diff --git a/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml b/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml index 5358f15..a53687e 100644 --- a/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml +++ b/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml @@ -23,7 +23,7 @@ ekf_filter_node_odom: odom0_differential: false odom0_relative: false - imu0: imu + imu0: imu/data imu0_config: [false, false, false, false, false, true, false, false, false, @@ -85,7 +85,7 @@ ekf_filter_node_map: odom1_differential: false odom1_relative: false - imu0: imu + imu0: imu/data imu0_config: [false, false, false, false, false, true, false, false, false, @@ -121,7 +121,7 @@ navsat_transform: magnetic_declination_radians: 0.0 yaw_offset: 0.0 zero_altitude: true - broadcast_utm_transform: true + broadcast_cartesian_transform: true publish_filtered_gps: true use_odometry_yaw: true - wait_for_datum: false + wait_for_datum: false diff --git a/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc b/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc index bb578c7..e97245c 100644 --- a/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc +++ b/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc @@ -22,9 +22,12 @@ displays: visible: true collapsed: false custom_sources: - [] + - base_url: https://tiles.stadiamaps.com/tiles/alidade_satellite/{level}/{x}/{y}.png?api_key=api_key + max_zoom: 15 + name: Stadia (alidade_satellite) + type: wmts bing_api_key: "" - source: Bing Maps (terrain) + source: Stadia (alidade_satellite) - type: mapviz_plugins/point_click_publisher name: new display config: diff --git a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml index ec47f72..63099a0 100644 --- a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml +++ b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml @@ -13,80 +13,24 @@ bt_navigator: odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 + wait_for_service_timeout: 1000 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # '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: - - 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_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_would_a_smoother_recovery_help_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 + + # 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: [] + error_code_name_prefixes: - - assisted_teleop - - backup - compute_path - - dock_robot - - drive_on_heading - follow_path - - nav_thru_poses - - nav_to_pose - - route - - spin - - undock_robot - - wait controller_server: ros__parameters: @@ -117,46 +61,102 @@ controller_server: yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: - plugin: "dwb_core::DWBLocalPlanner" - debug_trajectory_details: True - min_vel_x: 0.0 - min_vel_y: 0.0 - max_vel_x: 0.26 - max_vel_y: 0.0 - max_vel_theta: 1.0 - min_speed_xy: 0.0 - max_speed_xy: 0.26 - min_speed_theta: 0.0 - # Add high threshold velocity for turtlebot 3 issue. - # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 - acc_lim_x: 2.5 - acc_lim_y: 0.0 - acc_lim_theta: 3.2 - decel_lim_x: -2.5 - decel_lim_y: 0.0 - decel_lim_theta: -3.2 - vx_samples: 20 - vy_samples: 5 - vtheta_samples: 20 - sim_time: 1.7 - linear_granularity: 0.05 - angular_granularity: 0.025 - transform_tolerance: 0.2 - xy_goal_tolerance: 0.25 - trans_stopped_velocity: 0.25 - short_circuit_trajectory_evaluation: True - stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - BaseObstacle.scale: 0.02 - PathAlign.scale: 32.0 - PathAlign.forward_point_distance: 0.1 - GoalAlign.scale: 24.0 - GoalAlign.forward_point_distance: 0.1 - PathDist.scale: 32.0 - GoalDist.scale: 24.0 - RotateToGoal.scale: 32.0 - RotateToGoal.slowing_factor: 5.0 - RotateToGoal.lookahead_time: -1.0 + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + ax_max: 3.0 + ax_min: -3.0 + ay_max: 3.0 + ay_min: -3.0 + az_max: 3.5 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 1.7 + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: + [ + "ConstraintCritic", + "CostCritic", + "GoalCritic", + "GoalAngleCritic", + "PathAlignCritic", + "PathFollowCritic", + "PathAngleCritic", + "PreferForwardCritic", + ] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + near_collision_cost: 253 + critical_cost: 300.0 + consider_footprint: false + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 # GPS WPF CHANGE: Remove static layer local_costmap: @@ -199,7 +199,6 @@ local_costmap: always_send_full_costmap: True # GPS WPF CHANGE: Remove static layer -# GPS WPF CHANGE: Set rolling global costmap with 50x50 size. See note below global_costmap: global_costmap: ros__parameters: @@ -215,6 +214,8 @@ global_costmap: rolling_window: True width: 50 height: 50 + # origin_x: 0.0 + # origin_y: 0.0 track_unknown_space: true # no static map plugins: ["obstacle_layer", "inflation_layer"] @@ -253,13 +254,16 @@ map_saver: free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: True + service_introspection_mode: "disabled" planner_server: ros__parameters: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] + costmap_update_timeout: 1.0 + service_introspection_mode: "disabled" GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -271,6 +275,9 @@ smoother_server: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-10 max_its: 1000 + refinement_num: 2 + # True for Hybrid A* or State Lattice to not smooth over directional changes + enforce_path_inversion: True do_refinement: True behavior_server: @@ -280,17 +287,24 @@ behavior_server: local_footprint_topic: local_costmap/published_footprint global_footprint_topic: global_costmap/published_footprint cycle_frequency: 10.0 - behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + behavior_plugins: + ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" + acceleration_limit: 2.5 + deceleration_limit: -2.5 + minimum_speed: 0.10 drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" + acceleration_limit: 2.5 + deceleration_limit: -2.5 + minimum_speed: 0.10 wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" assisted_teleop: - plugin: "nav2_behaviors/AssistedTeleop" + plugin: "nav2_behaviors::AssistedTeleop" local_frame: odom global_frame: map robot_base_frame: base_link @@ -304,6 +318,7 @@ waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false + service_introspection_mode: "disabled" waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -323,3 +338,102 @@ velocity_smoother: odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_link" + fixed_frame: "odom" + dock_prestaging_tolerance: 0.5 + service_introspection_mode: "disabled" + + # Types of docks + dock_plugins: ["simple_charging_dock"] + simple_charging_dock: + plugin: "opennav_docking::SimpleChargingDock" + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + dock_direction: "forward" + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + # The following example illustrates configuring dock instances. + # docks: ['home_dock'] # Input your docks here + # home_dock: + # type: 'simple_charging_dock' + # frame: map + # pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 + use_collision_detection: true + costmap_topic: "/local_costmap/costmap_raw" + footprint_topic: "/local_costmap/published_footprint" + transform_tolerance: 0.1 + projection_time: 5.0 + simulation_step: 0.1 + dock_collision_threshold: 0.3 + +loopback_simulator: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + map_frame_id: "map" + scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link' + update_duration: 0.02 + scan_range_min: 0.05 + scan_range_max: 30.0 + scan_angle_min: -3.1415 + scan_angle_max: 3.1415 + scan_angle_increment: 0.02617 + scan_use_inf: true \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py b/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py index 4bf4449..e14f83c 100644 --- a/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py +++ b/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py @@ -1,5 +1,5 @@ # Copyright (c) 2018 Intel Corporation -# +# Copyright (C) 2024 Stevedan Ogochukwu Omodolor Omodia # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at @@ -16,67 +16,90 @@ from ament_index_python.packages import get_package_share_directory + from launch import LaunchDescription -from