diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a553bae --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +log +build +install + diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..9ddf6b2 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "cmake.ignoreCMakeListsMissing": true +} \ No newline at end of file diff --git a/zbw_slamtoolbox/CMakeLists.txt b/zbw_slamtoolbox/CMakeLists.txt deleted file mode 100644 index 6ec9f44..0000000 --- a/zbw_slamtoolbox/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(zbw_slamtoolbox) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -install( - DIRECTORY launch config - DESTINATION share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/zbw_slamtoolbox/config/mapper_params_online_async.yaml b/zbw_slamtoolbox/config/mapper_params_online_async.yaml deleted file mode 100644 index b1853e6..0000000 --- a/zbw_slamtoolbox/config/mapper_params_online_async.yaml +++ /dev/null @@ -1,22 +0,0 @@ -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_link - scan_topic: /scan - - transform_timeout: 5.0 - tf_buffer_duration: 30.0 - - minimum_range: 0.2 # 雷达硬件最小测距 - queue_size: 50 \ No newline at end of file diff --git a/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml b/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml deleted file mode 100644 index 2a956f8..0000000 --- a/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml +++ /dev/null @@ -1,77 +0,0 @@ -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_link - 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: 2 - transform_publish_period: 0.02 #if 0 never publishes odometry - map_update_interval: 5.0 - resolution: 0.05 - 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 - 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 diff --git a/zbw_slamtoolbox/config/navigation.yaml b/zbw_slamtoolbox/config/navigation.yaml deleted file mode 100644 index e69de29..0000000 diff --git a/zbw_slamtoolbox/launch/navigation.launch.py b/zbw_slamtoolbox/launch/navigation.launch.py deleted file mode 100644 index 8b28bf0..0000000 --- a/zbw_slamtoolbox/launch/navigation.launch.py +++ /dev/null @@ -1,86 +0,0 @@ -import os -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument -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 - cyy_navigation2_dir = get_package_share_directory('cyy_navigation2') - nav2_bringup_dir = get_package_share_directory('nav2_bringup') - - # 声明参数 - use_sim_time = LaunchConfiguration('use_sim_time', default='False') - slam = LaunchConfiguration('slam', default='False') - localization = LaunchConfiguration('localization', default='False') - - # 定义文件路径 - map_yaml_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map.yaml') - nav2_param_path = os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml') - slam_params_file = os.path.join(cyy_navigation2_dir, 'param', 'slam_toolbox_localization.yaml') - - # 定义地图基础路径（用于 .posegraph 文件） - map_base_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_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='False'), - DeclareLaunchArgument('slam', default_value='False'), - DeclareLaunchArgument('localization', default_value='False'), - ]) - - # 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, - {'use_sim_time': use_sim_time}, - {'map_file_name': map_base_path}, - {'map_start_pose': [0.0, 0.0, 0.0]} - ], - remappings=[('/scan', '/scan')] - ) - ld.add_action(slam_toolbox_node) - # 使用 slam_toolbox 时，Nav2 不启用定位 - localization_arg = 'False' - 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 - - 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(), - ) - - ld.add_action(nav2_bringup_launch) - - return ld \ No newline at end of file diff --git a/zbw_slamtoolbox/launch/slamtoolbox.launch.py b/zbw_slamtoolbox/launch/slamtoolbox.launch.py deleted file mode 100644 index be83830..0000000 --- a/zbw_slamtoolbox/launch/slamtoolbox.launch.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -from launch import LaunchDescription -from launch_ros.actions import Node, SetParameter -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('zbw_slamtoolbox') - params_file = os.path.join(pkg_share, 'config', 'mapper_params_online_async.yaml') - - set_use_sim_time = SetParameter(name='use_sim_time', value=False) - - # 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([ - set_use_sim_time, - slam_toolbox_node - ]) \ No newline at end of file diff --git a/zbw_slamtoolbox/package.xml b/zbw_slamtoolbox/package.xml deleted file mode 100644 index 0f1cc9c..0000000 --- a/zbw_slamtoolbox/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - zbw_slamtoolbox - 0.0.0 - TODO: Package description - sunrise - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - -