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Migrate Kart Launch Architecture to Simulation Launches #11

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Sep 25, 2021
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Migrate Kart Launch Architecture to Simulation Launches #11

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40321b0
Slight formatting changes in kart_rosbag.launch.
zghera Dec 28, 2020
4e24aed
Move previous sim launch files to archive.
zghera Dec 30, 2020
f21e092
Failed attempt to try to remove/ignore stageros' frames.
zghera Dec 31, 2020
a00013a
Merge branch 'modify_stage_ros' into migrate_kart_to_sim
zghera Jan 3, 2021
79109ae
Remove the duplicated (old) stage_ros node.
zghera Jan 3, 2021
49761bf
Get rid of duplicate sim launch for square track.
zghera Jan 3, 2021
5908953
Merge branch 'modify_stage_ros' into migrate_kart_to_sim
zghera Jan 3, 2021
f48a98f
Merge branch 'modify_stage_ros' into migrate_kart_to_sim
zghera Jan 3, 2021
235b75b
Add new stage_ros modified package to top level files of kart_2dnav.
zghera Jan 3, 2021
0677821
No need for tf_remap node now due to work in #12 and #13.
zghera Jan 5, 2021
4e2e5ba
Temporary use of teb_local_planner's config of move_base to get the s…
zghera Jan 6, 2021
6abd327
Merge branch 'master' into migrate_kart_to_sim
zghera Jan 6, 2021
48a152b
Merge branch 'master' into migrate_kart_to_sim
zghera Mar 28, 2021
ebd2377
Tune move_base.launch params for successful sim run.
zghera Apr 6, 2021
f19e5a5
Fix weird spacing in comments.
zghera Sep 25, 2021
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1 change: 1 addition & 0 deletions src/kart_2dnav/CMakeLists.txt
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Expand Up @@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
velodyne_pointcloud
pointcloud_to_laserscan
laser_scan_matcher_odom
stage_ros_mod_tf
hector_mapping
base_local_planner
global_planner
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69 changes: 69 additions & 0 deletions src/kart_2dnav/launch/archived/sim_autocross_track_only_goal_setting.launch
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@@ -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>

<!-- ************** Global Parameters *************** -->
<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 -->
<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" />

<!-- Our carlike robot is not able to rotate in place -->
<param name="clearing_rotation_allowed" value="false" />
</node>

<!-- 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" />

<!-- ****** 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>

<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/>

</launch>
0 ...kart_2dnav/launch/sim_square_track.launch → ...sim_square_track_only_goal_setting.launch
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4 changes: 3 additions & 1 deletion src/kart_2dnav/launch/kart_rosbag.launch
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Expand Up @@ -2,6 +2,7 @@

<launch>
<!-- This parameter instructs the system to use a simulated clock.

This file is meant soely for testing with bagged environment data
(rosbags) so that is why we set it here.

Expand Down Expand Up @@ -88,5 +89,6 @@
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" />
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find kart_2dnav)/params/kart_rviz.rviz" />
</launch>
122 changes: 73 additions & 49 deletions src/kart_2dnav/launch/sim_autocross_track.launch
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@@ -1,69 +1,93 @@
<?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_mod_tf" type="stage_ros_mod_tf_node" name="stage_ros_mod_tf_node" 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="$(find teb_local_planner_tutorials)/cfg/carlike/teb_local_planner_params.yaml" command="load" />
<!-- LASER ODOMETRY -->
<!-- This node is responsible for taking incremental 2D laserscans (/top/scan)
and outputting estimated odometry information as a tf (odom->base_link)
and by publishing nav_msgs/Odometry messages to the /odom topic. -->
<node pkg="laser_scan_matcher_odom" type="laser_scan_matcher_node_odom"
name="laser_scan_matcher_node_odom" output="screen">
<remap from="scan" to="/top/scan" />
<rosparam file="$(find kart_2dnav)/params/laser_scan_matcher_params.yaml"
command="load" />
</node>

<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<!-- 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>

<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
<!-- 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>

<!-- Our carlike robot is not able to rotate in place -->
<param name="clearing_rotation_allowed" value="false" />
</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="$(find kart_2dnav)/launch/move_base.launch" />
-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(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" />

<!-- 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">
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
<!-- Our carlike robot is not able to rotate in place -->
<param name="clearing_rotation_allowed" value="false" />
</node>


<!-- 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>
4 changes: 1 addition & 3 deletions src/kart_2dnav/package.xml
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Expand Up @@ -57,15 +57,13 @@
<depend>velodyne_pointcloud</depend>
<depend>pointcloud_to_laserscan</depend>
<depend>laser_scan_matcher_odom</depend>
<depend>stage_ros_mod_tf</depend>
<depend>hector_mapping</depend>
<depend>base_local_planner</depend>
<depend>global_planner</depend>
<depend>move_base</depend>
<depend>teb_local_planner</depend>
<depend>teb_local_planner_tutorials</depend>
<!-- <depend>sbg_driver</depend>
<depend>sbg_to_imu</depend>
<depend>imu_filter_madgwick</depend> -->

<!-- The export tag contains other, unspecified, tags -->
<export>
Expand Down