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update navigation, change param, namespace #29

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update navigation, change param, namespace
AiriYokochi Nov 27, 2023
e58d29d
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AiriYokochi Jun 4, 2024
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2 changes: 1 addition & 1 deletion cube_petit_navigation/config/odom_gazebo.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ cube_petit/diff_drive_controller:
left_wheel : "left_wheel_joint"
right_wheel : "right_wheel_joint"

publish_rate: 50.0
publish_rate: 100.0 #50
cmd_vel_timeout: 30.0
wheel_separation : 0.154
wheel_radius : 0.033
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2 changes: 1 addition & 1 deletion cube_petit_navigation/config/odom_gazebo2.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ cube_petit/diff_drive_controller:
left_wheel : "left_wheel_joint"
right_wheel : "right_wheel_joint"

publish_rate: 50.0
publish_rate: 1000.0 #50
cmd_vel_timeout: 30.0
wheel_separation : 0.1403
wheel_radius : 0.0325
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46 changes: 21 additions & 25 deletions cube_petit_navigation/launch/cube_petit_gmapping.launch
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Original file line number Diff line number Diff line change
@@ -1,29 +1,25 @@
<?xml version="1.0"?>
<!-- -*- mode: XML -*- -->
<launch>
<!-- load cube_petit.xacro -->
<arg name="model" default="$(find cube_petit_description)/urdf/cube_petit_v2.xacro" />
<param name="robot_description" command="$(find xacro)/xacro $(arg model) --inorder"/>

<!-- [EDIT] topic name for scan -->
<arg name="scan" default="/pacecat/scan_filtered"/>

<!-- launch gmapping node and make map -->

<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" required="true" output="screen" ns="/gmapping">
<remap from="scan" to="$(arg scan)"/>
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.125"/>
<param name="throttle_scans" value="1"/>
<param name="maxUrange" value="20.0"/>
<param name="maxRange" value="20.0"/>
<param name="delta" value="0.1"/>
</node>

<!-- map convert to image node -->
<param name="gmapping/map_image/full/compressed/format" value="png" />
<node name="map_to_image" pkg="hector_compressed_map_transport" type="map_to_image_node" output="screen" ns="/gmapping">
<remap from="pose" to="robot_pose" />
</node>

<!-- load cube_petit.xacro -->
<arg name="model" default="$(find cube_petit_description)/urdf/cube_petit_v2.xacro"/>
<param name="robot_description" command="$(find xacro)/xacro $(arg model) --inorder"/>
<!-- [EDIT] topic name for scan -->
<arg name="scan" default="/pacecat/scan_filtered"/>
<!-- launch gmapping node and make map -->
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" required="true" output="screen">
<remap from="scan" to="$(arg scan)"/>
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.125"/>
<param name="throttle_scans" value="1"/>
<param name="maxUrange" value="20.0"/>
<param name="maxRange" value="20.0"/>
<param name="delta" value="0.1"/>
</node>
<!-- map convert to image node -->
<param name="gmapping/map_image/full/compressed/format" value="png"/>
<node name="map_to_image" pkg="hector_compressed_map_transport" type="map_to_image_node" output="screen">
<remap from="pose" to="robot_pose"/>
</node>
</launch>

110 changes: 37 additions & 73 deletions cube_petit_navigation/launch/cube_petit_navigation.launch
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@@ -1,79 +1,43 @@
<?xml version="1.0"?>
<launch>
<!-- Set and remove parameter for web console. -->
<arg name="map_info_file" default="/home/gisen/map/M20210525165127330/map_info.yaml"/>
<!--[EDIT] robot name-->
<arg name="robot" default="cube_petit"/>
<!--[EDIT] topic name of /scan-->
<arg name="scan" default="/pacecat/scan_filtered"/>
<!--[EDIT] topic name of /odom-->
<arg name="odom" default="/cube_petit/diff_drive_controller/odom"/>
<!-- [EDIT] map file name-->
<arg name="map_info_file" default="(find cube_petit)/map/daikaigisitu/map.yaml"/>
<rosparam command="load" file="$(arg map_info_file)" ns="map_info"/>
<rosparam command="delete" param="map_info/building_id"/>
<rosparam command="delete" param="map_info/floor_id"/>
<group ns="navigation">

<!--[EDIT] robot name-->
<arg name="robot" default="cube_petit"/>
<!--[EDIT] topic name of /scan-->
<arg name="scan" default="/pacecat/scan_filtered"/>
<!--[EDIT] topic name of /odom-->
<arg name="odom" default="/cube_petit/diff_drive_controller/odom"/>

<!-- [EDIT] map file name-->
<!-- <arg name="map_file" default="$(find cube_petit)/map/daikaigisitu/map.yaml"/> -->

<!-- <arg name="map_file" default="$(find cube_petit_gazebo)/map/floor_eight/map.yaml"/> -->
<!-- <arg name="map_file" default="$(find cube_petit_navigation)/map/airi_v2/map.yaml"/> -->
<arg name="map_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/>

<!-- [EDIT] keepout map file name if you need -->
<arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml" />
<arg name="use_keepout" default="true" />
<param name="map_server/map_file" value="$(arg map_file)" />





<!-- If "costmap_image = true" launch costmap_to_image node -->
<arg name="costmap_image" default="false" />

<!-- Navigation parameter files -->
<arg name="move_base_include" default="$(find cube_petit_navigation)/launch/include/move_base.launch.xml"/>
<arg name="amcl_include" default="$(find cube_petit_navigation)/launch/include/amcl.launch.xml"/>


<!-- serve up a map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

<!-- serve up a map with keepout zones -->
<group if="$(arg use_keepout)" >
<arg name="map_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/>
<!-- [EDIT] keepout map file name if you need -->
<arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/>
<arg name="use_keepout" default="true"/>
<param name="map_server/map_file" value="$(arg map_file)"/>
<!-- If "costmap_image = true" launch costmap_to_image node -->
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コメントの内容と書かれている内容が異なる

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削除しました

<arg name="costmap_image" default="false"/>
<!-- Navigation parameter files -->
<arg name="move_base_include" default="$(find cube_petit_navigation)/launch/include/move_base.launch.xml"/>
<arg name="amcl_include" default="$(find cube_petit_navigation)/launch/include/amcl.launch.xml"/>
<!-- serve up a map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>
<!-- serve up a map with keepout zones -->
<group if="$(arg use_keepout)">
<node name="map_keepout_server" pkg="map_server" type="map_server" args="$(arg map_keepout_file)">
<remap from="map" to="map_keepout" />
<remap from="static_map" to="static_map_keepout" />
<remap from="map" to="map_keepout"/>
<remap from="static_map" to="static_map_keepout"/>
</node>
</group>

<!-- localize the robot -->

<include file="$(arg amcl_include)">
<arg name="scan_topic" value="$(arg scan)"/>
</include>

<group ns="rviz_topics_relay">
<node name="clicked_point_relay" pkg="topic_tools" type="relay" args="/clicked_point /navigation/clicked_point"/>
<node name="initialpose_relay" pkg="topic_tools" type="relay" args="/initialpose /navigation/initialpose"/>
<node name="simple_goal_relay" pkg="topic_tools" type="relay" args="/move_base_simple/goal /navigation/move_base_simple/goal"/>
</group>


<!-- move the robot -->
<include file="$(arg move_base_include)">
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg name="robot" value="$(arg robot)"/>
<!-- [EDIT] topic name of /odom -->
<arg name="odom_topic" value="$(arg odom)" />
<arg name="costmap_image" value="$(arg costmap_image)" />
<remap from="move_base_simple/goal" to="/move_base_simple/goal"/>
<remap from="initial_pose" to="/initial_pose"/>
<remap from="clicked_point" to="/clicked_point"/>

</include>
</group>


<!-- localize the robot -->
<include file="$(arg amcl_include)">
<arg name="scan_topic" value="$(arg scan)"/>
</include>
<!-- move the robot -->
<include file="$(arg move_base_include)">
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout"/>
<arg name="robot" value="$(arg robot)"/>
<!-- [EDIT] topic name of /odom -->
<arg name="odom_topic" value="$(arg odom)"/>
<arg name="costmap_image" value="$(arg costmap_image)"/>
</include>
</launch>
5 changes: 5 additions & 0 deletions cube_petit_navigation/map/maker_fair/map.pgm
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7 changes: 7 additions & 0 deletions cube_petit_navigation/map/maker_fair/map.yaml
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@@ -0,0 +1,7 @@
image: map.pgm
resolution: 0.100000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196