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Removing navigation from common.

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commit 19ea71ff8e572c09776b0f35dafd10bc9c917119 1 parent c3043fd
@mjcarroll mjcarroll authored
Showing with 0 additions and 435 deletions.
  1. +0 −30 automow_navigation/CMakeLists.txt
  2. +0 −1  automow_navigation/Makefile
  3. +0 −21 automow_navigation/config/amcl/base_local_planner_params.yaml
  4. +0 −13 automow_navigation/config/amcl/costmap_common_params.yaml
  5. +0 −19 automow_navigation/config/amcl/global_costmap_params.yaml
  6. +0 −10 automow_navigation/config/amcl/local_costmap_params.yaml
  7. +0 −10 automow_navigation/config/amcl/move_base_params.yaml
  8. +0 −2  automow_navigation/config/amcl/navfn_params.yaml
  9. +0 −32 automow_navigation/config/no_localization/base_local_planner_params.yaml
  10. +0 −14 automow_navigation/config/no_localization/costmap_common_params.yaml
  11. +0 −12 automow_navigation/config/no_localization/global_costmap_params.yaml
  12. +0 −10 automow_navigation/config/no_localization/local_costmap_params.yaml
  13. +0 −11 automow_navigation/config/no_localization/move_base_params.yaml
  14. +0 −2  automow_navigation/config/no_localization/navfn_params.yaml
  15. +0 −33 automow_navigation/config/slam/base_local_planner_params.yaml
  16. +0 −13 automow_navigation/config/slam/costmap_common_params.yaml
  17. +0 −16 automow_navigation/config/slam/global_costmap_params.yaml
  18. +0 −10 automow_navigation/config/slam/local_costmap_params.yaml
  19. +0 −2  automow_navigation/config/slam/navfn_params.yaml
  20. +0 −36 automow_navigation/launch/amcl_diff.xml
  21. +0 −25 automow_navigation/launch/move_base_amcl.xml
  22. +0 −11 automow_navigation/launch/move_base_no_localization.xml
  23. +0 −10 automow_navigation/launch/move_base_slam.xml
  24. +0 −10 automow_navigation/launch/navigation_amcl.launch
  25. +0 −5 automow_navigation/launch/navigation_no_localization.launch
  26. +0 −7 automow_navigation/launch/navigation_slam.launch
  27. +0 −26 automow_navigation/launch/slam.xml
  28. +0 −26 automow_navigation/mainpage.dox
  29. +0 −18 automow_navigation/manifest.xml
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30 automow_navigation/CMakeLists.txt
@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
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1  automow_navigation/Makefile
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
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21 automow_navigation/config/amcl/base_local_planner_params.yaml
@@ -1,21 +0,0 @@
-PoseFollower:
- k_trans: 1.0
- k_rot: 0.5
-
- tolerance_trans: 0.5
- tolerance_rot: 1.0
- tolerance_timeout: 0.5
-
- holonomic: false
- samples: 10
-
- max_vel_lin: 1.0
- max_vel_th: 1.4
-
- min_vel_lin: 0.1
- min_vel_th: 0.1
- min_in_place_vel_th: 0.1
- in_place_trans_vel: 0.0
-
- #trans_stopped_velocity
- #rot_stopped_velocity
View
13 automow_navigation/config/amcl/costmap_common_params.yaml
@@ -1,13 +0,0 @@
-obstacle_range: 4.5
-raytrace_range: 5.0
-footprint: [[-0.20, 0.39], [0.94, 0.39], [0.94, -0.39], [-0.20, -0.39]]
-inflation_radius: 0.55
-
-transform_tolerance: 0.2 # Max running just hardware nodes is ~0.0006 secs according to tf_monitor
-
-observation_sources: hokuyo_laser_scan_sensor
-# observation_sources: laser_scan_sensor point_cloud_sensor
-
-hokuyo_laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
- marking: true, clearing: true, expected_update_rate: 0.133} # LRf @ 15Hz so 7.5Hz for update rate
-# point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
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19 automow_navigation/config/amcl/global_costmap_params.yaml
@@ -1,19 +0,0 @@
-global_costmap:
- global_frame: /odom_combined
- # global_frame: /map
