a
This commit is contained in:
mohuanzui
@@ -0,0 +1 @@
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ament_lint_auto;ament_lint_common
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@@ -0,0 +1 @@
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/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:/home/guoch/robot_ws/install/my_robot_description:/opt/ros/humble
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@@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
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set(PACKAGE_VERSION "0.0.0")
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set(PACKAGE_VERSION_EXACT False)
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set(PACKAGE_VERSION_COMPATIBLE False)
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if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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@@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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# prevent multiple inclusion
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if(_gc_navigation2_slamtoolbox_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED gc_navigation2_slamtoolbox_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(gc_navigation2_slamtoolbox_FOUND FALSE)
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elseif(NOT gc_navigation2_slamtoolbox_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(gc_navigation2_slamtoolbox_FOUND FALSE)
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endif()
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return()
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endif()
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set(_gc_navigation2_slamtoolbox_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT gc_navigation2_slamtoolbox_FIND_QUIETLY)
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message(STATUS "Found gc_navigation2_slamtoolbox: 0.0.0 (${gc_navigation2_slamtoolbox_DIR})")
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endif()
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'gc_navigation2_slamtoolbox' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${gc_navigation2_slamtoolbox_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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# flag package as ament-based to distinguish it after being find_package()-ed
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set(gc_navigation2_slamtoolbox_FOUND_AMENT_PACKAGE TRUE)
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# include all config extra files
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set(_extras "")
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foreach(_extra ${_extras})
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include("${gc_navigation2_slamtoolbox_DIR}/${_extra}")
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endforeach()
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@@ -0,0 +1,89 @@
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slam_toolbox:
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ros__parameters:
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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use_map_saver: true
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mode: mapping
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# lifelong params
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lifelong_search_use_tree: false
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lifelong_minimum_score: 0.1
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lifelong_iou_match: 0.85
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lifelong_node_removal_score: 0.04
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lifelong_overlap_score_scale: 0.06
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lifelong_constraint_multiplier: 0.08
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lifelong_nearby_penalty: 0.001
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lifelong_candidates_scale: 0.03
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# if you'd like to immediately start continuing a map at a given pose
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# or at the dock, but they are mutually exclusive, if pose is given
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# will use pose
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#map_file_name: test_steve
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#map_start_pose: [0.0, 0.0, 0.0]
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#map_start_at_dock: true
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 5.0
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resolution: 0.05
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restamp_tf: false
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min_laser_range: 0.0 #for rastering images
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max_laser_range: 20.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 10.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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check_min_dist_and_heading_precisely: false
