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mohuanzui
2026-06-02 12:55:53 +08:00
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1
install/gc_bringup/share/ament_index/resource_index/package_run_dependencies/gc_bringup Normal file
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gazebo_ros;robot_state_publisher;joint_state_publisher;rviz2;nav2_bringup;slam_toolbox;origincar_description;xacro;teleop_twist_keyboard;ament_lint_auto;ament_lint_common

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install/gc_bringup/share/ament_index/resource_index/packages/gc_bringup Normal file
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install/gc_bringup/share/ament_index/resource_index/parent_prefix_path/gc_bringup Normal file
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/home/guoch/test_ws/install/gc_bringup:/home/guoch/test_ws/install/origincar_description:/home/guoch/test_ws/install/gc_slamtoolbox:/home/guoch/test_ws/install/gc_slam_toolbox_fish:/home/guoch/test_ws/install/gc_navigation_fish:/home/guoch/test_ws/install/gc_navigation2_slamtoolbox:/home/guoch/test_ws/install/gc_navigation:/opt/ros/humble

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install/gc_bringup/share/colcon-core/packages/gc_bringup Normal file
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gazebo_ros:joint_state_publisher:nav2_bringup:origincar_description:robot_state_publisher:rviz2:slam_toolbox:teleop_twist_keyboard:xacro

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install/gc_bringup/share/gc_bringup/cmake/gc_bringupConfig-version.cmake Normal file
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "1.0.0")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()

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install/gc_bringup/share/gc_bringup/cmake/gc_bringupConfig.cmake Normal file
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
# prevent multiple inclusion
if(_gc_bringup_CONFIG_INCLUDED)
# ensure to keep the found flag the same
if(NOT DEFINED gc_bringup_FOUND)
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
set(gc_bringup_FOUND FALSE)
elseif(NOT gc_bringup_FOUND)
# use separate condition to avoid uninitialized variable warning
set(gc_bringup_FOUND FALSE)
endif()
return()
endif()
set(_gc_bringup_CONFIG_INCLUDED TRUE)
# output package information
if(NOT gc_bringup_FIND_QUIETLY)
message(STATUS "Found gc_bringup: 1.0.0 (${gc_bringup_DIR})")
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "Package 'gc_bringup' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
# optionally quiet the deprecation message
if(NOT ${gc_bringup_DEPRECATED_QUIET})
message(DEPRECATION "${_msg}")
endif()
endif()
# flag package as ament-based to distinguish it after being find_package()-ed
set(gc_bringup_FOUND_AMENT_PACKAGE TRUE)
# include all config extra files
set(_extras "")
foreach(_extra ${_extras})
include("${gc_bringup_DIR}/${_extra}")
endforeach()

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install/gc_bringup/share/gc_bringup/config/mapper_params_localization.yaml Normal file
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# =============================================================================
# slam_toolbox 定位模式参数
# 用于在已有地图上进行定位（替代 AMCL）
# =============================================================================
slam_toolbox:
ros__parameters:
# 基本设置
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS 参数
odom_frame: odom
map_frame: map
base_frame: base_footprint
scan_topic: /scan
use_sim_time: True
mode: localization
# 调试
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02
map_update_interval: 10.0
resolution: 0.05
max_laser_range: 3.5
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.0
stack_size_to_use: 40000000
# 定位模式不需要回环检测
loop_search_maximum_distance: 3.0
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# 扫描匹配
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# 回环闭合
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# 扫描匹配器
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

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install/gc_bringup/share/gc_bringup/config/mapper_params_online_async.yaml Normal file
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# =============================================================================
# slam_toolbox 在线异步建图参数
# 用于实时 SLAM 建图
# =============================================================================
slam_toolbox:
ros__parameters:
# 基本设置
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS 参数
odom_frame: odom
map_frame: map
base_frame: base_footprint
scan_topic: /scan
use_sim_time: True
mode: mapping
# 调试
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02
map_update_interval: 5.0
resolution: 0.05
max_laser_range: 3.5
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.0
stack_size_to_use: 40000000
enable_interactive_mode: true
# 回环检测
loop_search_maximum_distance: 3.0
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# 扫描匹配
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# 回环闭合
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# 扫描匹配器
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

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install/gc_bringup/share/gc_bringup/config/nav2_params.yaml Normal file
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# =============================================================================
# Nav2 参数 — 阿克曼底盘 + AMCL + MPPI
# =============================================================================
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
# ★ 自动设定初始位姿 — 不设置的话 map→odom 的 TF 不会发布
set_initial_pose: true
initial_pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 10.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 30.0
controller_plugins: ["FollowPath"]
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
vx_std: 0.2
vy_std: 0.0
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.0
wz_max: 1.9
iteration_count: 1
temperature: 0.3
gamma: 0.015
motion_model: "Ackermann"
visualize: false
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.4
critics:
- "ConstraintCritic"
- "CostCritic"
- "GoalCritic"
- "GoalAngleCritic"
- "PathAlignCritic"
- "PathFollowCritic"
- "PathAngleCritic"
- "PreferForwardCritic"
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
critical_cost: 300.0
consider_footprint: true
collision_cost: 1000000.0
near_goal_distance: 1.0
trajectory_point_step: 2
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
max_path_occupancy_ratio: 0.05
trajectory_point_step: 4
threshold_to_consider: 0.5
offset_from_furthest: 20
use_path_orientations: false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
offset_from_furthest: 5
threshold_to_consider: 1.4
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
forward_preference: true
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
use_sim_time: True
GridBased:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
downsample_costmap: false
downsampling_factor: 1
tolerance: 0.25
allow_unknown: true
max_iterations: 1000000
max_on_approach_iterations: 1000
max_planning_time: 5.0
motion_model_for_search: "REEDS_SHEPP"
angle_quantization_bins: 72
analytic_expansion_ratio: 3.5
analytic_expansion_max_length: 3.0
minimum_turning_radius: 0.40
reverse_penalty: 2.0
change_penalty: 0.0
non_straight_penalty: 1.2
cost_penalty: 2.0
retrospective_penalty: 0.015
lookup_table_size: 20.0
cache_obstacle_heuristic: false
viz_expansions: false
smooth_path: True
smoother:
max_iterations: 1000
w_smooth: 0.3
w_data: 0.2
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_footprint
transform_tolerance: 0.5
use_sim_time: True
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
behavior_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 0.5
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
footprint_padding: 0.02
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
use_sim_time: True
transform_tolerance: 0.5
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
footprint_padding: 0.02
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: ""
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
loop_rate: 20
use_sim_time: True
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

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install/gc_bringup/share/gc_bringup/environment/ament_prefix_path.dsv Normal file
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prepend-non-duplicate;AMENT_PREFIX_PATH;

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install/gc_bringup/share/gc_bringup/environment/ament_prefix_path.sh Normal file
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# copied from
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

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install/gc_bringup/share/gc_bringup/environment/path.dsv Normal file
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prepend-non-duplicate-if-exists;PATH;bin

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install/gc_bringup/share/gc_bringup/environment/path.sh Normal file
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# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
fi

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install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.dsv Normal file
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prepend-non-duplicate;CMAKE_PREFIX_PATH;

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install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.ps1 Normal file
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# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

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install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.sh Normal file
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