- robot_base_frame: /base_footprint
- update_frequency: 5.0
- static_map: true
- origin_x: 10.0
- origin_y: 10.0
-
-# global_costmap:
-# global_frame: odom_combined
-# robot_base_frame: base_link
-# update_frequency: 5.0
-# publish_frequency: 2.0
-# static_map: false
-# rolling_window: true
-# width: 20.0
-# height: 20.0
-# resolution: 0.05
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10 automow_navigation/config/amcl/local_costmap_params.yaml
@@ -1,10 +0,0 @@
-local_costmap:
- global_frame: /odom_combined
- robot_base_frame: /base_footprint
- update_frequency: 0.5
- publish_frequency: 2.0
- static_map: false
- rolling_window: true
- width: 10.0
- height: 10.0
- resolution: 0.05
View
10 automow_navigation/config/amcl/move_base_params.yaml
@@ -1,10 +0,0 @@
-base_global_planner: navfn/NavfnROS
-base_local_planner: pose_follower/PoseFollower
-controller_patience: 20.0
-planner_patience: 30.0
-
-recovery_behaviors:
- - name: conservative_reset
- type: clear_costmap_recovery/ClearCostmapRecovery
- - name: aggressive_reset
- type: clear_costmap_recovery/ClearCostmapRecovery
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2  automow_navigation/config/amcl/navfn_params.yaml
@@ -1,2 +0,0 @@
-NavfnROS:
- visualize_potential: true
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32 automow_navigation/config/no_localization/base_local_planner_params.yaml
@@ -1,32 +0,0 @@
-TrajectoryPlannerROS:
- max_vel_x: 0.8
- min_vel_x: 0.4
- max_rotational_vel: 0.5
- min_in_place_rotational_vel: 0.2
- escape_vel: -0.3
- publish_cost_grid_pc: true
- global_frame_id: "odom_combined"
-
- acc_lim_th: 5
- acc_lim_x: 3
- acc_lim_y: 0
-
- holonomic_robot: false
-
- yaw_goal_tolerance: 0.5
- xy_goal_tolerance: 0.25
-
- sim_time: 1.5
- sim_granularity: 0.025
-
- meter_scoring: false
- path_distance_bias: 0.8
- goal_distance_bias: 0.6
- occdist_scale: 0.05
-
- heading_scoring: true
-
- vx_samples: 8
- vtheta_samples: 20
-
- dwa: false
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14 automow_navigation/config/no_localization/costmap_common_params.yaml
@@ -1,14 +0,0 @@
-obstacle_range: 3.0
-raytrace_range: 6.0
-footprint: [[-0.20, 0.39], [0.94, 0.39], [0.94, -0.39], [-0.20, -0.39]]
-inflation_radius: 0.55
-
-transform_tolerance: 0.2 # Max running just hardware nodes is ~0.0006 secs according to tf_monitor
-cost_scaling_factor: 11.8
-
-observation_sources: hokuyo_laser_scan_sensor
-# observation_sources: laser_scan_sensor point_cloud_sensor
-
-hokuyo_laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
- marking: true, clearing: true, expected_update_rate: 0.133} # LRf @ 15Hz so 7.5Hz for update rate
-# point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
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12 automow_navigation/config/no_localization/global_costmap_params.yaml
@@ -1,12 +0,0 @@
-global_costmap:
- global_frame: /odom_combined
- robot_base_frame: /base_footprint
- update_frequency: 5.0
- publish_frequency: 1.0
- static_map: false
- rolling_window: true
- width: 50.0
- height: 50.0
- resolution: 0.05
- obstacle_range: 7.0
- raytrace_range: 15.0
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10 automow_navigation/config/no_localization/local_costmap_params.yaml
@@ -1,10 +0,0 @@
-local_costmap:
- global_frame: /odom_combined
- robot_base_frame: /base_footprint
- update_frequency: 5.0
- publish_frequency: 2.0
- static_map: false
- rolling_window: true
- width: 12.0
- height: 12.0
- resolution: 0.05
View
11 automow_navigation/config/no_localization/move_base_params.yaml
@@ -1,11 +0,0 @@
-# base_global_planner: navfn/NavfnROS
-# base_local_planner: dwa_local_planner/DWAPlannerROS
-
-controller_patience: 20.0
-planner_patience: 20.0
-
-recovery_behaviors:
- - name: conservative_reset
- type: clear_costmap_recovery/ClearCostmapRecovery
