warehouse_project

Preliminaries

cd ~/ros2_ws/src
git clone https://github.com/ivogeorg/warehouse_project.git
cd ~/ros2_ws
colcon build
source install/setup.bash

Task 1 - Mapping

Task 1 - Launching

1. (personal note) The odom frame in the real warehouse lab is robot_odom, while the odom topic is unchanged. Make sure that in cartographer_slam/config/cartographer.lua the following lines are correct:

   published_frame = "robot_odom",
   odom_frame = "robot_odom",
   

2. ros2 launch cartographer_slam cartographer.launch.py
3. rviz2 -d ~/ros2_ws/src/warehouse_project/cartographer_slam/rviz/config.rviz
4. Move around the robot with the joystick.
5. ros2 launch map_server map_server.launch.py map_file:=warehouse_map_real.yaml

Task 1 - Notes

1. In the map_server test, the originally created map will be used, not the one that might have been accumulated during the cartographer_slam test.
2. In the cartographer phase, the map topic and map frame are published by occupancy_grid_node.
3. In the map server phase, the map topic is published by map_server. No TF frames are published by map_server.

Task 2 - Localization

Task 2 - Launching

1. ros2 launch localization_server localization.launch.py map_file:=warehouse_map_real.yaml
2. In Rviz2, set a 2D Pose Estimate
3. ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel

Task 2 - Notes

1. map_server publishes the map topic. amcl subscribes to map.
2. amcl publishes the map TF frame, after an initial pose (2D Pose Estimate) is specified.

Task 3 - Navigation

1. ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel
2. In Rviz2, set a 2D Pose Estimate
3. ros2 launch path_planner_server pathplanner.launch.py
4. In Rviz2, set a 2D Goal Pose

Configuration

Parameter	Location	Check	Simulator	Real robot	Documentation	Notes
cmd_vel	ROS2 topic	ros2 topic list | grep cmd_vel	/diffbot_base_controller/cmd_vel_unstamped
odom	ROS2 topic	ros2 topic list | grep odom, ros2 topic echo /odom	odom	odom
odom	TF frame	Rviz2, ros2 run tf2_tools view_frames	odom	robot_odom
Robot base link/frame	TF frame	Rviz2, ros2 run tf2_tools view_frames	robot_base_footprint	robot_base_footprint
Map topic	ROS2 topic	Rviz2, ros2 topic list | grep map, ros2 topic info map -v	map (cartographer_occupancy_grid_node)
Map frame	TF frame	Rviz2, ros2 run tf2_tools view_frames	map (cartographer_occupancy_grid_node)			Assuming the publisher of the map topic
Occupancy grid node	Package under cartographer_ros, launch file	sudo find / -name "cartographer_ros"	cartographer_occupancy_grid_node
map_frame	Param in cartographer.lua	File	"map"	"map"
tracking_frame	Param in cartographer.lua	File	"robot_base_footprint"	"robot_base_footprint"
published_frame	Param in cartographer.lua	File	"odom"	"robot_odom"
odom_frame	Param in cartographer.lua	File	"odom"	"robot_odom"
'use_sim_time'	Local variable and param in launch and deleted in config files (see here)	Files: map, loc, path	True	False
base_frame_id	Param in amcl_config.yaml	File	"robot_base_footprint"	"robot_base_footprint"
global_frame_id	Param in amcl_config.yaml	File	"map"	"map"
odom_frame_id	Param in amcl_config.yaml	File	"odom"	"robot_odom"
global_frame	Param under global_costmap section of planner_server.yaml	File	map	map
robot_base_frame	Param under global_costmap section of planner_server.yaml	File	robot_base_footprint	robot_base_footprint
vel_cmd topic	ROS2 topic	Rviz2, ros2 topic list | grep cmd_vel	/diffbot_base_controller/cmd_vel_unstamped	cmd_vel
robot_description topic	ROS2 topic	Rviz2, ros2 topic list | grep robot_description	Confusing, sometimes it's /robot_description, sometimes /rb1_robot/robot_description, and neither has a publisher when checking with ros2 topic info /topic_name -v	/rb1_robot/robot_description
odom_topic	Param under ros__parameters section in controller.yaml	File	"odom"	"odom"
global_frame	Param under local_costmap section in controller.yaml	File	map	map
robot_base_frame	Param under local_costmap section in controller.yaml	File	robot_base_footprint	robot_base_footprint
cmd_vel remapping	Node argument in pathplanner.launch.py	/diffbot_base_controller/cmd_vel_unstamped	None
local_frame	Param under ros__parameters section in behavior.yaml	File	odom	robot_odom
global_frame	Param under ros__parameters section in behavior.yaml	File	map	map
robot_base_frame	Param under ros__parameters section in behavior.yaml	File	robot_base_footprint	robot_base_footprint
global_frame	Param under ros__parameters section in behavior.yaml	File	map	map
robot_base_frame	Param under ros__parameters section in behavior.yaml	File	robot_base_footprint	robot_base_footprint
odom_topic	Param under ros__parameters section in behavior.yaml	File	/odom	/odom

'use_sim_time'

1. A ROS parameter.
2. Specified in config files as

   ros__parameters:
     use_sim_time: True
   

3. Specified in parameters for node launch descriptions. Question: Does the launch description parameters value override the config file value?
4. List parameters with ros2 param list. Shown by node.
5. Check as follows ros2 param get /position_controller use_sim_time where position_controller is a node and use_sime_time is a parameter of the node.

Conclusion: Config files take precedence over launch description parameter specifications. If specified in the config file, changing the value in the node launch description has no effect. Conversely, if the parameter is not specified in the config file, it is set to the launch description value.