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#!/usr/bin/env python3
# =============================================================================
# gc_bringup — AMCL 导航模式 (直接启动 Nav2 节点)
# 启动 Gazebo + 机器人 + Nav2 (AMCL 定位)
# =============================================================================
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
TimerAction)
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
bringup_dir = get_package_share_directory('gc_bringup')
origincar_dir = get_package_share_directory('origincar_description')
# ==================== 参数 ====================
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
use_gazebo = LaunchConfiguration('use_gazebo', default='true')
use_rviz = LaunchConfiguration('use_rviz', default='false')
world = LaunchConfiguration('world', default=os.path.join(
origincar_dir, 'world', 'gc_world.world'))
map_yaml = LaunchConfiguration('map', default=os.path.join(
bringup_dir, 'maps', 'my_map.yaml'))
declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='false')
declare_world = DeclareLaunchArgument(
'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
declare_map = DeclareLaunchArgument(
'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
# ==================== 机器人模型 ====================
default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
robot_description = ParameterValue(
Command(['xacro ', default_model_path]), value_type=str)
# ==================== Gazebo ====================
start_gazebo = ExecuteProcess(
condition=IfCondition(use_gazebo),
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
'-s', 'libgazebo_ros_factory.so', world],
output='screen')
spawn_robot = Node(
condition=IfCondition(use_gazebo),
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', 'mycar', '-file', default_model_path,
'-x', '0.0', '-y', '0.0', '-z', '0.1'],
output='screen')
# ==================== TF & 机器人状态 ====================
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{'robot_description': robot_description,
'use_sim_time': True, 'publish_frequency': 30.0}],
output='screen')
joint_state_publisher = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'use_sim_time': True}], output='screen')
# ==================== Nav2 参数文件路径 ====================
nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
# ==================== Map Server ====================
map_server = Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[nav2_params,
{'use_sim_time': True, 'yaml_filename': map_yaml}],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== AMCL ====================
amcl = Node(
package='nav2_amcl',
executable='amcl',
name='amcl',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== Planner Server ====================
planner_server = Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== Controller Server ====================
controller_server = Node(
package='nav2_controller',
executable='controller_server',
name='controller_server',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== Behavior Server ====================
behavior_server = Node(
package='nav2_behaviors',
executable='behavior_server',
name='behavior_server',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== BT Navigator ====================
bt_navigator = Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== Waypoint Follower ====================
waypoint_follower = Node(
package='nav2_waypoint_follower',
executable='waypoint_follower',
name='waypoint_follower',
output='screen',
parameters=[nav2_params, {'use_sim_time': True}],
remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
arguments=['--ros-args', '-p', 'use_sim_time:=True'],
)
# ==================== Lifecycle Manager (map + amcl) ====================
lifecycle_localization = Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_localization',
output='screen',
parameters=[{'use_sim_time': True, 'autostart': True,
'node_names': ['map_server', 'amcl']}],
)
# ==================== Lifecycle Manager (nav nodes) ====================
lifecycle_navigation = Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager_navigation',
output='screen',
parameters=[{'use_sim_time': True, 'autostart': True,
'node_names': ['controller_server', 'planner_server',
'behavior_server', 'bt_navigator',
'waypoint_follower']}],
)
# ==================== RViz2 (可选) ====================
rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
rviz_node = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config],
parameters=[{'use_sim_time': True}],
output='screen')
# ==================== 组装 ====================
ld = LaunchDescription()
ld.add_action(declare_use_sim_time)
ld.add_action(declare_use_gazebo)
ld.add_action(declare_use_rviz)
ld.add_action(declare_world)
ld.add_action(declare_map)
ld.add_action(start_gazebo)
ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
ld.add_action(robot_state_publisher)
ld.add_action(joint_state_publisher)
ld.add_action(TimerAction(period=8.0, actions=[
map_server, amcl,
planner_server, controller_server, behavior_server, bt_navigator,
waypoint_follower,
lifecycle_localization, lifecycle_navigation,
rviz_node,
]))
return ld

