Merge pull request #58 from bfalacerda/indigo-devel

add simple package to dyn reconfigure move_base via yaml files

param_loader/CMakeLists.txt

@@ -0,0 +1,140 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(param_loader)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+#catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES param_loader
+#  CATKIN_DEPENDS dynamic_reconfigure rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(param_loader
+#   src/${PROJECT_NAME}/param_loader.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(param_loader_node src/param_loader_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(param_loader_node param_loader_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(param_loader_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+install(
+  DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(PROGRAMS scripts/param_loader.py
+         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_param_loader.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

param_loader/config/current_dwa.yaml

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+#see http://ros.org/wiki/dwa_local_planner?distro=groovy for param description
+DWAPlannerROS:
+  #default 2.5 -> with this value the robot sometimes gets to close to the wall when leaving a goal position in narrow corridors, causing dwa planner to have problems
+  acc_lim_x: 1.0
+
+  acc_lim_y: 0.0
+
+  #default 3.2
+  acc_lim_theta: 2.0
+
+  min_vel_y: 0.0
+  max_vel_y: 0.0
+  max_rot_vel: 1.0
+  min_rot_vel: 0.4
+
+  yaw_goal_tolerance: 0.1
+
+  #default:0.1 -> with this value the robot sometimes has troubles achieving the goal, due to low tolerance
+  xy_goal_tolerance: 0.1
+
+
+  # if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so.
+  #latch_xy_goal_tolerance: true
+
+
+  sim_time: 2.1
+
+
+#cost =  path_distance_bias * (distance to path from the endpoint of the trajectory in meters)  + goal_distance_bias * (distance to local goal from the endpoint of the trajectory in meters)  + occdist_scale * (maximum obstacle cost along the trajectory in obstacle cost (0-254))
+  path_distance_bias: 32.0 #default:32, previous:5
+  goal_distance_bias: 24.0 #default:24, previous:9
+  occdist_scale: 0.01 #default:0.01
+
+
+  oscillation_reset_dist: 0.05
+
+
+  prune_plan: true
+
+  #holonomic_robot: false
+

param_loader/config/lincoln_dwa.yaml

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+DWAPlannerROS: 
+  acc_lim_theta: 3.2
+  acc_lim_x: 1.0
+  acc_lim_y: 0.0
+  acc_limit_trans: 0.1
+  angular_sim_granularity: 0.1
+  forward_point_distance: 0.325
+  goal_distance_bias: 9.0
+  #holonomic_robot: false
+  #latch_xy_goal_tolerance: true
+  max_rot_vel: 1.0
+  max_scaling_factor: 0.2
+  max_trans_vel: 0.55
+  max_vel_x: 0.55
+  max_vel_y: 0.0
+  min_rot_vel: 0.2
+  min_trans_vel: 0.0
+  min_vel_x: 0.0
+  min_vel_y: 0.0
+  occdist_scale: 0.01
+  oscillation_reset_angle: 0.2
+  oscillation_reset_dist: 0.05
+  path_distance_bias: 5.0
+  prune_plan: true
+  restore_defaults: false
+  rot_stopped_vel: 0.1
+  scaling_speed: 0.25
+  sim_granularity: 0.025
+  sim_time: 1.7
+  stop_time_buffer: 0.2
+  trans_stopped_vel: 0.0
+  use_dwa: true
+  vth_samples: 20
+  vx_samples: 3
+  vy_samples: 10
+  xy_goal_tolerance: 0.3
+  yaw_goal_tolerance: 0.1

param_loader/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>param_loader</name>
+  <version>0.0.19</version>
+  <description>The param_loader package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Bruno Lacerda</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/param_loader</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>rospy</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

param_loader/scripts/param_loader.py

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+#! /usr/bin/env python
+
+import sys
+import yaml
+import rospy
+import dynamic_reconfigure.client
+
+
+if __name__ == '__main__':
+    rospy.init_node('param_loader')
+
+    filtered_argv=rospy.myargv(argv=sys.argv)
+
+    if len(filtered_argv)<2:
+        rospy.logwarn("No config yaml file provided.")
+    elif len(filtered_argv)>2:
+        rospy.logwarn("Too many arguments.")
+    else:
+        file_name=filtered_argv[1]
+
+
+    with open(file_name, 'r') as stream:
+        yaml_config=yaml.load(stream)
+        print yaml_config
+        for key, val in yaml_config.iteritems():
+            print key
+            print val
+            client = dynamic_reconfigure.client.Client("/move_base/" + key)
+            client.update_configuration(val)
+        print "UPDATED"
+