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Merge pull request #13 from SoftServeSAG/F_0_cmd_vel_watchdog
F 0 cmd vel watchdog
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128 changes: 128 additions & 0 deletions
128
explore_stack/launch/robot_launch_manual_explore.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| <launch> | ||
| <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | ||
| <!--<--> | ||
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| <arg name="cmd_vel_topic" default="/cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
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| <include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch"> | ||
| </include> | ||
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| <!--<include file="$(find turtlebot3_navigation)/launch/move_base.launch"/>--> | ||
| <!-- move_base --> | ||
| <!--<node pkg="move_base"--> | ||
| <!--type="move_base"--> | ||
| <!--respawn="false"--> | ||
| <!--name="move_base"--> | ||
| <!--output="screen"--> | ||
| <!--launch-prefix="xterm -e">--> | ||
| <!--<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />--> | ||
| <!--<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />--> | ||
| <!--<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />--> | ||
| <!--<rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />--> | ||
| <!--<rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />--> | ||
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| <!--<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />--> | ||
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| <!--<rosparam file="$(find explore_stack)/param/local_costmap_params.yaml" command="load" />--> | ||
| <!--<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />--> | ||
| <!--<rosparam file="$(find explore_stack)/param/global_costmap_params.yaml" command="load" />--> | ||
| <!--<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />--> | ||
| <!--<rosparam file="$(find explore_stack)/param/move_base_params.yaml" command="load" />--> | ||
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| <!--<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />--> | ||
| <!--<rosparam file="$(find explore_stack)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />--> | ||
|
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| <!--<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>--> | ||
| <!--<remap from="odom" to="$(arg odom_topic)"/>--> | ||
| <!--</node>--> | ||
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| <!--/ move_base --> | ||
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| <!--GAZEBO--> | ||
| <!--<arg name="world_name" default="turtlebot3_house"/>--> | ||
| <!--<arg name="world_name" default="turtlebot3_stage_3"/>--> | ||
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| <!--<arg name="x_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="y_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="z_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="x_pos" default="-3.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="y_pos" default="1.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="z_pos" default="0.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
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| <!--http://answers.gazebosim.org/question/16076/running-gazebo-on-docker-affects-simulation-speed-meshes-and-world-objects/--> | ||
| <!--<include file="$(find gazebo_ros)/launch/empty_world.launch">--> | ||
| <!--<arg name="world_name" value="$(find explore_stack)/worlds/$(arg world_name).world"/>--> | ||
| <!--<arg name="paused" value="false"/>--> | ||
| <!--<arg name="use_sim_time" value="true"/>--> | ||
| <!--<arg name="gui" value="false"/>--> | ||
| <!--<arg name="headless" value="false"/>--> | ||
| <!--<arg name="debug" value="false"/>--> | ||
| <!--</include>--> | ||
|
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| <!--<param name="robot_description"--> | ||
| <!--command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />--> | ||
|
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| <!--<node name="spawn_urdf"--> | ||
| <!--pkg="gazebo_ros"--> | ||
| <!--type="spawn_model"--> | ||
| <!--args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />--> | ||
| <!--GAZEBO--> | ||
|
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| <!--<node name="rviz"--> | ||
| <!--pkg="rviz"--> | ||
| <!--type="rviz"--> | ||
| <!--args="-d $(find explore_stack)/rviz/explore_lite_vanilla.rviz"--> | ||
| <!--/>--> | ||
|
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| <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
| <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> | ||
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| <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/> | ||
| <!--FIXME problem when try to launch directly turtlebot3_gmapping instead of slam mediator launcher--> | ||
| <include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch"> | ||
| <arg name="slam_methods" value="$(arg slam_methods)"/> | ||
| </include> | ||
| <!--<include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">--> | ||
| <!--<arg name="model" value="$(arg model)"/>--> | ||
| <!--<arg name="configuration_basename" value="$(arg configuration_basename)"/>--> | ||
| <!--</include>--> | ||
| <!--/ SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
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| <!--<include file="$(find explore_lite_revised)/launch/explore.launch" launch-prefix="xterm -e">--> | ||
| <!--TODO parameters tuning if needed--> | ||
| <!--TODO name and dir for map save--> | ||
| <!--</include>--> | ||
| <!--<node pkg="explore_lite_revised"--> | ||
| <!--type="explore_lite_revised"--> | ||
| <!--name="explore_lite_revised"--> | ||
| <!--respawn="false"--> | ||
| <!--output="screen"--> | ||
| <!--launch-prefix="xterm -geometry 93x31+100+350 -e">--> | ||
| <!--<!–todo manage terminal postion a little bit better–>--> | ||
| <!--<param name="robot_base_frame" value="base_link"/>--> | ||
| <!--<param name="costmap_topic" value="map"/>--> | ||
| <!--<param name="costmap_updates_topic" value="map_updates"/>--> | ||
| <!--<param name="visualize" value="true"/>--> | ||
| <!--<param name="planner_frequency" value="0.33"/>--> | ||
| <!--<param name="progress_timeout" value="30.0"/>--> | ||
| <!--<param name="potential_scale" value="3.0"/>--> | ||
| <!--<param name="orientation_scale" value="0.0"/>--> | ||
| <!--<param name="gain_scale" value="1.0"/>--> | ||
| <!--<param name="transform_tolerance" value="0.3"/>--> | ||
| <!--<param name="min_frontier_size" value="0.75"/>--> | ||
| <!--</node>--> | ||