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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loop_search_maximum_distance: 3.0
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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min_pass_through: 2
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occupancy_threshold: 0.1
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@@ -0,0 +1,72 @@
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slam_toolbox:
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ros__parameters:
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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mode: localization #localization
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# if you'd like to start localizing on bringup in a map and pose
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# map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
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# map_start_pose: [0.0, 0.0, 0.0]
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 5.0
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resolution: 0.05
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restamp_tf: false
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min_laser_range: 0.0 #for rastering images
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max_laser_range: 20.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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check_min_dist_and_heading_precisely: false
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scan_buffer_size: 3
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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do_loop_closing: true
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loop_match_minimum_chain_size: 3
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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loop_search_maximum_distance: 3.0
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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min_pass_through: 2
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occupancy_threshold: 0.1
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@@ -0,0 +1,71 @@
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slam_toolbox:
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ros__parameters:
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|
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
|
||||
ceres_loss_function: None
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||||
|
||||
# ROS Parameters
|
||||
odom_frame: odom
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map_frame: map
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base_frame: base_footprint
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scan_topic: /scan
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use_map_saver: true
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mode: mapping #localization
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debug_logging: false
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||||
throttle_scans: 1
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 10.0
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||||
resolution: 0.05
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||||
restamp_tf: false
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||||
min_laser_range: 0.0 #for rastering images
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max_laser_range: 20.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 14400.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
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enable_interactive_mode: true
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|
||||
# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
|
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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||||
check_min_dist_and_heading_precisely: false
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scan_buffer_size: 10
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||||
scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
|
||||
link_scan_maximum_distance: 1.5
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||||
loop_search_maximum_distance: 3.0
|
||||
do_loop_closing: true
|
||||
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
|
||||
|
||||
# Correlation Parameters - Correlation Parameters
|
||||
correlation_search_space_dimension: 0.5
|
||||
correlation_search_space_resolution: 0.01
|
||||
correlation_search_space_smear_deviation: 0.1
|
||||
|
||||
# Correlation Parameters - Loop Closure Parameters
|
||||
loop_search_space_dimension: 8.0
|
||||
loop_search_space_resolution: 0.05
|
||||
loop_search_space_smear_deviation: 0.03
|
||||
|
||||
# Scan Matcher Parameters
|
||||
distance_variance_penalty: 0.5
|
||||
angle_variance_penalty: 1.0
|
||||
|
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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
|
||||
min_pass_through: 2
|
||||
occupancy_threshold: 0.1
|
||||
@@ -0,0 +1,79 @@
|
||||
slam_toolbox:
|
||||
ros__parameters:
|
||||
|
||||
# Plugin params
|
