small_warehouse World): + ![](res/gz.jpg) + +2. Isaac Sim: + ![](res/isaac.jpg) + +3. Rviz (Depth camera) (small_warehouse World): + ![](res/rviz.jpg) diff --git a/autorun.sh b/autorun.sh deleted file mode 100644 index e69de29..0000000 diff --git a/config/bcr_map.pgm b/config/bcr_map.pgm new file mode 100755 index 0000000..122b47e --- /dev/null +++ b/config/bcr_map.pgm @@ -0,0 +1,4 @@ +P5 +587 624 +255 + \ No newline at end of file diff --git a/config/bcr_map.yaml b/config/bcr_map.yaml new file mode 100755 index 0000000..07835c9 --- /dev/null +++ b/config/bcr_map.yaml @@ -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 \ No newline at end of file diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml new file mode 100644 index 0000000..090db9d --- /dev/null +++ b/config/mapper_params_online_async.yaml @@ -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 diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml new file mode 100644 index 0000000..e38e85d --- /dev/null +++ b/config/nav2_params.yaml @@ -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 + diff --git a/launch/bcr_bot_gazebo_spawn.launch.py b/launch/bcr_bot_gazebo_spawn.launch.py new file mode 100644 index 0000000..9cc11f5 --- /dev/null +++ b/launch/bcr_bot_gazebo_spawn.launch.py @@ -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 + ]) diff --git a/launch/bcr_bot_gz_spawn.launch.py b/launch/bcr_bot_gz_spawn.launch.py new file mode 100644 index 0000000..6faec90 --- /dev/null +++ b/launch/bcr_bot_gz_spawn.launch.py @@ -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 + ]) \ No newline at end of file diff --git a/launch/bcr_bot_ign_spawn.launch.py b/launch/bcr_bot_ign_spawn.launch.py new file mode 100644 index 0000000..e7671d3 --- /dev/null +++ b/launch/bcr_bot_ign_spawn.launch.py @@ -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 + ]) diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py new file mode 100644 index 0000000..b82ed11 --- /dev/null +++ b/launch/gazebo.launch.py @@ -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 + ]) diff --git a/launch/gz.launch.py b/launch/gz.launch.py new file mode 100644 index 0000000..1c17408 --- /dev/null +++ b/launch/gz.launch.py @@ -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_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 + ]) \ No newline at end of file diff --git a/launch/ign.launch.py b/launch/ign.launch.py new file mode 100644 index 0000000..fa17271 --- /dev/null +++ b/launch/ign.launch.py @@ -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 + ]) diff --git a/launch/mapping.launch.py b/launch/mapping.launch.py new file mode 100644 index 0000000..383c8b9 --- /dev/null +++ b/launch/mapping.launch.py @@ -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 + diff --git a/launch/nav2.launch.py b/launch/nav2.launch.py new file mode 100755 index 0000000..9090d99 --- /dev/null +++ b/launch/nav2.launch.py @@ -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 + diff --git a/launch/rviz.launch.py b/launch/rviz.launch.py new file mode 100644 index 0000000..92a793c --- /dev/null +++ b/launch/rviz.launch.py @@ -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 + ]) \ No newline at end of file diff --git a/launch/warehouse_gzweb.launch.py b/launch/warehouse_gzweb.launch.py new file mode 100644 index 0000000..f4cc11f --- /dev/null +++ b/launch/warehouse_gzweb.launch.py @@ -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]), + ]) diff --git a/launch/warehouse_spawn.launch.py b/launch/warehouse_spawn.launch.py new file mode 100644 index 0000000..34298b8 --- /dev/null +++ b/launch/warehouse_spawn.launch.py @@ -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, + ]) diff --git a/meshes/bcr_bot_mesh.dae b/meshes/bcr_bot_mesh.dae new file mode 100644 index 0000000..d89fd23 --- /dev/null +++ b/meshes/bcr_bot_mesh.dae @@ -0,0 +1,432 @@ + + + + + Blender User + Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb + + 2023-06-28T11:18:51 + 2023-06-28T11:18:51 + + Z_UP + + + + + + + 9.688765 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 30 30 30 + 1 + 0 + 0.001599967 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 30 + 25 + 45 + 0.15 + 0 + 1 + 2 + 0.04999995 + 40 + 1 + 512 + 3 + 1 + 0 + 0 + 0.25 + 0.25 + 0.25 + + + + + + + 30 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332.8706 52.73364 -330.5319 334.3696 53.59917 -330.5319 335.5987 54.81801 -330.5319 336.4768 56.30976 -330.5319 336.9458 57.97596 -330.5319 336.9749 59.70669 -260.8872 331.2005 52.27855 -226.0649 332.8706 52.73364 -156.4202 331.2005 52.27855 -295.7096 334.3696 53.59917 -260.8872 335.5987 54.81801 -226.0649 336.4768 56.30976 -191.2425 336.9458 57.97596 -156.4202 336.9749 59.70669 -191.2425 334.3696 53.59917 -156.4202 335.5987 54.81801 -295.7096 335.5987 54.81801 -295.7096 336.4768 56.30976 -295.7096 336.9458 57.97596 -295.7096 336.9749 59.70669 -295.7096 336.5622 61.38773 -260.8872 336.4768 56.30976 -226.0649 336.9458 57.97596 -191.2425 336.9749 59.70669 -156.4202 336.5622 61.38773 -260.8872 336.9458 57.97596 -260.8872 336.9749 59.70669 -260.8872 336.5622 61.38773 -260.8872 335.7348 62.90817 -226.0649 336.9749 59.70669 -191.2425 336.5622 61.38773 -156.4202 335.7348 62.90817 -226.0649 336.5622 61.38773 -226.0649 335.7348 62.90817 -226.0649 334.5474 64.16767 -191.2425 335.7348 62.90817 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86.67504 331.4245 175.0946 86.02938 329.6951 175.9693 79.99288 331.4245 182.3869 79.35086 329.6951 183.126 72.69878 331.4245 189.0705 72.08027 329.6951 189.6803 64.85363 331.4245 195.0902 64.27175 329.6951 195.5835 56.51177 331.4245 200.4045 55.98341 329.6951 200.7916 47.73847 331.4245 204.9716 47.27698 329.6951 205.2658 38.60051 331.4245 208.7567 38.21727 329.6951 208.9728 29.16744 331.4245 211.7309 28.87173 329.6951 211.8851 19.51104 331.4245 213.8717 19.30992 329.6951 213.9809 9.704798 331.4245 215.1627 9.603043 329.6951 215.2447 -0.1766433 331.4245 215.5942 -0.1766433 329.6951 215.667 -9.95633 329.6951 215.2447 -10.05808 331.4245 215.1627 -19.66321 329.6951 213.9809 -19.86432 331.4245 213.8717 -29.22501 329.6951 211.8851 -29.52073 331.4245 211.7309 -38.57056 329.6951 208.9728 -38.9538 331.4245 208.7567 -47.63027 329.6951 205.2658 -48.09176 331.4245 204.9716 -56.3367 329.6951 200.7916 -56.86505 331.4245 200.4045 -64.62503 329.6951 195.5835 -65.20692 331.4245 195.0902 -72.43356 329.6951 189.6803 -73.05207 331.4245 189.0705 -79.70414 329.6951 183.126 -80.34616 331.4245 182.3869 -86.38266 329.6951 175.9693 -87.02833 331.4245 175.0946 -92.4194 329.6951 168.2636 -93.0495 331.4245 167.2476 -97.76941 329.6951 160.0661 -98.36386 331.4245 158.9057 -102.3929 329.6951 151.438 -102.9309 331.4245 150.1324 -106.2553 329.6951 142.4435 -106.716 331.4245 140.9945 -109.3281 329.6951 133.1494 -109.6902 331.4245 131.5614 -111.5882 329.6951 123.6251 -111.831 331.4245 121.905 -113.0189 329.6951 113.9415 -113.122 331.4245 112.0988 -113.6095 329.6951 104.1705 -113.5535 331.4245 102.2173 -113.3556 329.6951 94.38498 -113.122 331.4245 92.33589 -112.2592 329.6951 84.65779 -111.831 331.4245 82.52966 -110.3283 329.6951 75.06131 -109.6902 331.4245 72.87326 -109.1966 333.0784 73.00552 -108.3124 334.5474 73.24246 -107.0958 335.7348 73.56845 -104.192 335.7348 64.35884 -105.6271 336.5622 73.96196 -102.7633 336.5622 64.87886 -104.0034 336.9749 74.39704 -101.1836 336.9749 65.45381 -102.3316 336.9458 74.84499 -99.55725 336.9458 66.04576 -100.7222 336.4768 75.27624 -97.99153 336.4768 66.61563 -99.28129 335.5987 75.66233 -96.58975 335.5987 67.12584 -98.10398 334.3696 75.97779 -95.44441 334.3696 67.54271 -97.26795 332.8706 76.2018 -94.63108 332.8706 67.83874 -96.82836 331.2005 76.31959 -94.20343 331.2005 67.99439 -94.60576 329.4696 69.16493 -91.12624 329.4696 60.53411 90.77295 329.4696 60.53411 93.85015 331.2005 67.99439 96.91466 332.8706 76.2018 99.66497 334.3696 84.61257 102.0336 335.5987 93.2751 103.9158 336.4768 102.2173 105.1795 336.9458 111.4348 105.6797 336.9749 120.8827 105.2739 336.5622 130.4727 103.8387 335.7348 140.0758 101.2848 334.5474 149.5296 97.56801 333.0784 158.6502 94.25247 329.4696 69.16493 96.47507 331.2005 76.31959 98.8126 332.8706 84.76287 100.8194 334.3696 93.38133 102.424 335.5987 102.2173 103.5197 336.4768 111.2896 103.9753 336.9458 120.5821 103.6501 336.9749 130.0376 102.41 336.5622 139.5558 100.1433 335.7348 148.9973 96.77519 334.5474 158.1925 92.27761 333.0784 166.9545 96.91503 329.4696 78.08172 98.36442 331.2005 84.84189 99.95717 332.8706 93.45677 101.2052 334.3696 102.2173 102.0336 335.5987 111.1596 102.3344 336.4768 120.2928 101.9784 336.9458 129.5897 100.8303 336.9749 138.9809 98.76534 336.5622 148.3547 95.68444 335.7348 157.5628 91.5277 334.5474 166.4294 86.28358 333.0784 174.7661 98.73756 329.4696 87.20732 99.50381 331.2005 93.49643 100.3397 332.8706 102.2173 100.8194 334.3696 111.0533 100.8653 335.5987 120.0338 100.3689 336.4768 129.1584 99.20396 336.9458 138.3889 97.24179 336.9749 147.6443 94.36769 336.5622 156.8025 90.49598 335.7348 165.707 85.58229 334.5474 174.1776 79.63153 333.0784 182.0255 99.70431 329.4696 96.46279 99.88458 331.2005 102.2173 99.95717 332.8706 110.9779 99.66497 334.3696 119.8221 98.928 335.5987 128.7723 97.63824 336.4768 137.819 95.67323 336.9458 146.9129 92.91187 336.9749 155.962 