|
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| </launch> |
128 changes: 128 additions & 0 deletions
128
explore_stack/launch/robot_launch_manual_explore_PC.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| <launch> | ||
| <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | ||
| <!--<--> | ||
|
|
||
|
|
||
| <arg name="cmd_vel_topic" default="/cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
|
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||
|
|
||
| <!--<include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch">--> | ||
| <!--</include>--> | ||
|
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||
| <!--<include file="$(find turtlebot3_navigation)/launch/move_base.launch"/>--> | ||
| <!-- move_base --> | ||
| <node pkg="move_base" | ||
| type="move_base" | ||
| respawn="false" | ||
| name="move_base" | ||
| output="screen" | ||
| launch-prefix="xterm -e"> | ||
| <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> | ||
| <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> | ||
| <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> | ||
| <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> | ||
| <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> | ||
|
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||
|
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||
| <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" /> | ||
|
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||
| <rosparam file="$(find explore_stack)/param/local_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/move_base_params.yaml" command="load" /> | ||
|
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||
| <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> | ||
|
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||
|
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||
| <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> | ||
| <remap from="odom" to="$(arg odom_topic)"/> | ||
| </node> | ||
|
|
||
| <!--/ move_base --> | ||
|
|
||
|
|
||
|
|
||
| <!--GAZEBO--> | ||
| <!--<arg name="world_name" default="turtlebot3_house"/>--> | ||
| <!--<arg name="world_name" default="turtlebot3_stage_3"/>--> | ||
|
|
||
|
|
||
| <!--<arg name="x_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="y_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="z_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="x_pos" default="-3.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="y_pos" default="1.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
| <!--<arg name="z_pos" default="0.0" if="$(eval world_name == 'turtlebot3_house')"/>--> | ||
|
|
||
|
|
||
| <!--http://answers.gazebosim.org/question/16076/running-gazebo-on-docker-affects-simulation-speed-meshes-and-world-objects/--> | ||
| <!--<include file="$(find gazebo_ros)/launch/empty_world.launch">--> | ||
| <!--<arg name="world_name" value="$(find explore_stack)/worlds/$(arg world_name).world"/>--> | ||
| <!--<arg name="paused" value="false"/>--> | ||
| <!--<arg name="use_sim_time" value="true"/>--> | ||
| <!--<arg name="gui" value="false"/>--> | ||
| <!--<arg name="headless" value="false"/>--> | ||
| <!--<arg name="debug" value="false"/>--> | ||
| <!--</include>--> | ||
|
|
||
| <!--<param name="robot_description"--> | ||
| <!--command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />--> | ||
|
|
||
| <!--<node name="spawn_urdf"--> | ||
| <!--pkg="gazebo_ros"--> | ||
| <!--type="spawn_model"--> | ||
| <!--args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />--> | ||
| <!--GAZEBO--> | ||
|
|
||
|
|
||
| <!--<node name="rviz"--> | ||
| <!--pkg="rviz"--> | ||
| <!--type="rviz"--> | ||
| <!--args="-d $(find explore_stack)/rviz/explore_lite_vanilla.rviz"--> | ||
| <!--/>--> | ||
|
|
||
|
|
||
| <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
| <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> | ||
|
|
||
| <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/> | ||
| <!--FIXME problem when try to launch directly turtlebot3_gmapping instead of slam mediator launcher--> | ||
| <include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch"> | ||
| <arg name="slam_methods" value="$(arg slam_methods)"/> | ||
| </include> | ||
| <!--<include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">--> | ||
| <!--<arg name="model" value="$(arg model)"/>--> | ||
| <!--<arg name="configuration_basename" value="$(arg configuration_basename)"/>--> | ||
| <!--</include>--> | ||
| <!--/ SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
|
|
||
|
|
||
|
|
||
| <!--<include file="$(find explore_lite_revised)/launch/explore.launch" launch-prefix="xterm -e">--> | ||
| <!--TODO parameters tuning if needed--> | ||
| <!--TODO name and dir for map save--> | ||
| <!--</include>--> | ||
| <!--<node pkg="explore_lite_revised"--> | ||
| <!--type="explore_lite_revised"--> | ||
| <!--name="explore_lite_revised"--> | ||
| <!--respawn="false"--> | ||
| <!--output="screen"--> | ||
| <!--launch-prefix="xterm -geometry 93x31+100+350 -e">--> | ||
| <!--<!–todo manage terminal postion a little bit better–>--> | ||
| <!--<param name="robot_base_frame" value="base_link"/>--> | ||
| <!--<param name="costmap_topic" value="map"/>--> | ||
| <!--<param name="costmap_updates_topic" value="map_updates"/>--> | ||
| <!--<param name="visualize" value="true"/>--> | ||
| <!--<param name="planner_frequency" value="0.33"/>--> | ||
| <!--<param name="progress_timeout" value="30.0"/>--> | ||
| <!--<param name="potential_scale" value="3.0"/>--> | ||
| <!--<param name="orientation_scale" value="0.0"/>--> | ||
| <!--<param name="gain_scale" value="1.0"/>--> | ||
| <!--<param name="transform_tolerance" value="0.3"/>--> | ||
| <!--<param name="min_frontier_size" value="0.75"/>--> | ||
| <!--</node>--> | ||
|
|
||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_1.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -10.000000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_2.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_2_1.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -10.000000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_2_2.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_2_3.pgm | ||
| resolution: 0.050000 | ||
| origin: [-21.200000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_2_4.pgm | ||
| resolution: 0.050000 | ||
| origin: [-21.200000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_3.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: hq4_4.pgm | ||
| resolution: 0.050000 | ||
| origin: [-10.000000, -21.200000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
|
|
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