||||
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 Parameters
|
||||
odom_frame: odom
|
||||
map_frame: map
|
||||
base_frame: base_footprint
|
||||
scan_topic: /scan
|
||||
use_map_saver: true
|
||||
mode: localization #localization
|
||||
|
||||
# if you'd like to immediately start continuing a map at a given pose
|
||||
# or at the dock, but they are mutually exclusive, if pose is given
|
||||
# will use pose
|
||||
# map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
|
||||
# map_start_pose: [0.0, 0.0, 0.0]
|
||||
#map_start_at_dock: true
|
||||
|
||||
debug_logging: false
|
||||
throttle_scans: 1
|
||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||||
map_update_interval: 5.0
|
||||
resolution: 0.05
|
||||
restamp_tf: false
|
||||
min_laser_range: 0.0 #for rastering images
|
||||
max_laser_range: 20.0 #for rastering images
|
||||
minimum_time_interval: 0.5
|
||||
transform_timeout: 0.2
|
||||
tf_buffer_duration: 30.0
|
||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||||
enable_interactive_mode: true
|
||||
|
||||
# General Parameters
|
||||
use_scan_matching: true
|
||||
use_scan_barycenter: true
|
||||
minimum_travel_distance: 0.5
|
||||
minimum_travel_heading: 0.5
|
||||
check_min_dist_and_heading_precisely: false
|
||||
scan_buffer_size: 10
|
||||
scan_buffer_maximum_scan_distance: 10.0
|
||||
link_match_minimum_response_fine: 0.1
|
||||
link_scan_maximum_distance: 1.5
|
||||
loop_search_maximum_distance: 3.0
|
||||
do_loop_closing: true
|
||||
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
|
||||
|
||||
# Correlation Parameters - Correlation Parameters
|
||||
correlation_search_space_dimension: 0.5
|
||||
correlation_search_space_resolution: 0.01
|
||||
correlation_search_space_smear_deviation: 0.1
|
||||
|
||||
# Correlation Parameters - Loop Closure Parameters
|
||||
loop_search_space_dimension: 8.0
|
||||
loop_search_space_resolution: 0.05
|
||||
loop_search_space_smear_deviation: 0.03
|
||||
|
||||
# Scan Matcher Parameters
|
||||
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
|
||||
min_pass_through: 2
|
||||
occupancy_threshold: 0.1
|
||||
@@ -0,0 +1,74 @@
|
||||
$(var namespace)/slam_toolbox:
|
||||
ros__parameters:
|
||||
|
||||
# Plugin params
|
||||
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 Parameters
|
||||
odom_frame: global_odom
|
||||
map_frame: map
|
||||
base_frame: base_footprint
|
||||
scan_topic: scan
|
||||
mode: mapping #localization
|
||||
|
||||
# if you'd like to immediately start continuing a map at a given pose
|
||||
# or at the dock, but they are mutually exclusive, if pose is given
|
||||
# will use pose
|
||||
#map_file_name: test_steve
|
||||
# map_start_pose: [0.0, 0.0, 0.0]
|
||||
#map_start_at_dock: true
|
||||
|
||||
debug_logging: false
|
||||
throttle_scans: 1
|
||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||||
map_update_interval: 5.0
|
||||
resolution: 0.05
|
||||
max_laser_range: 20.0 #for rastering images
|
||||
minimum_time_interval: 0.5
|
||||
transform_timeout: 0.2
|
||||
tf_buffer_duration: 30.0
|
||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||||
enable_interactive_mode: true
|
||||
|
||||
# General Parameters
|
||||
use_scan_matching: true
|
||||
use_scan_barycenter: true
|
||||
minimum_travel_distance: 0.5
|
||||
minimum_travel_heading: 0.5
|
||||
check_min_dist_and_heading_precisely: false
|
||||
scan_buffer_size: 10
|
||||
scan_buffer_maximum_scan_distance: 10.0
|
||||
link_match_minimum_response_fine: 0.1
|
||||
link_scan_maximum_distance: 1.5
|
||||
loop_search_maximum_distance: 3.0
|
||||
do_loop_closing: true
|
||||
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
|
||||
|
||||
# Correlation Parameters - Correlation Parameters
|
||||
correlation_search_space_dimension: 0.5
|
||||
correlation_search_space_resolution: 0.01
|
||||
correlation_search_space_smear_deviation: 0.1
|
||||
|
||||
# Correlation Parameters - Loop Closure Parameters
|
||||
loop_search_space_dimension: 8.0
|
||||
loop_search_space_resolution: 0.05
|
||||
loop_search_space_smear_deviation: 0.03
|
||||
|
||||
# Scan Matcher Parameters
|
||||
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
|
||||
@@ -0,0 +1,79 @@
|
||||
slam_toolbox:
|
||||
ros__parameters:
|
||||
|
||||
# Plugin params
|
||||
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 Parameters
|
||||
odom_frame: odom
|
||||
map_frame: map
|
||||
base_frame: base_footprint
|
||||
scan_topic: /scan
|
||||
use_map_saver: true
|
||||
mode: mapping #localization
|
||||
|
||||
# if you'd like to immediately start continuing a map at a given pose
|
||||
# or at the dock, but they are mutually exclusive, if pose is given
|
||||
# will use pose
|
||||
#map_file_name: test_steve
|
||||
#map_start_pose: [0.0, 0.0, 0.0]
|
||||
#map_start_at_dock: true
|
||||
|
||||
debug_logging: false
|
||||
throttle_scans: 1
|
||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||||
map_update_interval: 5.0
|
||||
resolution: 0.05
|
||||
restamp_tf: false
|
||||
min_laser_range: 0.0 #for rastering images
|
||||
max_laser_range: 20.0 #for rastering images
|
||||
minimum_time_interval: 0.5
|
||||
transform_timeout: 0.2
|
||||
tf_buffer_duration: 30.
|
||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||||
enable_interactive_mode: true
|
||||
|
||||
# General Parameters
|
||||
use_scan_matching: true
|
||||
use_scan_barycenter: true
|
||||
minimum_travel_distance: 0.5
|
||||
minimum_travel_heading: 0.5
|
||||
check_min_dist_and_heading_precisely: false
|
||||
scan_buffer_size: 10
|
||||
scan_buffer_maximum_scan_distance: 10.0
|
||||
link_match_minimum_response_fine: 0.1
|
||||
link_scan_maximum_distance: 1.5
|
||||
loop_search_maximum_distance: 3.0
|
||||
do_loop_closing: true
|
||||
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
|
||||
|
||||
# Correlation Parameters - Correlation Parameters
|
||||
correlation_search_space_dimension: 0.5
|
||||
correlation_search_space_resolution: 0.01
|
||||
correlation_search_space_smear_deviation: 0.1
|
||||
|
||||
# Correlation Parameters - Loop Closure Parameters
|
||||
loop_search_space_dimension: 8.0
|
||||
loop_search_space_resolution: 0.05
|
||||
loop_search_space_smear_deviation: 0.03
|
||||
|
||||
# Scan Matcher Parameters
|
||||
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
|
||||
min_pass_through: 2
|
||||
occupancy_threshold: 0.1
|
||||
@@ -0,0 +1,137 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 154
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
- Class: slam_toolbox::SlamToolboxPlugin
|
||||
Name: SlamToolboxPlugin
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 10
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.785398006439209
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.785398006439209
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 846
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000217000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000125000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0100000168000001850000018500ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000017e000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
SlamToolboxPlugin:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1200
|
||||
X: 72
|
||||
Y: 60
|
||||
@@ -0,0 +1,55 @@
|
||||
slam_toolbox:
|
||||
ros__parameters:
|
||||
# 核心模式设置
|
||||
use_sim_time: true
|
||||
mode: "localization" # 重要：设置为定位模式
|
||||
map_file_name: "" # 由启动参数传入
|
||||
map_start_pose: [0.0,0.0,0.0]
|
||||
# ROS框架设置
|
||||
odom_frame: "odom"
|
||||
map_frame: "map"
|
||||
base_frame: "base_footprint"
|
||||
scan_topic: "/scan"
|
||||
|
||||
# 求解器设置
|
||||
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"
|
||||
|
||||
# 定位优化参数
|
||||
use_scan_matching: true
|
||||
use_scan_barycenter: true
|
||||
minimum_travel_distance: 0.05
|
||||
minimum_travel_heading: 0.087
|
||||
|
||||
# 扫描处理
|
||||
scan_buffer_size: 50
|
||||
throttle_scans: 2
|
||||
|
||||
# 回环检测（定位模式可关闭）
|
||||
do_loop_closing: false
|
||||
|
||||
# 搜索参数
|
||||
link_match_minimum_response_fine: 0.2
|
||||
link_scan_maximum_distance: 2.0
|
||||
loop_search_maximum_distance: 5.0
|
||||
|
||||
# 性能参数
|
||||
minimum_time_interval: 0.1
|
||||
transform_publish_period: 0.02
|
||||
map_update_interval: 0.5
|
||||
|
||||
# 地图参数
|
||||
resolution: 0.05
|
||||
max_laser_range: 15.0
|
||||
min_laser_range: 0.2
|
||||
|
||||
# 初始位姿（可选，可以通过RViz设置）
|
||||
# map_start_pose: [0.0, 0.0, 0.0]
|
||||
|
||||
# 调试
|
||||
debug_logging: false
|
||||
enable_interactive_mode: true
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -0,0 +1,4 @@
|
||||
# copied from
|
||||
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
|
||||
|
||||
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate-if-exists;PATH;bin
|
||||
@@ -0,0 +1,5 @@
|
||||
# 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
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;CMAKE_PREFIX_PATH;
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,170 @@
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
# def generate_launch_description():
|
||||
# # 获取包路径
|
||||
# gc_navigation2_dir = get_package_share_directory(
|
||||
# 'gc_navigation2_slamtoolbox')
|
||||
# nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
# # 声明参数
|
||||
# use_sim_time = LaunchConfiguration('use_sim_time', default='True')
|
||||
# slam = LaunchConfiguration('slam', default='True')
|
||||
# localization = LaunchConfiguration('localization', default='True')
|
||||
|
||||
# # 定义文件路径
|
||||
# map_yaml_path = os.path.join(gc_navigation2_dir, 'maps', 'my_map.yaml')
|
||||
# nav2_param_path = os.path.join(
|
||||
# gc_navigation2_dir, 'params', 'gc_navigation.yaml')
|
||||
# slam_params_file = os.path.join(
|
||||
# gc_navigation2_dir, 'config', 'slam_toolbox_localization.yaml')
|
||||
|
||||
# # 定义地图基础路径（用于 .posegraph 文件）
|
||||
# map_base_path = os.path.join(gc_navigation2_dir, 'maps', 'my_map')
|
||||
|
||||
# # 检查 .posegraph 文件是否存在
|
||||
# posegraph_path = map_base_path + '.posegraph'
|
||||
# if not os.path.exists(posegraph_path):
|
||||
# print(f"警告: .posegraph 文件不存在: {posegraph_path}")
|
||||
# print("将使用 AMCL 替代")
|
||||
# use_slam_toolbox = False
|
||||
# else:
|
||||
# use_slam_toolbox = True
|
||||
# print(f"找到 .posegraph 文件: {posegraph_path}")
|
||||
|
||||
# # 创建启动描述
|
||||
# ld = LaunchDescription([
|
||||
# DeclareLaunchArgument('use_sim_time', default_value='True'),
|
||||
# DeclareLaunchArgument('slam', default_value='True'),
|
||||
# DeclareLaunchArgument('localization', default_value='True'),
|
||||
# ])
|
||||
|
||||
# # 如果使用 slam_toolbox
|
||||
# if use_slam_toolbox:
|
||||
# slam_toolbox_node = Node(
|
||||
# package='slam_toolbox',
|
||||
# executable='localization_slam_toolbox_node',
|
||||
# name='slam_toolbox',
|
||||
# output='screen',
|
||||
# parameters=[
|
||||
# slam_params_file,
|
||||
# {'map_file_name': map_base_path}
|
||||
# ]
|
||||
# )
|
||||
# ld.add_action(slam_toolbox_node)
|
||||
# # 使用 slam_toolbox 时，Nav2 不启用定位
|
||||
# localization_arg = 'False'
|
||||
# print("slam成功配置")
|
||||
# ld.add_action(TimerAction(
|
||||
# period=1.5,
|
||||
# actions=[]
|
||||
# ))
|
||||
|
||||
# else:
|
||||
# # 使用 AMCL
|
||||
# localization_arg = 'True'
|
||||
# # Nav2 启动 - 使用正确的路径
|
||||
# nav2_launch_path = os.path.join(
|
||||
# nav2_bringup_dir, 'launch', 'bringup_launch.py')
|
||||
# if not os.path.exists(nav2_launch_path):
|
||||
# print(f"错误: 找不到 Nav2 启动文件: {nav2_launch_path}")
|
||||
# return ld
|
||||
# else:
|
||||
# print("nav2桥，通过")
|
||||
|
||||
# nav2_bringup_launch = IncludeLaunchDescription(
|
||||
# PythonLaunchDescriptionSource(nav2_launch_path),
|
||||
# launch_arguments={
|
||||
# 'map': map_yaml_path,
|
||||
# 'use_sim_time': use_sim_time,
|
||||
# 'params_file': nav2_param_path,
|
||||
# 'slam': slam,
|
||||
# 'localization': localization_arg,
|
||||
# 'autostart': 'True',
|
||||
# }.items(),
|
||||
# )
|
||||
# print("结束配置")
|
||||
# ld.add_action(nav2_bringup_launch)
|
||||
|
||||
# return ld
|
||||
|
||||
|
||||
# def generate_launch_description():
|
||||
# ld = LaunchDescription()
|
||||
# # 获取参数文件路径
|
||||
# slam_pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
|
||||
# slam_file = os.path.join(
|
||||
# slam_pkg_share, 'config', 'slam_toolbox_localization.yaml')
|
||||
# use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
# map_base_path = os.path.join(slam_pkg_share, 'maps', 'my_map')
|
||||
# posegraph_path = map_base_path+'.posegraph'
|
||||
# # 创建SLAM Toolbox节点
|
||||
# slam_toolbox_node = Node(
|
||||
# package='slam_toolbox',
|
||||
# executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node
|
||||
# name='slam_toolbox',
|
||||
# output='screen',
|
||||
# parameters=[slam_file,
|
||||
# {
|
||||
# 'map_file_name': map_base_path,
|
||||
# 'use_sim_time': use_sim_time
|
||||
# }]
|
||||
# )
|
||||
# # ld.add_action(slam_toolbox_node)
|
||||
# nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
# nav_pkg = get_package_share_directory(
|
||||
# 'gc_navigation2_slamtoolbox')
|
||||
# map_yaml_path = LaunchConfiguration('map', default=os.path.join(
|
||||
# nav_pkg, 'maps', 'my_map.yaml'))
|
||||
# nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
|
||||
# nav_pkg, 'params', 'gc_navigation.yaml'))
|
||||
# nav2_bringup_launch = IncludeLaunchDescription(
|
||||
# PythonLaunchDescriptionSource(
|
||||
# [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
|
||||
# launch_arguments={
|
||||
# 'map': map_yaml_path,
|
||||
# 'use_sim_time': use_sim_time,
|
||||
# 'params_file': nav2_param_path}.items(),
|
||||
# )
|
||||
# time=TimerAction(period=2.0,
|
||||
# actions=[])
|
||||
# ld.add_action(time)
|
||||
# ld.add_action(nav2_bringup_launch)
|
||||
|
||||
|
||||
# return ld
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# =============================1.定位到包的地址=============================================================
|
||||
