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Adding support for nav2D flat nav. Adding some existing ROS params to… #105

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Adding support for nav2D flat nav. Adding some existing ROS params to… #105

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fa4b78d
Adding support for nav2D flat nav. Adding some existing ROS params to…
Dec 17, 2019
8a2057b
Changing the upward pose to proper translations
mjstn Jan 9, 2020
cd3d693
Taking the flat nav simplification one level deeper to allow maps to …
mjstn Apr 20, 2020
2d9934d
Converted launch files to allow command line passing of new flat para…
mjstn May 22, 2020
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24 changes: 24 additions & 0 deletions magni_demos/launch/simple_nav_map_flat.launch
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<!--
This launch file brings up a simple navigation system using fiducials [1]
and move_basic [2].
A special mode that removes roll and pitch from fiducials used for mapping is enabled

[1] http://wiki.ros.org/fiducials
[2] http://wiki.ros.org/move_basic
-->
<launch>
<!--
This parameter is used to specify what level of capabilites
the robot should have after this launch file.

Possible values are 'core', 'teleop', and 'navigation'

Since this launch brings up enough to do navigation,
we set it to 'navigation'.
-->
<param name="ubiquity_robot_mode" type="string" value="navigation"/>

<include file="$(find magni_nav)/launch/move_basic.launch" />
<include file="$(find magni_nav)/launch/aruco_nav_map_flat.launch" />
</launch>

13 changes: 12 additions & 1 deletion magni_demos/launch/simple_navigation.launch
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Expand Up @@ -6,6 +6,11 @@
[2] http://wiki.ros.org/move_basic
-->
<launch>
<arg name="fiducial_len" default="0.140"/>
<arg name="read_only_map" default="false"/>
<arg name="navigate_flat" default="false"/>
<arg name="fiducials_flat" default="false"/>
<arg name="verbose_info" default="false"/>
<!--
This parameter is used to specify what level of capabilites
the robot should have after this launch file.
Expand All @@ -18,6 +23,12 @@
<param name="ubiquity_robot_mode" type="string" value="navigation"/>

<include file="$(find magni_nav)/launch/move_basic.launch" />
<include file="$(find magni_nav)/launch/aruco.launch" />
<include file="$(find magni_nav)/launch/aruco.launch">
<arg name="fiducial_len" value="$(arg fiducial_len)" />
<arg name="read_only_map" value="$(arg read_only_map)"/>
<arg name="navigate_flat" value="$(arg navigate_flat)"/>
<arg name="fiducials_flat" value="$(arg fiducials_flat)"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
</include>
</launch>

23 changes: 23 additions & 0 deletions magni_demos/launch/simple_navigation_flat.launch
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<!--
This launch file brings up a simple navigation system using fiducials [1]
and move_basic [2].

[1] http://wiki.ros.org/fiducials
[2] http://wiki.ros.org/move_basic
-->
<launch>
<!--
This parameter is used to specify what level of capabilites
the robot should have after this launch file.

Possible values are 'core', 'teleop', and 'navigation'

Since this launch brings up enough to do navigation,
we set it to 'navigation'.
-->
<param name="ubiquity_robot_mode" type="string" value="navigation"/>

<include file="$(find magni_nav)/launch/move_basic.launch" />
<include file="$(find magni_nav)/launch/aruco_navigation_flat.launch" />
</launch>

2 changes: 1 addition & 1 deletion magni_description/urdf/magni.urdf.xacro
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Expand Up @@ -176,7 +176,7 @@
</xacro:if>
<xacro:if value="${raspicam_mount == 'upward'}">
<xacro:raspi_camera name="raspicam" connected_to="base_link">
<origin xyz="0.035 0.15 0.14" rpy="0 0 ${pi}"/>
<origin xyz="0.020 0.115 0.16" rpy="0 0 ${pi}"/>
</xacro:raspi_camera>
</xacro:if>
</xacro:if>
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17 changes: 15 additions & 2 deletions magni_nav/launch/aruco.launch
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Expand Up @@ -3,6 +3,11 @@
-->
<launch>
<arg name="mapping_mode" default="false"/>
<arg name="fiducial_len" default="0.14"/>
<arg name="read_only_map" default="false"/>
<arg name="navigate_flat" default="false"/>
<arg name="fiducials_flat" default="false"/>
<arg name="verbose_info" default="false"/>