- - name: aggressive_reset
- type: clear_costmap_recovery/ClearCostmapRecovery
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2  automow_navigation/config/no_localization/navfn_params.yaml
@@ -1,2 +0,0 @@
-NavfnROS:
- visualize_potential: true
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33 automow_navigation/config/slam/base_local_planner_params.yaml
@@ -1,33 +0,0 @@
-TrajectoryPlannerROS:
- max_vel_x: 0.8
- min_vel_x: 0.3
- max_rotational_vel: 0.4
- min_in_place_rotational_vel: 0.15
-
- acc_lim_th: 5.0
- acc_lim_x: 4.0
- acc_lim_y: 0.0
-
- yaw_goal_tolerance: 0.1
- xy_goal_tolerance: 0.15
- latch_xy_goal_tolerance: false
-
- sim_time: 2.0
- sim_granularity: 0.025
- vx_samples: 3 # Default 3, 8-15 for high speed comupters
- vtheta_samples: 20
- controller_frequency: 10
-
- meter_scoring: false
- path_distance_bias: 0.6
- goal_distance_bias: 0.8
- occdist_scale: 0.2
-
- heading_scoring: true
- heading_scoring_timestep: 0.2
-
- publish_cost_grid: true
-
- dwa: false
-
- holonomic_robot: false
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13 automow_navigation/config/slam/costmap_common_params.yaml
@@ -1,13 +0,0 @@
-obstacle_range: 4.5
-raytrace_range: 5.0
-footprint: [[-0.20, 0.39], [0.94, 0.39], [0.94, -0.39], [-0.20, -0.39]]
-inflation_radius: 0.55
-
-transform_tolerance: 0.2 # Max running just hardware nodes is ~0.0006 secs according to tf_monitor
-
-observation_sources: hokuyo_laser_scan_sensor
-# observation_sources: laser_scan_sensor point_cloud_sensor
-
-hokuyo_laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
- marking: true, clearing: true, expected_update_rate: 0.133} # LRf @ 15Hz so 7.5Hz for update rate
-# point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
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16 automow_navigation/config/slam/global_costmap_params.yaml
@@ -1,16 +0,0 @@
-# global_costmap:
-# global_frame: /odom_combined
-# robot_base_frame: /base_footprint
-# update_frequency: 5.0
-# static_map: true
-
-global_costmap:
- global_frame: odom_combined
- robot_base_frame: base_link
- update_frequency: 5.0
- publish_frequency: 2.0
- static_map: false
- rolling_window: true
- width: 20.0
- height: 20.0
- resolution: 0.05
View
10 automow_navigation/config/slam/local_costmap_params.yaml
@@ -1,10 +0,0 @@
-local_costmap:
- global_frame: /odom_combined
- robot_base_frame: /base_footprint
- update_frequency: 5.0
- publish_frequency: 2.0
- static_map: false
- rolling_window: true
- width: 10.0
- height: 10.0
- resolution: 0.05
View
2  automow_navigation/config/slam/navfn_params.yaml
@@ -1,2 +0,0 @@
-NavfnROS:
- visualize_potential: true
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36 automow_navigation/launch/amcl_diff.xml
@@ -1,36 +0,0 @@
-<launch>
- <node pkg="amcl" type="amcl" name="amcl" output="screen">
- <!-- Publish scans from best pose at a max of 10 Hz -->
- <param name="odom_model_type" value="diff"/>
- <param name="odom_alpha5" value="0.1"/>
- <param name="transform_tolerance" value="0.2" />
- <param name="gui_publish_rate" value="10.0"/>
- <param name="laser_max_beams" value="30"/>
- <param name="min_particles" value="500"/>
- <param name="max_particles" value="5000"/>
- <param name="kld_err" value="0.05"/>
- <param name="kld_z" value="0.99"/>
- <param name="odom_alpha1" value="0.2"/>
- <param name="odom_alpha2" value="0.2"/>
- <!-- translation std dev, m -->
- <param name="odom_alpha3" value="0.8"/>
- <param name="odom_alpha4" value="0.2"/>
- <param name="laser_z_hit" value="0.5"/>
- <param name="laser_z_short" value="0.05"/>
- <param name="laser_z_max" value="0.05"/>
- <param name="laser_z_rand" value="0.5"/>
- <param name="laser_sigma_hit" value="0.2"/>
- <param name="laser_lambda_short" value="0.1"/>
- <param name="laser_lambda_short" value="0.1"/>