gc_navigation_fish_dir = get_package_share_directory(
|
||||
'gc_navigation2_slamtoolbox')
|
||||
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
# =============================2.声明参数，获取配置文件路径===================================================
|
||||
# use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
map_yaml_path = LaunchConfiguration('map', default=os.path.join(
|
||||
gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
|
||||
nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
|
||||
gc_navigation_fish_dir, 'params', 'gc_navigation.yaml'))
|
||||
# =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
|
||||
nav2_bringup_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[nav2_bringup_dir, '/launch', '/bringup_launch.py']),
|
||||
launch_arguments={
|
||||
'map': map_yaml_path,
|
||||
'use_sim_time': use_sim_time,
|
||||
'params_file': nav2_param_path}.items(),
|
||||
)
|
||||
|
||||
return LaunchDescription([nav2_bringup_launch])
|
||||
|
||||
|
||||
@@ -0,0 +1,25 @@
|
||||
#!/usr/bin/env python3
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# 获取参数文件路径
|
||||
pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
|
||||
params_file = os.path.join(
|
||||
pkg_share, 'config', 'mapper_params_lifelong.yaml')
|
||||
|
||||
# 创建SLAM Toolbox节点
|
||||
slam_toolbox_node = Node(
|
||||
package='slam_toolbox',
|
||||
executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node
|
||||
name='slam_toolbox',
|
||||
output='screen',
|
||||
parameters=[params_file]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
slam_toolbox_node
|
||||
])
|
||||
@@ -0,0 +1,25 @@
|
||||
#!/usr/bin/env python3
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# 获取参数文件路径
|
||||
pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
|
||||
params_file = os.path.join(
|
||||
pkg_share, 'config', 'mapper_params_localization.yaml')
|
||||
|
||||
# 创建SLAM Toolbox节点
|
||||
slam_toolbox_node = Node(
|
||||
package='slam_toolbox',
|
||||
executable='localization_slam_toolbox_node', # 或 sync_slam_toolbox_node
|
||||
name='slam_toolbox',
|
||||
output='screen',
|
||||
parameters=[params_file]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
slam_toolbox_node
|
||||
])
|
||||
@@ -0,0 +1,25 @@
|
||||
#!/usr/bin/env python3
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# 获取参数文件路径
|
||||
pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
|
||||
params_file = os.path.join(
|
||||
pkg_share, 'config', 'mapper_params_online_async.yaml')
|
||||
|
||||
# 创建SLAM Toolbox节点
|
||||
slam_toolbox_node = Node(
|
||||
package='slam_toolbox',
|
||||
executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node
|
||||
name='slam_toolbox',
|
||||
output='screen',
|
||||
parameters=[params_file]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
slam_toolbox_node
|
||||
])
|
||||
@@ -0,0 +1,46 @@
|
||||
# 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
|
||||
@@ -0,0 +1,2 @@
|
||||
source;share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.sh
|
||||
source;share/gc_navigation2_slamtoolbox/environment/path.sh
|
||||
@@ -0,0 +1,184 @@
|
||||
# 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
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/guoch/test_ws/install/gc_navigation2_slamtoolbox"}
|
||||
if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/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=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,59 @@
|
||||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(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=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,7 @@
|
||||
image: map_1770592084.pgm
|
||||
mode: trinary
|
||||
resolution: 0.05
|
||||
origin: [-2.15, -5.81, 0]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.25
|
||||
@@ -0,0 +1,39 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$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_navigation2_slamtoolbox/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_navigation2_slamtoolbox/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,8 @@
|
||||
source;share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.ps1
|
||||
source;share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.dsv
|
||||
source;share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.sh
|
||||
source;share/gc_navigation2_slamtoolbox/local_setup.bash