<!-- camera -->
<include file="$(find raspicam_node)/launch/camerav2_1280x960_10fps.launch" />
Expand All @@ -12,9 +17,10 @@
<arg name="camera" value="/raspicam_node"/>
<arg name="image" value="image"/>
<arg name="transport" value="compressed"/>

<arg name="verbose_info" value="$(arg verbose_info)"/>

<!-- fiducial_len -->
<arg name="fiducial_len" value="0.140" />
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
</include>

<!-- Fiducial slam -->
Expand All @@ -23,5 +29,12 @@
<arg name="odom_frame" value="odom"/>
<arg name="base_frame" value="base_footprint"/>
<arg name="future_date_transforms" value="0.5"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
<arg name="fiducials_flat" value="$(arg fiducials_flat)"/>
<arg name="read_only_map" value="$(arg read_only_map)"/>
<arg name="navigate_flat" value="$(arg navigate_flat)"/>

<!-- fiducial_len -->
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
</include>
</launch>
33 changes: 33 additions & 0 deletions magni_nav/launch/aruco_nav_map_flat.launch
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<!--
Run the 3d fiducial localization for Nav2D flat floor navigation method
A special mode that removes roll and pitch from fiducials used for mapping is enabled
-->
<launch>
<arg name="mapping_mode" default="false"/>
<arg name="fiducial_len" default="0.11"/>
<arg name="verbose_info" default="true"/>

<!-- camera -->
<include file="$(find raspicam_node)/launch/arducam2p3mm_1296x972_10fps.launch" />

<!-- Fiducial detection -->
<include file="$(find aruco_detect)/launch/aruco_detect.launch">
<arg name="camera" value="/raspicam_node"/>
<arg name="image" value="image"/>
<arg name="transport" value="compressed"/>
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
</include>

<!-- Fiducial Navigation For Flat Floor -->
<include file="$(find fiducial_slam)/launch/fiducial_slam.launch">
<arg name="map_frame" value="map"/>
<arg name="odom_frame" value="odom"/>
<arg name="base_frame" value="base_link"/>
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
<arg name="read_only_map" value="false"/>
<arg name="navigate_flat" value="false"/>
<arg name="fiducials_flat" value="true"/>
</include>
</launch>
32 changes: 32 additions & 0 deletions magni_nav/launch/aruco_navigation_flat.launch
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<!--
Run the 3d fiducial localization for Nav2D flat floor navigation method
This navigation method treats the map.txt file as read only so cannot grow fiducial map.
-->
<launch>
<arg name="mapping_mode" default="false"/>
<arg name="fiducial_len" default="0.14"/>
<arg name="verbose_info" default="true"/>

<!-- camera -->
<include file="$(find raspicam_node)/launch/camerav2_1280x960_10fps.launch" />

<!-- Fiducial detection -->
<include file="$(find aruco_detect)/launch/aruco_detect.launch">
<arg name="camera" value="/raspicam_node"/>
<arg name="image" value="image"/>
<arg name="transport" value="compressed"/>
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
</include>

<!-- Fiducial Navigation For Flat Floor -->
<include file="$(find fiducial_slam)/launch/fiducial_slam.launch">
<arg name="map_frame" value="map"/>
<arg name="odom_frame" value="odom"/>
<arg name="base_frame" value="base_link"/>
<arg name="fiducial_len" value="$(arg fiducial_len)"/>
<arg name="verbose_info" value="$(arg verbose_info)"/>
<arg name="read_only_map" value="true"/>
<arg name="navigate_flat" value="true"/>
</include>
</launch>
8 changes: 8 additions & 0 deletions magni_nav/launch/move_basic.launch
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Expand Up @@ -5,6 +5,14 @@
<param name="robot_front_length" value="0.1"/>
<param name="robot_back_length" value="0.32"/>

<!-- speed controls -->
<param name="max_linear_velocity" value="0.5"/>
<param name="max_angular_velocity" value="1.0"/>

<!-- End position tolerance -->
<param name="linear_tolerance" value="0.03"/>
<param name="angular_tolerance" value="0.01"/>

<!-- lateral control -->
<param name="min_side_dist" value="0.3"/>
<param name="max_side_dist" value="2"/>
Expand Down