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Merge pull request #11 from Autonomous-Motorsports-Purdue/migrate_kar…
…t_to_sim Migrate Kart Launch Architecture to Simulation Launches
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src/kart_2dnav/launch/archived/sim_autocross_track_only_goal_setting.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <!-- | ||
| Simulate a carlike robot with the teb_local_planner in stage: | ||
| - stage | ||
| - map_server | ||
| - move_base | ||
| - static map | ||
| - amcl | ||
| - rviz view | ||
| --> | ||
| <launch> | ||
|
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| <!-- ************** Global Parameters *************** --> | ||
| <param name="/use_sim_time" value="true"/> | ||
|
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| <!-- ************** Stage Simulator *************** --> | ||
| <node pkg="stage_ros" type="stageros" name="stageros" args="$(find kart_2dnav)/stage/autocross_track.world"> | ||
| <!-- Use top/scan to match naming used for output scan topic from pointcloud_to_laserscan --> | ||
| <remap from="base_scan" to="top/scan"/> | ||
| </node> | ||
|
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||
| <!-- ************** ROS Navigation Stack (move_base) *************** --> | ||
| <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="global_costmap" /> | ||
| <!-- Modified teb_local_planner_tutorials version to set laserscan input to move_base come from top/scan --> | ||
| <rosparam file="$(find kart_2dnav)/params/sim_params/costmap_common_params.yaml" command="load" ns="local_costmap" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/local_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/teb_local_planner_params.yaml" command="load" /> | ||
|
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| <param name="base_global_planner" value="global_planner/GlobalPlanner" /> | ||
| <param name="planner_frequency" value="1.0" /> | ||
| <param name="planner_patience" value="5.0" /> | ||
|
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| <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> | ||
| <param name="controller_frequency" value="5.0" /> | ||
| <param name="controller_patience" value="15.0" /> | ||
|
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| <!-- Our carlike robot is not able to rotate in place --> | ||
| <param name="clearing_rotation_allowed" value="false" /> | ||
| </node> | ||
|
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| <!-- Run the goal setting script to navigate in SLAM mode --> | ||
| <node pkg="slam_mode_goal" type="slam_mode_goal" name="slam_mode_goal" output="screen"> | ||
| </node> | ||
|
|
||
| <!-- MICROCONTROLLER COMM --> | ||
| <!-- Run the communication script to enable and start communicating with microcontroller --> | ||
| <node pkg="ti_comm" type="ti_comm_node" name="ti_comm_node" output="screen" /> | ||
|
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| <!-- ****** Use a Known (Static) Map ***** --> | ||
| <node name="map_server" pkg="map_server" type="map_server" args="$(find kart_2dnav)/maps/autocross.yaml" output="screen"> | ||
| <param name="frame_id" value="map"/> | ||
| </node> | ||
|
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| <node pkg="amcl" type="amcl" name="amcl" output="screen"> | ||
| <!-- Change default subscribed scan topic from scan to top/scan --> | ||
| <remap from="scan" to="top/scan"/> | ||
|
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| <param name="initial_pose_x" value="4"/> | ||
| <param name="initial_pose_y" value="1.5"/> | ||
| <param name="initial_pose_a" value="0"/> | ||
| </node> | ||
|
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| <!-- **************** Visualisation **************** --> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/> | ||
|
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,69 +1,66 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <!-- | ||
| Simulate a carlike robot with the teb_local_planner in stage: | ||
| - stage | ||
| - map_server | ||
| - move_base | ||
| - static map | ||
| - amcl | ||
| - rviz view | ||
| --> | ||
| <launch> | ||
|
|
||
| <!-- ************** Global Parameters *************** --> | ||
| <!-- SIMULATION CONFIGURATION --> | ||
| <param name="/use_sim_time" value="true"/> | ||
|
|
||
| <!-- ************** Stage Simulator *************** --> | ||
| <node pkg="stage_ros" type="stageros" name="stageros" args="$(find kart_2dnav)/stage/autocross_track.world"> | ||
| <!-- Use top/scan to match naming used for output scan topic from pointcloud_to_laserscan --> | ||
| <!-- Launch the RViz simulation --> | ||
| <node pkg="stage_ros_mod_tf" type="stage_ros_mod_tf_node" | ||
| name="stage_ros_mod_tf_node" | ||
| args="$(find kart_2dnav)/stage/autocross_track.world"> | ||
| <!-- Remap the scan topic to top/scan to match naming used for output | ||