|
||||
source;share/gc_navigation2_slamtoolbox/local_setup.dsv
|
||||
source;share/gc_navigation2_slamtoolbox/local_setup.ps1
|
||||
source;share/gc_navigation2_slamtoolbox/local_setup.sh
|
||||
source;share/gc_navigation2_slamtoolbox/local_setup.zsh
|
||||
@@ -0,0 +1,116 @@
|
||||
# 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_navigation2_slamtoolbox/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_navigation2_slamtoolbox/local_setup.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -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_navigation2_slamtoolbox"
|
||||
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_navigation2_slamtoolbox/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/local_setup.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,18 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>gc_navigation2_slamtoolbox</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="guoch@todo.todo">guoch</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,50 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,413 @@
|
||||
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_link"
|
||||
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
|
||||
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_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 20
|
||||
default_server_timeout: 20
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
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
|
||||
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
|
||||
# Option to replace Cost and use Obstacles instead
|
||||
# ObstaclesCritic:
|
||||
# enabled: true
|
||||
# cost_power: 1
|
||||
# repulsion_weight: 1.5
|
||||
# critical_weight: 20.0
|
||||
# consider_footprint: false
|
||||
# collision_cost: 10000.0
|
||||
# collision_margin_distance: 0.1
|
||||
# near_goal_distance: 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
|
||||
# VelocityDeadbandCritic:
|
||||
# enabled: true
|
||||
# cost_power: 1
|
||||
# cost_weight: 35.0
|
||||
# deadband_velocities: [0.05, 0.05, 0.05]
|
||||
# TwirlingCritic:
|
||||
# enabled: true
|
||||
# twirling_cost_power: 1
|
||||
# twirling_cost_weight: 10.0
|
||||
|
||||
controller_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_link
|
||||
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_link
|
||||
use_sim_time: True
|
||||
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: "turtlebot3_world.yaml"
|
||||
|
||||
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
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
planner_plugins: ["GridBased"]
|
||||
use_sim_time: True
|
||||
|
||||
GridBased:
|
||||
plugin: "nav2_smac_planner/SmacPlannerHybrid"
|
||||
downsample_costmap: false # whether or not to downsample the map
|
||||
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
||||
tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
|
||||
allow_unknown: true # allow traveling in unknown space
|
||||
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
||||
max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
|
||||
max_planning_time: 5.0 # max time in s for planner to plan, smooth
|
||||
motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车
|
||||
angle_quantization_bins: 72 # Number of angle bins for search
|
||||
analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
|
||||
analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
|
||||
minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle
|
||||
reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1
|
||||
change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
|
||||
non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
|
||||
cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
|
||||
retrospective_penalty: 0.015
|
||||
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
|
||||
cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
|
||||
viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
|
||||
smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
|
||||
|
||||
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"
|
||||
# drive_on_heading:
|
||||
# plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
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
|
||||
|
||||
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
|
||||
Reference in New Issue
Block a user