89.25051 336.5622 164.8349 84.61746 335.7348 173.368 78.9842 334.5474 181.3782 72.36853 333.0784 188.6806 99.80692 329.4696 105.768 99.50381 331.2005 110.9383 98.8126 332.8706 119.6718 97.75069 334.3696 128.4569 96.23646 335.5987 137.3088 94.16313 336.4768 146.2087 91.41302 336.9458 155.0966 87.87348 336.9749 163.8707 83.45273 336.5622 172.3907 78.0936 335.7348 180.4876 71.77833 334.5474 187.9807 64.56053 333.0784 194.6716 99.04449 329.4696 115.0426 98.36442 331.2005 119.5928 96.91466 332.8706 128.2329 95.09112 334.3696 136.892 92.81115 335.5987 145.5783 89.97004 336.4768 154.2635 86.45575 336.9458 162.878 82.16498 336.9749 171.3102 77.01849 336.5622 179.4125 70.96704 335.7348 187.0173 64.03543 334.5474 193.9217 56.25626 333.0784 199.962 97.42362 329.4696 124.2061 96.47507 331.2005 128.1151 94.27779 332.8706 136.5959 91.70651 334.3696 145.0632 88.67816 335.5987 153.5177 85.09088 336.4768 161.9223 80.83917 336.9458 170.1977 75.82981 336.9749 178.2238 69.98809 336.5622 185.854 63.31301 335.7348 192.8899 55.79853 334.5474 199.1692 47.52251 333.0784 204.5085 94.95835 329.4696 133.1795 93.85015 331.2005 136.4403 90.92207 332.8706 144.6974 87.6226 334.3696 152.9082 83.86891 335.5987 161.0667 79.56278 336.4768 169.1266 74.606 336.9458 177 68.90597 336.9749 184.5675 62.44092 336.5622 191.6445 55.16877 335.7348 198.0784 47.13561 334.5474 203.6788 38.42573 333.0784 208.2765 91.66999 329.4696 141.8849 90.50962 331.2005 144.505 86.87303 332.8706 152.4755 82.87049 334.3696 160.3676 78.42004 335.5987 168.1678 73.42781 336.4768 175.8218 67.79197 336.9458 183.243 61.47671 336.9749 190.2675 54.40855 336.5622 196.7617 46.60332 335.7348 202.5373 38.11263 334.5474 207.4162 29.03518 333.0784 211.2373 87.58699 329.4696 150.2472 86.47891 331.2005 152.2479 82.1615 332.8706 159.8711 77.48635 334.3696 167.3843 72.373 335.5987 174.767 66.71949 336.4768 181.9678 60.48401 336.9458 188.8497 53.56803 336.9749 195.3058 45.96076 336.5622 201.1593 37.68185 335.7348 206.2327 28.79824 334.5474 210.3531 19.4223 333.0784 213.3684 82.74468 329.4696 158.1939 81.78871 331.2005 159.6101 76.82332 332.8706 166.828 71.51114 334.3696 173.9051 65.75918 335.5987 180.8263 59.52832 336.4768 187.4848 52.70267 336.9458 193.807 45.25032 336.9749 199.6358 37.16183 336.5622 204.804 28.47225 335.7348 209.1365 19.26333 334.5474 212.4669 9.660261 333.0784 214.6537 77.18496 329.4696 165.6563 76.4747 331.2005 166.5354 70.89912 332.8706 173.2931 64.97428 334.3696 179.8938 58.67269 335.5987 186.2629 51.86957 336.4768 192.364 44.51888 336.9458 198.0672 36.58688 336.9749 203.2243 28.07873 336.5622 207.6678 19.04462 335.7348 211.2265 9.580472 334.5474 213.7417 -0.1766433 333.0784 215.0831 70.95592 329.4696 172.5699 70.57733 331.2005 172.9713 64.41648 332.8706 179.232 57.97359 334.3696 185.2645 51.12369 335.5987 191.0721 43.81472 336.4768 196.5571 35.99494 336.9458 201.5979 27.64365 336.9749 206.0441 18.7806 336.5622 209.7292 9.470699 335.7348 212.4869 -0.1766433 334.5474 214.1677 -10.01355 333.0784 214.6537 64.11146 329.4696 178.8748 64.12245 331.2005 178.8846 57.47714 332.8706 184.5555 50.51427 