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#!/usr/bin/env python3
# =============================================================================
# gc_bringup — slam_toolbox 定位 + 导航模式
# 使用 slam_toolbox 定位模式替代 AMCL，适用于有 posegraph 的场景
# =============================================================================
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
IncludeLaunchDescription, TimerAction)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
# ============================ 包路径 ============================
bringup_dir = get_package_share_directory('gc_bringup')
origincar_dir = get_package_share_directory('origincar_description')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
# ============================ 启动参数 ============================
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
use_gazebo = LaunchConfiguration('use_gazebo', default='true')
use_rviz = LaunchConfiguration('use_rviz', default='true')
world = LaunchConfiguration('world', default=os.path.join(
origincar_dir, 'world', 'gc_world.world'))
map_yaml = LaunchConfiguration('map', default=os.path.join(
bringup_dir, 'maps', 'my_map.yaml'))
declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='true')
declare_world = DeclareLaunchArgument(
'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
declare_map = DeclareLaunchArgument(
'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
# ============================ 机器人模型 ============================
default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
robot_description = ParameterValue(
Command(['xacro ', default_model_path]), value_type=str)
# ============================ Gazebo ============================
start_gazebo = ExecuteProcess(
condition=IfCondition(use_gazebo),
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
'-s', 'libgazebo_ros_factory.so', world],
output='screen'
)
spawn_robot = Node(
condition=IfCondition(use_gazebo),
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', 'mycar',
'-file', default_model_path,
'-x', '0.0', '-y', '0.0', '-z', '0.1'],
output='screen'
)
# ============================ TF & 机器人状态 ============================
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{
'robot_description': robot_description,
'use_sim_time': True,
'publish_frequency': 30.0
}],
output='screen'
)
joint_state_publisher = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'use_sim_time': True}],
output='screen'
)
# ============================ slam_toolbox 定位模式 ============================
map_base_path = os.path.join(bringup_dir, 'maps', 'my_map')
slam_localization_params = os.path.join(
bringup_dir, 'config', 'mapper_params_localization.yaml')
slam_toolbox_node = Node(
package='slam_toolbox',
executable='localization_slam_toolbox_node',
name='slam_toolbox',
output='screen',
parameters=[
slam_localization_params,
{
'map_file_name': map_base_path,
'use_sim_time': True
}
]
)
# ============================ Nav2 Bringup (关闭内部定位，用 slam_toolbox) ============================
nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
nav2_bringup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(nav2_launch_path),
launch_arguments={
'map': map_yaml,
'use_sim_time': use_sim_time,
'params_file': nav2_params,
'slam': 'False',
'autostart': 'True',
'use_composition': 'False',
}.items(),
)
# ============================ RViz2 ============================
rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
rviz_node = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config],
parameters=[{'use_sim_time': True}],
output='screen'
)
# ============================ 组装 ============================
ld = LaunchDescription()
ld.add_action(declare_use_sim_time)
ld.add_action(declare_use_gazebo)
ld.add_action(declare_use_rviz)
ld.add_action(declare_world)
ld.add_action(declare_map)
ld.add_action(start_gazebo)
ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
ld.add_action(robot_state_publisher)
ld.add_action(joint_state_publisher)
ld.add_action(TimerAction(
period=8.0,
actions=[slam_toolbox_node, nav2_bringup, rviz_node]
))
return ld

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#!/usr/bin/env python3
# =============================================================================
# gc_bringup — SLAM 建图模式
# 启动 Gazebo + 机器人 + slam_toolbox 在线异步建图 + RViz
# =============================================================================
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration, Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
# ============================ 包路径 ============================
bringup_dir = get_package_share_directory('gc_bringup')
origincar_dir = get_package_share_directory('origincar_description')
# ============================ 启动参数 ============================
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
use_gazebo = LaunchConfiguration('use_gazebo', default='true')
use_rviz = LaunchConfiguration('use_rviz', default='false')
world = LaunchConfiguration('world', default=os.path.join(
origincar_dir, 'world', 'gc_world.world'))
declare_use_sim_time = DeclareLaunchArgument(
'use_sim_time', default_value='true',
description='Use simulation (Gazebo) clock if true')
declare_use_gazebo = DeclareLaunchArgument(
'use_gazebo', default_value='true',
description='Start Gazebo simulation')
declare_use_rviz = DeclareLaunchArgument(
'use_rviz', default_value='false',
description='Start RViz2 (set true if you need local visualization)')
declare_world = DeclareLaunchArgument(
'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'),
description='Full path to Gazebo world file')
# ============================ 机器人模型 ============================
default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
robot_description = ParameterValue(
Command(['xacro ', default_model_path]), value_type=str)
# ============================ Gazebo ============================
start_gazebo = ExecuteProcess(
condition=IfCondition(use_gazebo),
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
'-s', 'libgazebo_ros_factory.so', world],
output='screen'
)
spawn_robot = Node(
condition=IfCondition(use_gazebo),
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', 'mycar',
'-file', default_model_path,
'-x', '0.0', '-y', '0.0', '-z', '0.1'],
output='screen'
)
# ============================ TF & 机器人状态 ============================
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{
'robot_description': robot_description,
'use_sim_time': True,
'publish_frequency': 30.0
}],
output='screen'
)
joint_state_publisher = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'use_sim_time': True}],
output='screen'
)
# ============================ SLAM Toolbox (在线异步建图) ============================
slam_params_file = os.path.join(
bringup_dir, 'config', 'mapper_params_online_async.yaml')
slam_toolbox_node = Node(
package='slam_toolbox',
executable='async_slam_toolbox_node',
name='slam_toolbox',
output='screen',
parameters=[slam_params_file, {'use_sim_time': True}],
remappings=[('/scan', '/scan')]
)
# ============================ RViz2 ============================
rviz_config = os.path.join(bringup_dir, 'rviz', 'slam_mapping.rviz')
rviz_node = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config],
parameters=[{'use_sim_time': True}],
output='screen'
)
# ============================ 键盘遥控 (用于驱动机器人建图) ============================
use_teleop = LaunchConfiguration('use_teleop', default='true')
declare_use_teleop = DeclareLaunchArgument(
'use_teleop', default_value='true',
description='Start keyboard teleop for driving')
teleop_node = Node(
condition=IfCondition(use_teleop),
package='teleop_twist_keyboard',
executable='teleop_twist_keyboard',
name='teleop_twist_keyboard',
prefix='xterm -e',
output='screen',
remappings=[('/cmd_vel', '/cmd_vel')],
parameters=[{'use_sim_time': True}]
)
# ============================ 组装启动描述 ============================
ld = LaunchDescription()
ld.add_action(declare_use_sim_time)
ld.add_action(declare_use_gazebo)
ld.add_action(declare_use_rviz)
ld.add_action(declare_world)
ld.add_action(declare_use_teleop)
ld.add_action(start_gazebo)
# 等 Gazebo 启动后再生成机器人 (延迟 5 秒)
ld.add_action(TimerAction(
period=5.0,
actions=[spawn_robot]
))
ld.add_action(robot_state_publisher)
ld.add_action(joint_state_publisher)
# 等机器人生成后再启动 SLAM (延迟 3 秒)
ld.add_action(TimerAction(
period=8.0,
actions=[slam_toolbox_node, teleop_node, rviz_node]
))
return ld

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# generated from ament_package/template/package_level/local_setup.bash.in
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

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install/gc_bringup/share/gc_bringup/local_setup.dsv Normal file
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source;share/gc_bringup/environment/ament_prefix_path.sh
source;share/gc_bringup/environment/path.sh

184
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# generated from ament_package/template/package_level/local_setup.sh.in
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
# or fall back to the destination set at configure time
: ${AMENT_CURRENT_PREFIX:="/home/guoch/test_ws/install/gc_bringup"}
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
"exist. Consider sourcing a different extension than '.sh'." 1>&2
else
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
fi
# function to append values to environment variables
# using colons as separators and avoiding leading separators
ament_append_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# avoid leading separator
eval _values=\"\$$_listname\"
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
_ament_append_value_IFS=$IFS
unset IFS
eval export $_listname=\"\$$_listname:$_value\"
#eval echo "append list \$$_listname"
IFS=$_ament_append_value_IFS
unset _ament_append_value_IFS
fi
unset _values
unset _value
unset _listname
}
# function to append non-duplicate values to environment variables
# using colons as separators and avoiding leading separators
ament_append_unique_value() {
# arguments
_listname=$1
_value=$2
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# check if the list contains the value
eval _values=\$$_listname
_duplicate=
_ament_append_unique_value_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array _values
fi
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
if [ $_item = $_value ]; then
_duplicate=1
fi
done
unset _item
# append only non-duplicates
if [ -z "$_duplicate" ]; then
# avoid leading separator
if [ -z "$_values" ]; then
eval $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
unset IFS
eval $_listname=\"\$$_listname:$_value\"
#eval echo "append list \$$_listname"
fi
fi
IFS=$_ament_append_unique_value_IFS
unset _ament_append_unique_value_IFS
unset _duplicate
unset _values
unset _value
unset _listname
}
# function to prepend non-duplicate values to environment variables
# using colons as separators and avoiding trailing separators
ament_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# check if the list contains the value
eval _values=\"\$$_listname\"
_duplicate=
_ament_prepend_unique_value_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array _values
fi
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
if [ "$_item" = "$_value" ]; then
_duplicate=1
fi
done
unset _item
# prepend only non-duplicates
if [ -z "$_duplicate" ]; then
# avoid trailing separator
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
unset IFS
eval export $_listname=\"$_value:\$$_listname\"
#eval echo "prepend list \$$_listname"
fi
fi
IFS=$_ament_prepend_unique_value_IFS
unset _ament_prepend_unique_value_IFS
unset _duplicate
unset _values
unset _value
unset _listname
}
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# list all environment hooks of this package
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_bringup/environment/ament_prefix_path.sh"
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_bringup/environment/path.sh"
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
fi
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
if [ -f "$_hook" ]; then
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_hook\""
fi
. "$_hook"
fi
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
# reset AMENT_CURRENT_PREFIX after each package
# allowing to source multiple package-level setup files
unset AMENT_CURRENT_PREFIX

59
install/gc_bringup/share/gc_bringup/local_setup.zsh Normal file
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@@ -0,0 +1,59 @@
# generated from ament_package/template/package_level/local_setup.zsh.in
AMENT_SHELL=zsh
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# function to convert array-like strings into arrays
# to wordaround SH_WORD_SPLIT not being set
ament_zsh_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

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install/gc_bringup/share/gc_bringup/maps/my_map.posegraph Normal file
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7
install/gc_bringup/share/gc_bringup/maps/my_map.yaml Normal file
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@@ -0,0 +1,7 @@
image: my_map.pgm
mode: trinary
resolution: 0.05
origin: [-9.95, -8.29, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

39
install/gc_bringup/share/gc_bringup/package.bash Normal file
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# generated from colcon_bash/shell/template/package.bash.em
# This script extends the environment for this package.
# a bash script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
# the prefix is two levels up from the package specific share directory
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
else
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_bash_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source sh script of this package
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/gc_bringup/package.sh"
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
# source bash hooks
_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/local_setup.bash"
unset COLCON_CURRENT_PREFIX
unset _colcon_package_bash_source_script
unset _colcon_package_bash_COLCON_CURRENT_PREFIX

8
install/gc_bringup/share/gc_bringup/package.dsv Normal file
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@@ -0,0 +1,8 @@
source;share/gc_bringup/hook/cmake_prefix_path.ps1
source;share/gc_bringup/hook/cmake_prefix_path.dsv
source;share/gc_bringup/hook/cmake_prefix_path.sh
source;share/gc_bringup/local_setup.bash
source;share/gc_bringup/local_setup.dsv
source;share/gc_bringup/local_setup.ps1
source;share/gc_bringup/local_setup.sh
source;share/gc_bringup/local_setup.zsh

116
install/gc_bringup/share/gc_bringup/package.ps1 Normal file
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# generated from colcon_powershell/shell/template/package.ps1.em
# function to append a value to a variable
# which uses colons as separators
# duplicates as well as leading separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
function colcon_append_unique_value {
param (
$_listname,
$_value
)
# get values from variable
if (Test-Path Env:$_listname) {
$_values=(Get-Item env:$_listname).Value
} else {
$_values=""
}
$_duplicate=""
# start with no values
$_all_values=""
# iterate over existing values in the variable
if ($_values) {
$_values.Split(";") | ForEach {
# not an empty string
if ($_) {
# not a duplicate of _value
if ($_ -eq $_value) {
$_duplicate="1"
}
if ($_all_values) {
$_all_values="${_all_values};$_"
} else {
$_all_values="$_"
}
}
}
}
# append only non-duplicates
if (!$_duplicate) {
# avoid leading separator
if ($_all_values) {
$_all_values="${_all_values};${_value}"
} else {
$_all_values="${_value}"
}
}
# export the updated variable
Set-Item env:\$_listname -Value "$_all_values"
}
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
function colcon_prepend_unique_value {
param (
$_listname,
$_value
)
# get values from variable
if (Test-Path Env:$_listname) {
$_values=(Get-Item env:$_listname).Value
} else {
$_values=""
}
# start with the new value
$_all_values="$_value"
# iterate over existing values in the variable
if ($_values) {
$_values.Split(";") | ForEach {
# not an empty string
if ($_) {
# not a duplicate of _value
if ($_ -ne $_value) {
# keep non-duplicate values
$_all_values="${_all_values};$_"
}
}
}
}
# export the updated variable
Set-Item env:\$_listname -Value "$_all_values"
}
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
function colcon_package_source_powershell_script {
param (
$_colcon_package_source_powershell_script
)
# source script with conditional trace output
if (Test-Path $_colcon_package_source_powershell_script) {
if ($env:COLCON_TRACE) {
echo ". '$_colcon_package_source_powershell_script'"
}
. "$_colcon_package_source_powershell_script"
} else {
Write-Error "not found: '$_colcon_package_source_powershell_script'"
}
}
# a powershell script is able to determine its own path
# the prefix is two levels up from the package specific share directory
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_bringup/hook/cmake_prefix_path.ps1"
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_bringup/local_setup.ps1"
Remove-Item Env:\COLCON_CURRENT_PREFIX

87
install/gc_bringup/share/gc_bringup/package.sh Normal file
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@@ -0,0 +1,87 @@
# generated from colcon_core/shell/template/package.sh.em
# This script extends the environment for this package.
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
_colcon_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
# get values from variable
eval _values=\"\$$_listname\"
# backup the field separator
_colcon_prepend_unique_value_IFS=$IFS
IFS=":"
# start with the new value
_all_values="$_value"
# workaround SH_WORD_SPLIT not being set in zsh
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
colcon_zsh_convert_to_array _values
fi
# iterate over existing values in the variable
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
# ignore duplicates of _value
if [ "$_item" = "$_value" ]; then
continue
fi
# keep non-duplicate values
_all_values="$_all_values:$_item"
done
unset _item
# restore the field separator
IFS=$_colcon_prepend_unique_value_IFS
unset _colcon_prepend_unique_value_IFS
# export the updated variable
eval export $_listname=\"$_all_values\"
unset _all_values
unset _values
unset _value
unset _listname
}
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/guoch/test_ws/install/gc_bringup"
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
return 1
fi
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
fi
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source sh hooks
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/hook/cmake_prefix_path.sh"
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/local_setup.sh"
unset _colcon_package_sh_source_script
unset COLCON_CURRENT_PREFIX
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

28
install/gc_bringup/share/gc_bringup/package.xml Normal file
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@@ -0,0 +1,28 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>gc_bringup</name>
<version>1.0.0</version>
<description>GC Robot Bringup: SLAM mapping and AMCL navigation for Ackermann robot with LiDAR</description>
<maintainer email="guoch@todo.todo">guoch</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>nav2_bringup</exec_depend>
<exec_depend>slam_toolbox</exec_depend>
<exec_depend>origincar_description</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>teleop_twist_keyboard</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