launch.actions import ExecuteProcess, SetEnvironmentVariable +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + ExecuteProcess, +) + +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + from launch_ros.actions import Node def generate_launch_description(): - # Get the launch directory - gps_wpf_dir = get_package_share_directory( - "nav2_gps_waypoint_follower_demo") - launch_dir = os.path.join(gps_wpf_dir, 'launch') - world = os.path.join(gps_wpf_dir, "worlds", "sonoma_raceway.world") - - urdf = os.path.join(gps_wpf_dir, 'urdf', 'turtlebot3_waffle_gps.urdf') - with open(urdf, 'r') as infp: - robot_description = infp.read() + sim_dir = get_package_share_directory("nav2_minimal_tb3_sim") + tutorial_dir = get_package_share_directory("nav2_gps_waypoint_follower_demo") - models_dir = os.path.join(gps_wpf_dir, "models") - models_dir += os.pathsep + \ - f"/opt/ros/{os.getenv('ROS_DISTRO')}/share/turtlebot3_gazebo/models" - set_gazebo_model_path_cmd = None + # Create the launch configuration variables + use_sim_time = LaunchConfiguration("use_sim_time") - if 'GAZEBO_MODEL_PATH' in os.environ: - gazebo_model_path = os.environ['GAZEBO_MODEL_PATH'] + \ - os.pathsep + models_dir - set_gazebo_model_path_cmd = SetEnvironmentVariable( - "GAZEBO_MODEL_PATH", gazebo_model_path) - else: - set_gazebo_model_path_cmd = SetEnvironmentVariable( - "GAZEBO_MODEL_PATH", models_dir) + # Decalre the launch arguments + declare_use_sim_time_cmd = DeclareLaunchArgument( + "use_sim_time", + default_value="True", + description="Use simulation (Gazebo) clock if true", + ) - set_tb3_model_cmd = SetEnvironmentVariable("TURTLEBOT3_MODEL", "waffle") + world_sdf = os.path.join(tutorial_dir, "worlds", "tb3_sonoma_raceway.sdf.xacro") + robot_sdf = os.path.join(sim_dir, "urdf", "gz_waffle_gps.sdf.xacro") - # Specify the actions - start_gazebo_server_cmd = ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '-s', 'libgazebo_ros_factory.so', world], - cwd=[launch_dir], output='both') + urdf = os.path.join(sim_dir, "urdf", "turtlebot3_waffle_gps.urdf") + with open(urdf, "r") as infp: + robot_description = infp.read() - start_gazebo_client_cmd = ExecuteProcess( - cmd=['gzclient'], - cwd=[launch_dir], output='both') + gazebo_server = ExecuteProcess( + cmd=["gz", "sim", "-r", "-s", world_sdf], + output="screen", + ) + + gazebo_client = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory("ros_gz_sim"), "launch", "gz_sim.launch.py" + ) + ), + launch_arguments={"gz_args": ["-v4 -g "]}.items(), + ) + + gz_robot = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(sim_dir, "launch", "spawn_tb3_gps.launch.py") + ), + launch_arguments={ + "use_sim_time": use_sim_time, + "robot_sdf": robot_sdf, + "x_pose": "2.0", + "y_pose": "-2.5", + "z_pose": "0.33", + "roll": "0.0", + "pitch": "0.0", + "yaw": "0.0", + }.items(), + ) start_robot_state_publisher_cmd = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - output='both', - parameters=[{'robot_description': robot_description}]) + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[ + {"use_sim_time": use_sim_time, "robot_description": robot_description} + ], + ) - # Create the launch description and populate ld = LaunchDescription() - # Set gazebo up to find models properly - ld.add_action(set_gazebo_model_path_cmd) - ld.add_action(set_tb3_model_cmd) + # Declare the launch options + ld.add_action(declare_use_sim_time_cmd) - # simulator launch - ld.add_action(start_gazebo_server_cmd) - ld.add_action(start_gazebo_client_cmd) + ld.add_action(gz_robot) + ld.add_action(gazebo_server) + ld.add_action(gazebo_client) - # robot state publisher launch ld.add_action(start_robot_state_publisher_cmd) - return ld diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config deleted file mode 100755 index 6543f64..0000000 --- a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config +++ /dev/null @@ -1,19 +0,0 @@ - - - - turtlebot_waffle_gps - 2.0 - model.sdf - - - Taehun Lim(Darby) - thlim@robotis.com - - Melih Erdogan(mlherd) - h.meliherdogan@gmail.com - - - - TurtleBot3 Waffle with a gps sensor - - diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf deleted file mode 100755 index 2479342..0000000 --- a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf +++ /dev/null @@ -1,561 +0,0 @@ - - - - - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - - - - - - - -0.064 0 0.048 0 0 0 - - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 1.0 - - - - -0.064 0 0.048 0 0 0 - - - 0.265 0.265 0.089 - - - - - - -0.064 0 0 0 0 0 - - - model://turtlebot3_common/meshes/waffle_base.dae - 0.001 0.001 0.001 - - - - - - - - true - 200 - - - - - 0.0 - 2e-4 - - - - - 0.0 - 2e-4 - - - - - 0.0 - 2e-4 - - - - - - - 0.0 - 1.7e-2 - - - - - 0.0 - 1.7e-2 - - - - - 0.0 - 1.7e-2 - - - - - - false - - - ~/out:=imu - - - - - - - - - -0.052 0 0.111 0 0 0 - - 0.001 - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 0.125 - - - true - 1 - 0 0 0 0 0 0 - - - - - 0.0 - 0.01 - - - - - 0.0 - 0.01 - - - - - - - ~/out:=/gps/fix - - - - - - - - -0.064 0 0.121 0 0 0 - - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 0.125 - - - - -0.052 0 0.111 0 0 0 - - - 0.0508 - 0.055 - - - - - - -0.064 0 0.121 0 0 0 - - - model://turtlebot3_common/meshes/lds.dae - 0.001 0.001 0.001 - - - - - - true - false - -0.064 0 0.15 0 0 0 - 5 - - - - 360 - 1.000000 - 0.000000 - 6.280000 - - - - 0.00000 - 20.0 - 0.015000 - - - gaussian - 0.0 - 0.01 - - - - - - ~/out:=scan - - sensor_msgs/LaserScan - base_scan - - - - - - - - 0.0 0.144 0.023 -1.57 0 0 - - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 0.1 - - - - 0.0 0.144 0.023 -1.57 0 0 - - - 0.033 - 0.018 - - - - - - - 100000.0 - 100000.0 - 0 0 0 - 0.0 - 0.0 - - - - - 0 - 0.2 - 1e+5 - 1 - 0.01 - 0.001 - - - - - - - 0.0 0.144 0.023 0 0 0 - - - model://turtlebot3_common/meshes/tire.dae - 0.001 0.001 0.001 - - - - - - - - - 0.0 -0.144 0.023 -1.57 0 0 - - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 0.1 - - - - 0.0 -0.144 0.023 -1.57 0 0 - - - 0.033 - 0.018 - - - - - - - 100000.0 - 100000.0 - 0 0 0 - 0.0 - 0.0 - - - - - 0 - 0.2 - 1e+5 - 1 - 0.01 - 0.001 - - - - - - - 0.0 -0.144 0.023 0 0 0 - - - model://turtlebot3_common/meshes/tire.dae - 0.001 0.001 0.001 - - - - - - - -0.177 -0.064 -0.004 0 0 0 - - 0.001 - - 0.00001 - 0.000 - 0.000 - 0.00001 - 0.000 - 0.00001 - - - - - - 0.005000 - - - - - - 0 - 0.2 - 1e+5 - 1 - 0.01 - 0.001 - - - - - - - - -0.177 0.064 -0.004 0 0 0 - - 0.001 - - 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- - - /tf:=tf - - - 30 - - - wheel_left_joint - wheel_right_joint - - - 0.287 - 0.066 - - - 20 - 1.0 - - cmd_vel - - - - true - false - false - - odom - odom - base_footprint - - - - - - - ~/out:=joint_states - - 30 - wheel_left_joint - wheel_right_joint - - - - \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf b/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf deleted file mode 100644 index 8fa7b2c..0000000 --- a/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf +++ /dev/null @@ -1,305 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world b/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world deleted file mode 100644 index 9a08cbd..0000000 --- a/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - 0.95 0.95 0.95 1 - 0.3 0.3 0.3 1 - true - - - 3 - - - - - model://sun - - - model://sonoma_raceway - -287.5 143.5 -7 0 0 0 - - - - EARTH_WGS84 - 38.161479 - -122.454630 - 488.0 - 180 - - - - 100.0 - 0.01 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - model://turtlebot_waffle_gps - 2 -2.5 0.3 0 0 0 - - - - \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/worlds/tb3_sonoma_raceway.sdf.xacro b/nav2_gps_waypoint_follower_demo/worlds/tb3_sonoma_raceway.sdf.xacro new file mode 100644 index 0000000..df1f6a0 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/worlds/tb3_sonoma_raceway.sdf.xacro @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + ogre2 + + + + + + + EARTH_WGS84 + ENU + 38.161479 + -122.454630 + 0 + 0 + + + + 0 + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + 10 + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 + + + + 0.003 + 1 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sonoma Raceway + + sonoma_raceway + -287.5 143.5 -7 0 0 0 + + + +