334.3696 190.0166 43.18428 335.5987 195.2051 35.42506 336.4768 200.0322 27.1957 336.9458 204.3723 18.48869 336.9749 208.0737 9.338184 336.5622 210.9723 -0.1766433 335.7348 212.9082 -9.933758 334.5474 213.7417 -19.77559 333.0784 213.3684 57.21611 331.2005 184.1827 56.7108 329.4696 184.5164 49.85396 331.2005 188.8729 48.81796 329.4696 189.446 42.11105 331.2005 192.9036 40.50123 329.4696 193.621 34.04631 331.2005 196.2441 31.83257 329.4696 197.0052 25.72111 331.2005 198.869 22.88697 329.4696 199.5692 17.19881 331.2005 200.7584 13.74182 329.4696 201.291 8.544267 331.2005 201.8978 4.476264 329.4696 202.1557 -0.1766433 331.2005 202.2785 -4.829551 329.4696 202.1557 -8.897553 331.2005 201.8978 -14.09511 329.4696 201.291 -17.55209 331.2005 200.7584 -23.24025 329.4696 199.5692 -26.07439 331.2005 198.869 -32.18585 329.4696 197.0052 -34.39959 331.2005 196.2441 -40.85451 329.4696 193.621 -42.46434 331.2005 192.9036 -49.17124 329.4696 189.446 -50.20725 331.2005 188.8729 -57.06408 329.4696 184.5164 -57.5694 331.2005 184.1827 -64.46475 329.4696 178.8748 -64.47573 331.2005 178.8846 -70.93061 331.2005 172.9713 -64.76977 332.8706 179.232 -71.25241 332.8706 173.2931 -65.32757 334.3696 179.8938 -71.86443 334.3696 173.9051 -66.11247 335.5987 180.8263 -72.72628 335.5987 174.767 -73.7811 336.4768 175.8218 -79.91606 336.4768 169.1266 -81.19245 336.9458 170.1977 -86.80904 336.9458 162.878 -88.22677 336.9749 163.8707 -93.26515 336.9749 155.962 -94.72098 336.5622 156.8025 -99.11862 336.5622 148.3547 -100.4966 335.7348 148.9973 -104.192 335.7348 140.0758 -105.3756 334.5474 140.5066 -108.3124 334.5474 131.1922 -109.1966 333.0784 131.4291 -111.3278 333.0784 121.8163 -71.30921 329.4696 172.5699 -76.82798 331.2005 166.5354 -77.17661 332.8706 166.828 -82.51479 332.8706 159.8711 -83.22378 334.3696 160.3676 -87.97589 334.3696 152.9082 -89.03144 335.5987 153.5177 -93.16444 335.5987 145.5783 -94.51642 336.4768 146.2087 -97.99153 336.4768 137.819 -99.55725 336.9458 138.3889 -102.3316 336.9458 129.5897 -104.0034 336.9749 130.0376 -106.033 336.9749 120.8827 -107.6885 336.5622 121.1746 -108.9316 336.5622 111.7322 -110.4463 335.7348 111.8647 -110.8675 335.7348 102.2173 -112.127 334.5474 102.2173 -111.701 334.5474 92.46022 -112.613 333.0784 92.38043 -111.3278 333.0784 82.6184 -77.53825 329.4696 165.6563 -82.14199 331.2005 159.6101 -87.22632 332.8706 152.4755 -92.05979 334.3696 145.0632 -96.58975 335.5987 137.3088 -100.7222 336.4768 129.1584 -104.3286 336.9458 120.5821 -107.257 336.9749 111.5857 -109.347 336.5622 102.2173 -110.4463 335.7348 92.56999 -110.4262 334.5474 82.77737 -83.09796 329.4696 158.1939 -86.8322 331.2005 152.2479 -91.27536 332.8706 144.6974 -95.44441 334.3696 136.892 -99.28129 335.5987 128.7723 -102.6877 336.4768 120.2928 -105.5328 336.9458 111.4348 -107.666 336.9749 102.2173 -108.9316 336.5622 92.70251 -109.1858 335.7348 82.99608 -87.94027 329.4696 150.2472 -90.8629 331.2005 144.505 -94.63108 332.8706 136.5959 -98.10398 334.3696 128.4569 -101.2186 335.5987 120.0338 -103.873 336.4768 111.2896 -105.9353 336.9458 102.2173 -107.257 336.9749 92.84902 -107.6885 