50
install/gc_bringup/share/gc_bringup/package.zsh Normal file
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@@ -0,0 +1,50 @@
# generated from colcon_zsh/shell/template/package.zsh.em
# This script extends the environment for this package.
# a zsh script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
# the prefix is two levels up from the package specific share directory
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
else
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_zsh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# function to convert array-like strings into arrays
# to workaround SH_WORD_SPLIT not being set
colcon_zsh_convert_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# source sh script of this package
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/gc_bringup/package.sh"
unset convert_zsh_to_array
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
# source zsh hooks
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/local_setup.zsh"
unset COLCON_CURRENT_PREFIX
unset _colcon_package_zsh_source_script
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

133
install/gc_bringup/share/gc_bringup/rviz/navigation.rviz Normal file
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@@ -0,0 +1,133 @@
Panels:
- Class: rviz_common/Displays
Name: Displays
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.8
Class: rviz_default_plugins/RobotModel
Enabled: true
Name: RobotModel
Robot Description: robot_description
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Name: TF
Frame Timeout: 15
Marker Scale: 0.3
- Class: rviz_default_plugins/Map
Enabled: true
Name: Map
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Color Scheme: map
Draw Behind: true
Use Timestamp: false
- Class: rviz_default_plugins/LaserScan
Enabled: true
Name: LaserScan
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Size (m): 0.02
Style: Flat Squares
Decay Time: 0.3
Color Transformer: Intensity
- Class: rviz_default_plugins/Path
Enabled: true
Name: Global Plan
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
Color: 25; 255; 0
Line Style: Dashed
- Class: rviz_default_plugins/Path
Enabled: true
Name: Local Plan
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Color: 255; 153; 0
- Class: rviz_default_plugins/Path
Enabled: true
Name: Smoothed Plan
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /smoothed_plan
Color: 255; 255; 0
- Class: rviz_default_plugins/Costmap
Enabled: true
Name: Local Costmap
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Color Scheme: costmap
Draw Behind: false
- Class: rviz_default_plugins/Costmap
Enabled: false
Name: Global Costmap
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Color Scheme: costmap
Draw Behind: false
- Alpha: 0.99
Class: rviz_default_plugins/ParticleCloud
Enabled: true
Name: AMCL Particle Swarm
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /particle_cloud
Color: 255; 0; 0
Style: Flat Squares
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/SetInitialPose
Topic:
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Value: /goal_pose
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 5.0
Focal Point:
X: 0.0
Y: 0.0
Z: 0.5
Name: Current View
Pitch: 0.8
Yaw: 2.8

84
install/gc_bringup/share/gc_bringup/rviz/slam_mapping.rviz Normal file
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@@ -0,0 +1,84 @@
Panels:
- Class: rviz_common/Displays
Name: Displays
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.8
Class: rviz_default_plugins/RobotModel
Enabled: true
Name: RobotModel
Robot Description: robot_description
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Name: TF
Frame Timeout: 15
Marker Scale: 0.3
- Class: rviz_default_plugins/Map
Enabled: true
Name: Map
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Color Scheme: map
Draw Behind: true
Use Timestamp: false
- Class: rviz_default_plugins/LaserScan
Enabled: true
Name: LaserScan
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Size (m): 0.02
Style: Flat Squares
Decay Time: 0.3
Color Transformer: Intensity
- Class: rviz_default_plugins/Path
Enabled: true
Name: Path (SLAM)
Topic:
Depth: 1
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
Color: 25; 255; 0
Line Style: Dashed
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/SetInitialPose
Topic:
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Value: /goal_pose
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 5.0
Focal Point:
X: 0.0
Y: 0.0
Z: 0.5
Name: Current View
Pitch: 0.8
Yaw: 2.8