forked from zbw/yiliao2026
改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了
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@@ -1,47 +0,0 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition, UnlessCondition
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import launch_ros.actions
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def generate_launch_description():
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akmcar = LaunchConfiguration('akmcar', default='false')
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robot_parameters = [
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{'usart_port_name': '/dev/ttyACM0',
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'serial_baud_rate': 115200,
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'robot_frame_id': 'base_link',
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'odom_frame_id': 'odom',
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'cmd_vel': 'cmd_vel',
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'product_number': 0}
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]
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return LaunchDescription([
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DeclareLaunchArgument(
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'akmcar',
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default_value='false',
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description='Use simulation (Gazebo) clock if true'
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),
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launch_ros.actions.Node(
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condition=IfCondition(akmcar),
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package='origincar_base',
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executable='origincar_base_node',
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parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
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remappings=[('/cmd_vel', 'cmd_vel')],
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),
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launch_ros.actions.Node(
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condition=IfCondition(akmcar),
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package='origincar_base',
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executable='cmd_vel_to_ackermann_drive.py',
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name='cmd_vel_to_ackermann_drive',
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),
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launch_ros.actions.Node(
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condition=UnlessCondition(akmcar),
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package='origincar_base',
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executable='origincar_base_node',
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parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
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)
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])
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@@ -1,33 +0,0 @@
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#!/usr/bin/python3
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import os
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import launch
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import launch_ros
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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package_name = 'origincar_base'
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ld = launch.LaunchDescription()
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pkg_share = launch_ros.substitutions.FindPackageShare(package=package_name).find(package_name)
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robot_localization_file_path = os.path.join(pkg_share, 'config/ekf.yaml')
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use_sim_time = LaunchConfiguration('use_sim_time')
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# Start robot localization using an Extended Kalman filter
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robot_localization_node = Node(
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package='robot_localization',
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executable='ekf_node',
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name='ekf_filter_node',
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output='screen',
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remappings=[("odometry/filtered", "odom_combined")],
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parameters=[
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robot_localization_file_path,
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{'use_sim_time': use_sim_time}
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])
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ld.add_action(launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='false',
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description='Flag to disable use_sim_time'))
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ld.add_action(robot_localization_node)
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return ld
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@@ -1,99 +0,0 @@
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import os
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from pathlib import Path
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import launch
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from launch.actions import SetEnvironmentVariable
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, GroupAction,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import PushRosNamespace
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import launch_ros.actions
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from launch.conditions import UnlessCondition
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('origincar_base')
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launch_dir = os.path.join(bringup_dir, 'launch')
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ekf_config = Path(get_package_share_directory('origincar_base'), 'config', 'ekf.yaml')
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imu_config = Path(get_package_share_directory('origincar_base'), 'config', 'imu.yaml')
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carto_slam = LaunchConfiguration('carto_slam', default='false')
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carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
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akmcar = LaunchConfiguration('akmcar', default='true')
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akmcar_dec = DeclareLaunchArgument('akmcar', default_value='true',
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description='阿克曼底盘模式 (true=阿克曼, false=差速)')
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origincar_base = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
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launch_arguments={'akmcar': akmcar}.items(),
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)
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choose_car = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
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)
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base_to_gyro = launch_ros.actions.Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='base_to_gyro',
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arguments=['0', '0', '0','0', '0','0','base_footprint','gyro_link'],
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)
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link_to_laser = launch_ros.actions.Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='link_to_laser',
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arguments=['0', '0', '0','0', '0','0','base_link','laser'],
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)
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imu_filter_node = launch_ros.actions.Node(
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package='imu_filter_madgwick',
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executable='imu_filter_madgwick_node',
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parameters=[imu_config]
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)
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robot_ekf = launch_ros.actions.Node(
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condition=UnlessCondition(carto_slam),
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package='robot_localization',
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executable='ekf_node',
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parameters=[ekf_config],
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remappings=[("odometry/filtered", "odom_combined")]
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)
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# 从 URDF 生成 robot_description，供 joint_state_publisher 和 robot_state_publisher 共用
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from launch_ros.parameter_descriptions import ParameterValue
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from launch.substitutions import Command
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robot_description = ParameterValue(
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Command(['xacro ', os.path.join(
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get_package_share_directory('origincar_description'),
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'urdf', 'origincar.urdf')]),
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value_type=str)
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joint_state_publisher_node = launch_ros.actions.Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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parameters=[{'robot_description': robot_description}],
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)
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ld = LaunchDescription()
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ld.add_action(carto_slam_dec)
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ld.add_action(akmcar_dec)
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ld.add_action(origincar_base)
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ld.add_action(base_to_gyro)
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ld.add_action(joint_state_publisher_node)
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ld.add_action(choose_car)
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ld.add_action(imu_filter_node)
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ld.add_action(robot_ekf)
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return ld
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@@ -1,27 +0,0 @@
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from launch.substitutions import Command
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def generate_launch_description():
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urdf_path = os.path.join(
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get_package_share_directory('origincar_description'),
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'urdf', 'origincar.urdf')
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robot_description = ParameterValue(
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Command(['xacro ', urdf_path]), value_type=str)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description,
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'publish_frequency': 30.0}],
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)
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ld = LaunchDescription()
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ld.add_action(robot_state_publisher)
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return ld
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