| scan topic from pointcloud_to_laserscan --> | ||
| <remap from="base_scan" to="top/scan"/> | ||
| </node> | ||
|
|
||
| <!-- ************** ROS Navigation Stack (move_base) *************** --> | ||
| <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="global_costmap" /> | ||
| <!-- Modified teb_local_planner_tutorials version to set laserscan input to move_base come from top/scan --> | ||
| <rosparam file="$(find kart_2dnav)/params/sim_params/costmap_common_params.yaml" command="load" ns="local_costmap" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/local_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/teb_local_planner_params.yaml" command="load" /> | ||
|
|
||
| <param name="base_global_planner" value="global_planner/GlobalPlanner" /> | ||
| <param name="planner_frequency" value="1.0" /> | ||
| <param name="planner_patience" value="5.0" /> | ||
|
|
||
| <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> | ||
| <param name="controller_frequency" value="5.0" /> | ||
| <param name="controller_patience" value="15.0" /> | ||
| <!-- LASER ODOMETRY --> | ||
| <!-- This node is responsible for taking incremental 2D laserscans (/top/scan) | ||
| and outputting estimated odometry information as a tf (odom->base_link) | ||
| and by publishing nav_msgs/Odometry messages to the /odom topic. --> | ||
| <node pkg="laser_scan_matcher_odom" type="laser_scan_matcher_node_odom" | ||
| name="laser_scan_matcher_node_odom" output="screen"> | ||
| <remap from="scan" to="/top/scan" /> | ||
| <rosparam file="$(find kart_2dnav)/params/laser_scan_matcher_params.yaml" | ||
| command="load" /> | ||
| </node> | ||
|
|
||
| <!-- Our carlike robot is not able to rotate in place --> | ||
| <param name="clearing_rotation_allowed" value="false" /> | ||
| </node> | ||
| <!-- SLAM: LOCALIZATION & MAPPING --> | ||
| <!-- Run the SLAM package, HectorMapping, that takes in 2D laser scans | ||
| (/top/scan) and publishes topics for the created map (/map) and | ||
| estimated pose (/slam_out_pose) of the kart relative to the map. | ||
| This node is also responsible for publishing the tf map->odom. --> | ||
| <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> | ||
| <remap from="scan" to="/top/scan" /> | ||
| <rosparam file="$(find kart_2dnav)/params/hector_mapping_params.yaml" command="load" /> | ||
| </node> | ||
|
|
||
| <!-- Run the goal setting script to navigate in SLAM mode --> | ||
| <!-- GOAL SETTING --> | ||
| <!-- Run the goal setting algorithm to navigate without a preliminary map (lap 1). | ||
| This node takes 2D laser scans (/top/scan) then constructs a goal message and | ||
| creates an ActionClient to sends the goal as ROS actions to SimpleActionServer | ||
| on move_base. --> | ||
| <!-- TODO: Figure out how to incorporate ROS params with goal setting script --> | ||
| <node pkg="slam_mode_goal" type="slam_mode_goal" name="slam_mode_goal" output="screen"> | ||
| </node> | ||
|
|
||
| <!-- ROS NAVIGATION STACK --> | ||
| <!-- Configure and run move_base to set up the ROS Navigation Stack. --> | ||
| <!-- More details on inputs/outputs can be found in move_base.launch --> | ||
| <include file="$(find kart_2dnav)/launch/move_base.launch" /> | ||
|
|
||
| <!-- MICROCONTROLLER COMM --> | ||
| <!-- Run the communication script to enable and start communicating with microcontroller --> | ||
| <!-- Run the communication script to enable and start communicating with the | ||
| microcontroller. This node subscribed to the /cmd_vel topic published by | ||
| move_base and then then sends packets containing the velocity and steering | ||
| angle to the MCU over a serial connection. --> | ||
| <node pkg="ti_comm" type="ti_comm_node" name="ti_comm_node" output="screen" /> | ||
|
|
||
| <!-- ****** Use a Known (Static) Map ***** --> | ||
| <node name="map_server" pkg="map_server" type="map_server" args="$(find kart_2dnav)/maps/autocross.yaml" output="screen"> | ||
| <param name="frame_id" value="map"/> | ||
| </node> | ||
|
|
||
| <node pkg="amcl" type="amcl" name="amcl" output="screen"> | ||
| <!-- Change default subscribed scan topic from scan to top/scan --> | ||
| <remap from="scan" to="top/scan"/> | ||
|
|
||
| <param name="initial_pose_x" value="4"/> | ||
| <param name="initial_pose_y" value="1.5"/> | ||
| <param name="initial_pose_a" value="0"/> | ||
| </node> | ||
| <!-- Launch rviz with the configuration file in order to visualize incoming data | ||
| <!-- **************** Visualisation **************** --> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/> | ||
| Note: This should only be set when running the system with simulated | ||
| sensor data (rosbags). | ||
| --> | ||
| <node name="rviz" pkg="rviz" type="rviz" | ||
| args="-d $(find kart_2dnav)/params/kart_rviz.rviz" /> | ||
|
|
||
| </launch> |
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