update
This commit is contained in:
parent
5baf8d4b7b
commit
2f6a498e4a
|
|
@ -0,0 +1,19 @@
|
|||
# Python
|
||||
__pycache__/
|
||||
*.pyc
|
||||
|
||||
# ROS
|
||||
build/
|
||||
devel/
|
||||
logs/
|
||||
install/
|
||||
build_isolated/
|
||||
devel_isolated/
|
||||
*.bag
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Misc
|
||||
.vscode/
|
||||
*.swp
|
||||
log/
|
||||
test/
|
||||
|
|
@ -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
|
||||
|
|
@ -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/${PROJECT_NAME})
|
||||
|
||||
ament_package()
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
ARG ROS_DISTRO=humble
|
||||
|
||||
# Use base image, https://hub.docker.com/_/ros/
|
||||
FROM ros:$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
|
||||
|
|
@ -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. Definitions.
|
||||
|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
|
||||
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|
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|
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|
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You may add Your own copyright statement to Your modifications and
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5. Submission of Contributions. Unless You explicitly state otherwise,
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Notwithstanding the above, nothing herein shall supersede or modify
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6. Trademarks. This License does not grant permission to use the trade
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7. Disclaimer of Warranty. Unless required by applicable law or
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END OF TERMS AND CONDITIONS
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||||
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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Unless required by applicable law or agreed to in writing, software
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See the License for the specific language governing permissions and
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|
||||
324
README.md
324
README.md
|
|
@ -1,18 +1,318 @@
|
|||
# 开始拉取代码
|
||||
# BCR Bot
|
||||
|
||||
---
|
||||
```
|
||||
git clone http://git-test.databall.tech:3000/databall-official/3ebe2700b00340d09a1256d3b4a34b9b.git
|
||||
https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8
|
||||
|
||||
cd 3ebe2700b00340d09a1256d3b4a34b9b
|
||||
## About
|
||||
|
||||
# add your files to repo
|
||||
git push
|
||||
This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. 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
|
||||
|
||||
### 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):
|
||||
|
||||
|
||||
2. Isaac Sim:
|
||||
|
||||
|
||||
3. Rviz (Depth camera) (small_warehouse World):
|
||||
|
||||
|
|
|
|||
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 +1,88 @@
|
|||
#!/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'"])
|
||||
|
||||
}.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,
|
||||
])
|
||||
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|
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|
|
@ -0,0 +1,201 @@
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|
|
@ -0,0 +1,786 @@
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</COLLADA>
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File diff suppressed because one or more lines are too long
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue