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simplify costmap by removing static layer; add robot footprint #273

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simplify costmap by removing static layer; add robot footprint #273

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72 changes: 39 additions & 33 deletions ...rs_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -85,12 +85,17 @@ global_costmap:
footprint_padding: 0.03
update_frequency: 5.0
publish_frequency: 5.0
global_frame: odom
global_frame: map
robot_base_frame: base_link
use_sim_time: True
robot_radius: 0.22 # should modify
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
robot_radius: 0.95 # based on urdf
resolution: 0.1 # 0.1m per pixel of costmap; rough
rolling_window: true
width: 50
height: 50
track_unknown_space: true
# TODO: investigate the usage of a static layer... are we going to be mapping at all?
plugins: ["obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
Expand All @@ -104,18 +109,18 @@ global_costmap:
marking: True
data_type: "PointCloud2"
min_obstacle_height: 0.001
max_obstacle_height: 10.0
denoise_layer:
plugin: "nav2_costmap_2d::DenoiseLayer"
enabled: True
minimal_group_size: 2
group_connectivity_type: 8
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
enabled: true
subscribe_to_updates: true
transform_tolerance: 0.1
max_obstacle_height: 3.0
# denoise_layer:
# plugin: "nav2_costmap_2d::DenoiseLayer"
# enabled: True
# minimal_group_size: 2
# group_connectivity_type: 8
# static_layer:
# plugin: "nav2_costmap_2d::StaticLayer"
# map_subscribe_transient_local: True
# enabled: true
# subscribe_to_updates: true
# transform_tolerance: 0.1
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: true
Expand All @@ -135,11 +140,12 @@ local_costmap:
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
width: 3 # local costmap is quite small
height: 3
resolution: 0.05

plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
resolution: 0.05 # more fine precision map
# based off the current urdf file
footprint: "[ [0.735, 0.59], [0.735, -0.59], [-0.735, -0.59], [-0.735, 0.59] ]"
plugins: ["obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
Expand All @@ -153,13 +159,13 @@ local_costmap:
marking: True
data_type: "PointCloud2"
min_obstacle_height: 0.001
max_obstacle_height: 10.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
enabled: true
subscribe_to_updates: true
transform_tolerance: 0.1
max_obstacle_height: 3.0
# static_layer:
# plugin: "nav2_costmap_2d::StaticLayer"
# map_subscribe_transient_local: True
# enabled: true
# subscribe_to_updates: true
# transform_tolerance: 0.1
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: true
Expand All @@ -174,12 +180,12 @@ map_saver:
free_thresh_default: 0.25
occupied_thresh_default: 0.65

map_server:
ros__parameters:
# TODO: Change name "nico" to use the USER env var instead
yaml_filename: "/home/nico/uwrt_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml"
topic_name: "map"
frame_id: "odom"
# map_server:
# ros__parameters:
# # TODO: Change name "nico" to use the USER env var instead
# yaml_filename: "map.yaml"
# topic_name: "map"
# frame_id: "odom"

costmap_filter_info_server:
ros__parameters:
Expand Down
45 changes: 30 additions & 15 deletions uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,8 @@

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.descriptions import ParameterFile

Expand All @@ -11,37 +12,51 @@
def generate_launch_description():

declared_arguments = [
# TODO: add this back after fixing the map path with the USER env var
# TODO: add this back after fixing the map path (if we need a static map) with the USER env var (if needed)
# DeclareLaunchArgument(
# "map_yaml_filename",
# default_value=os.path.join(get_package_share_directory('uwrt_mars_rover_drivetrain_description'), 'config', 'map.yaml'),
# description='Map yaml file path'
# )
]

ekf_launch_file = os.path.join(
get_package_share_directory('uwrt_mars_rover_drivetrain_description'),
'launch',
'dual_ekf_navsat.launch.py'
)

ekf_launch = [IncludeLaunchDescription(
PythonLaunchDescriptionSource(
ekf_launch_file
)
)]

nodes = []

controller_yaml = os.path.join(get_package_share_directory('uwrt_mars_rover_drivetrain_description'), 'config', 'costmap_parameters.yaml')
nav_config_yaml = os.path.join(get_package_share_directory('uwrt_mars_rover_drivetrain_description'), 'config', 'costmap_parameters.yaml')

lifecycle_nodes = ['controller_server',
'planner_server',
'map_server']
]
# TODO: add this back after fixing the map path with the USER env var
# 'map_server']

nodes += [Node(
package='nav2_map_server',
executable='map_server',
output='screen',
# TODO: add this back after fixing the map path with the USER env var
# parameters=[{"yaml_file": LaunchConfiguration("map_yaml_filename")}, controller_yaml],
parameters=[controller_yaml]
)]
# nodes += [Node(
# package='nav2_map_server',
# executable='map_server',
# output='screen',
# # parameters=[{"yaml_file": LaunchConfiguration("map_yaml_filename")}, nav_config_yaml],
# parameters=[nav_config_yaml]
# )]

nodes += [Node(
package='nav2_controller',
executable='controller_server',
output='screen',
respawn=True,
respawn_delay=2.0,
parameters=[controller_yaml])]
parameters=[nav_config_yaml])]

nodes += [Node(
package='nav2_planner',
Expand All @@ -50,7 +65,7 @@ def generate_launch_description():
output='screen',
respawn=True,
respawn_delay=2.0,
parameters=[controller_yaml])]
parameters=[nav_config_yaml])]

nodes += [Node(
package='nav2_lifecycle_manager',
Expand All @@ -60,4 +75,4 @@ def generate_launch_description():
parameters=[{'autostart': True},
{'node_names': lifecycle_nodes}])]

return LaunchDescription(declared_arguments + nodes)
return LaunchDescription(ekf_launch + declared_arguments + nodes)
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