336.5622 83.2601 -92.02327 329.4696 141.8849 -94.20343 331.2005 136.4403 -97.26795 332.8706 128.2329 -100.0183 334.3696 119.8221 -102.3869 335.5987 111.1596 -104.2691 336.4768 102.2173 -105.5328 336.9458 92.99987 -106.033 336.9749 83.55201 -95.31163 329.4696 133.1795 -96.82836 331.2005 128.1151 -99.16589 332.8706 119.6718 -101.1727 334.3696 111.0533 -102.7773 335.5987 102.2173 -103.873 336.4768 93.14508 -104.3286 336.9458 83.85255 -97.77691 329.4696 124.2061 -98.71771 331.2005 119.5928 -100.3105 332.8706 110.9779 -101.5585 334.3696 102.2173 -102.3869 335.5987 93.2751 -102.6877 336.4768 84.14188 -99.39778 329.4696 115.0426 -99.8571 331.2005 110.9383 -100.693 332.8706 102.2173 -101.1727 334.3696 93.38133 -101.2186 335.5987 84.40092 -100.1602 329.4696 105.768 -100.2379 331.2005 102.2173 -100.3105 332.8706 93.45677 -100.0183 334.3696 84.61257 -100.0576 329.4696 96.46279 -99.8571 331.2005 93.49643 -99.16589 332.8706 84.76287 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110.093 335.7348 92.56999 107.3352 336.5622 83.2601 103.6501 336.9749 74.39704 99.20396 336.9458 66.04576 94.16313 336.4768 58.22598 92.0343 336.1003 55.56024 90.43939 335.4118 54.5883 112.6656 329.6951 113.9415 112.7687 331.4245 112.0988 112.6892 333.0784 102.2173 111.3477 334.5474 92.46022 108.8325 335.7348 82.99608 105.2739 336.5622 73.96196 100.8303 336.9749 65.45381 97.38634 337.0171 58.94578 93.7796 336.6087 56.64333 113.2562 329.6951 104.1705 113.2002 331.4245 102.2173 112.2597 333.0784 92.38043 110.0729 334.5474 82.77737 106.7425 335.7348 73.56845 102.41 336.5622 64.87886 99.21322 336.911 60.14549 97.41084 337.0171 58.96172 113.0024 329.6951 94.38498 112.7687 331.4245 92.33589 110.9745 333.0784 82.6184 107.9591 334.5474 73.24246 103.9534 335.3762 63.36098 103.8387 335.7348 64.35884 102.5119 336.0886 62.36725 100.9252 336.5994 61.28973 111.9059 329.6951 84.65779 111.4777 331.4245 82.52966 108.8434 333.0784 73.00552 106.3764 333.1232 65.06251 105.2734 334.4025 64.28308 109.975 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2414 2685 2686 2420 2689 2689 2437 2705 2718 2436 2703 2717 2414 2685 2686 2438 2706 2946 2420 2689 2945 2421 2690 2944 2438 2706 2719 2437 2705 2718 2420 2689 2689 1695 2019 3074 2419 2688 3088 2417 2704 3090 2439 2707 2947 2438 2706 2946 2421 2690 2944 1696 2020 3076 2422 2691 3089 2419 2688 3088 2440 2708 2948 2421 2690 2944 2423 1935 2235 2440 2708 2948 2439 2707 2947 2421 2690 2944 2441 1938 2251 2440 2708 2948 2423 1935 2235 2443 2709 2535 1471 1720 1576 1472 1719 1575 2443 2709 2535 2442 1722 1578 1471 1720 1576 2444 2710 2536 1472 1719 1575 1473 1717 1572 2444 2710 2536 2443 2709 2535 1472 1719 1575 2445 2711 2537 1473 2712 1572 1474 2713 1574 2445 2714 2537 2444 2710 2536 1473 1717 1572 2446 2715 2720 1474 1716 2588 1475 1715 2587 2446 2715 2720 2445 2714 2721 1474 1716 2588 2447 2716 2738 1475 1715 2587 1476 1713 2585 2447 2716 2738 2446 2715 2720 1475 1715 2587 2448 1711 2583 2447 2716 2738 1476 1713 2585 2463 2717 2538 2442 1722 1578 2443 2709 2535 2463 2717 2538 2462 1723 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