Merge pull request #126 from 708yamaguchi/yamaguchi-fast-go-to-kitchen

[WIP] Fast go to kitchen

jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app

@@ -71,12 +71,9 @@ plugins:
         - /odom
         - /odom_combined
         - /cmd_vel
-        - /move_base/NavFnROS/plan
-        - /move_base/TrajectoryPlannerROS/global_plan
-        - /move_base/TrajectoryPlannerROS/local_plan
-        - /move_base/GlobalPlanner/plan
-        - /move_base/TebLocalPlannerROS/global_plan
-        - /move_base/TebLocalPlannerROS/local_plan
+        - /move_base/navigation_plan_viz
+        - /move_base/global_plan_viz
+        - /move_base/local_plan_viz
         - /move_base/global_costmap/footprint
         - /spots_marker_array
         - /spots_pictogram

jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz

@@ -240,7 +240,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/navigation_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -263,7 +263,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TebLocalPlannerROS/global_plan
+      Topic: /move_base/global_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -286,7 +286,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TebLocalPlannerROS/local_plan
+      Topic: /move_base/local_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1

jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz

@@ -258,7 +258,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/navigation_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -281,7 +281,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TebLocalPlannerROS/global_plan
+      Topic: /move_base/global_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -304,7 +304,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TebLocalPlannerROS/local_plan
+      Topic: /move_base/local_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1

jsk_fetch_robot/jsk_fetch_startup/config/lightweight_navigation.rviz

@@ -235,7 +235,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/navigation_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -258,7 +258,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/global_plan
+      Topic: /move_base/global_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -281,7 +281,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Topic: /move_base/local_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1

jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l

@@ -137,11 +137,13 @@
      (if is-charging :charging :discharging)))
 
 
-(defun go-to-spot (name &optional (relative-coords (make-coords)) &key (undock-rotate nil))
+(defun go-to-spot (name &optional (relative-coords (make-coords))
+                        &key (undock-rotate nil) (clear-costmap t))
   ;; undock if fetch is docking
   (unless (boundp '*ri*)
     (require :fetch-interface "package://fetcheus/fetch-interface.l")
     (fetch-init))
+  (if clear-costmap (send *ri* :clear-costmap))
   (let ((undock-success nil))
     (block go-to-spot-undock
       (dotimes (i 3)
@@ -170,14 +172,14 @@
          (frame-id (cdr ret)))
     (when relative-coords
       (setq goal-pose (send goal-pose :transform relative-coords :world)))
-    (send *ri* :clear-costmap)
     (send *ri* :move-to goal-pose :frame-id frame-id)))
 
 
-(defun auto-dock (&key (n-trial 1))
+(defun auto-dock (&key (n-trial 1) (clear-costmap t))
   (let ((success nil))
     (dotimes (i n-trial)
-      (when (go-to-spot *dock-spot* (make-coords :pos #f(-800 0 0)))
+      (when (go-to-spot *dock-spot* (make-coords :pos #f(-800 0 0))
+                        :clear-costmap clear-costmap)
         (ros::ros-info "arrived at the dock.")
         (setq success (dock))
         (when success (return-from auto-dock success))))
@@ -349,7 +351,7 @@
       (report-move-to-sink-front-failure))
     ;; go back from dock
     (report-auto-dock)
-    (setq success-auto-dock (auto-dock :n-trial n-dock-trial))
+    (setq success-auto-dock (auto-dock :n-trial n-dock-trial :clear-costmap nil))
     ;; turn off light
     (if (and success-auto-dock (not initial-light-on))
       (room-light-off :control-switchbot control-switchbot))
@@ -420,7 +422,7 @@
               '(lambda (userdata)
                  (report-auto-dock)
                  (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
-                        (success (auto-dock :n-trial n-trial)))
+                        (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                    (setf (cdr (assoc 'success-auto-dock userdata)) success)
                    success)))
             (:room-light-off

jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch

@@ -1,4 +1,5 @@
 <launch>
+  <arg name="hostname" default="fetch15" />
   <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
@@ -207,17 +208,36 @@
       <arg name="launch_map_server" value="false" />
       <arg name="odom_topic" value="/odom_combined" />
     </include>
+    <!-- relay plan path topic for visualization -->
+    <node name="relay_navfn_planner_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/NavfnROS/plan /move_base/navigation_plan_viz" />
+    <node name="relay_global_planner_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/GlobalPlanner/plan /move_base/navigation_plan_viz" />
+    <node name="relay_trajectory_planner_global_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TrajectoryPlannerROS/global_plan /move_base/global_plan_viz" />
+    <node name="relay_trajectory_planner_local_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TrajectoryPlannerROS/local_plan /move_base/local_plan_viz" />
+    <node name="relay_teb_planner_global_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TebLocalPlannerROS/global_plan /move_base/global_plan_viz" />
+    <node name="relay_teb_planner_local_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TebLocalPlannerROS/local_plan /move_base/local_plan_viz" />
 
     <!-- load amcl params -->
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_common_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
     <!-- load move_base params -->
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_common_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
   </group>
 
   <!-- slam for build a map -->

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_common_params.yaml

@@ -0,0 +1,7 @@
+amcl:
+  update_min_a: 0.05 # update filter every 0.05 [rad] rotation
+  update_min_d: 0.1  # update filter every 0.1 [m] translation
+  odom_alpha1: 0.1   # rotation noise per rotation
+  odom_alpha2: 0.05  # rotation noise per translation
+  odom_alpha3: 0.05  # translation noise per translation
+  odom_alpha4: 0.1   # translation noise per rotation

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_indigo_params.yaml

@@ -0,0 +1,8 @@
+amcl:
+  kld_err: 0.1
+  kld_z: 0.5
+  laser_z_hit: 0.9
+  laser_z_rand: 0.5
+  laser_sigma_hit: 0.1
+  laser_likelihood_max_dist: 4.0
+  resample_interval: 1

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_melodic_params.yaml

@@ -0,0 +1,7 @@
+amcl:
+  update_min_a: 0.05 # update filter every 0.05 [rad] rotation
+  update_min_d: 0.1  # update filter every 0.1 [m] translation
+  odom_alpha1: 0.01   # rotation noise per rotation
+  odom_alpha2: 0.01  # rotation noise per translation
+  odom_alpha3: 0.01  # translation noise per translation
+  odom_alpha4: 0.01   # translation noise per rotation

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_common_params.yaml → jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml

@@ -2,27 +2,21 @@ move_base:
   controller_frequency: 20.0
   global_costmap:
     inflater:
-      inflation_radius: 0.7 # 0.7
+      inflation_radius: 1.0 # 0.7
       cost_scaling_factor: 10.0 # 10.0
     obstacles:
       min_obstacle_height: 0.05
     footprint_padding: 0.05
-    # By reducing update/publish_frequency, move_base control loop rate will be improved
-    # https://moriokalab.com/news/84
-    update_frequency: 1.0
-    publish_frequency: 0.5
+    publish_frequency: 1.0
   local_costmap:
     inflater:
-      inflation_radius: 0.35 # 0.7
+      inflation_radius: 1.0 # 0.7
       cost_scaling_factor: 10.0 # 25.0 default 10, increasing factor decrease the cost value
     obstacles:
       min_obstacle_height: 0.05
     # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
     footprint_padding: 0.05
-    # By reducing update/publish_frequency, move_base control loop rate will be improved
-    # https://moriokalab.com/news/84
-    update_frequency: 1.0
-    publish_frequency: 0.5
+    update_frequency: 5.0
   base_global_planner: global_planner/GlobalPlanner
   base_local_planner: teb_local_planner/TebLocalPlannerROS
   # base_local_planner: base_local_planner/TrajectoryPlannerROS
@@ -59,8 +53,6 @@ move_base:
     teb_autosize: True
     dt_ref: 0.3
     dt_hysteresis: 0.1
-    # By reducing max_samples, move_base control loop rate will be improved
-    max_samples: 50 # default 500
     global_plan_overwrite_orientation: True
     max_global_plan_lookahead_dist: 3.0
     feasibility_check_no_poses: 5
@@ -79,7 +71,7 @@ move_base:
     yaw_goal_tolerance: 0.1
     free_goal_vel: False
     # Obstacles
-    min_obstacle_dist: 0.4 # Enough value not to go too close to obstacle
+    min_obstacle_dist: 0.1
     include_costmap_obstacles: True
     costmap_obstacles_behind_robot_dist: 1.0
     obstacle_poses_afected: 30

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_indigo_params.yaml

@@ -0,0 +1,3 @@
+move_base:
+  global_costmap:
+    update_frequency: 2.0

jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch

@@ -16,9 +16,9 @@
           /odom
           /odom_combined
           /cmd_vel
-          /move_base/NavFnROS/plan
-          /move_base/TrajectoryPlannerROS/global_plan
-          /move_base/TrajectoryPlannerROS/local_plan
+          /move_base/navigation_plan_viz
+          /move_base/global_plan_viz
+          /move_base/local_plan_viz
           /move_base/global_costmap/footprint
           /spots_marker_array
           /spots_pictogram

jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf

@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true