- <param name="laser_model_type" value="likelihood_field"/>
- <!-- <param name="laser_model_type" value="beam"/> -->
- <param name="laser_likelihood_max_dist" value="2.0"/>
- <param name="update_min_d" value="0.2"/>
- <param name="update_min_a" value="0.5"/>
- <param name="odom_frame_id" value="odom_combined"/>
- <param name="resample_interval" value="1"/>
- <param name="transform_tolerance" value="0.1"/>
- <param name="recovery_alpha_slow" value="0.0"/>
- <param name="recovery_alpha_fast" value="0.0"/>
- </node>
-</launch>
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25 automow_navigation/launch/move_base_amcl.xml
@@ -1,25 +0,0 @@
-<launch>
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <rosparam file="$(find
- automow_navigation)/config/amcl/move_base_params.yaml"
- command="load" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/costmap_common_params.yaml"
- command="load" ns="global_costmap" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/costmap_common_params.yaml"
- command="load" ns="local_costmap" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/local_costmap_params.yaml"
- command="load" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/global_costmap_params.yaml"
- command="load" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/base_local_planner_params.yaml"
- command="load" />
- <rosparam file="$(find
- automow_navigation)/config/amcl/navfn_params.yaml"
- command="load" />
- </node>
-</launch>
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11 automow_navigation/launch/move_base_no_localization.xml
@@ -1,11 +0,0 @@
-<launch>
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <remap from="odom" to="ekf/odom"/>
- <rosparam file="$(find automow_navigation)/config/no_localization/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find automow_navigation)/config/no_localization/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find automow_navigation)/config/no_localization/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/no_localization/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/no_localization/base_local_planner_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/no_localization/navfn_params.yaml" command="load" />
- </node>
-</launch>
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10 automow_navigation/launch/move_base_slam.xml
@@ -1,10 +0,0 @@
-<launch>
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <rosparam file="$(find automow_navigation)/config/slam/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find automow_navigation)/config/slam/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find automow_navigation)/config/slam/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/slam/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/slam/base_local_planner_params.yaml" command="load" />
- <rosparam file="$(find automow_navigation)/config/slam/navfn_params.yaml" command="load" />
- </node>
-</launch>
View
10 automow_navigation/launch/navigation_amcl.launch
@@ -1,10 +0,0 @@
-<launch>
- <!-- Start the Map Server -->
- <include file="$(find automow_maps)/launch/empty_map_server.launch" />
-
- <!-- Start the ACML Node -->
- <!-- <include file="$(find automow_navigation)/launch/amcl_diff.xml" /> -->
-
- <!-- Start the move_base Node -->
- <include file="$(find automow_navigation)/launch/move_base_amcl.xml" />
-</launch>
View
5 automow_navigation/launch/navigation_no_localization.launch
@@ -1,5 +0,0 @@
-<launch>
- <include file="$(find automow_maps)/launch/empty_map_server.launch" />
- <!-- Start the move_base Node -->
- <include file="$(find automow_navigation)/launch/move_base_no_localization.xml" />
-</launch>
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7 automow_navigation/launch/navigation_slam.launch
@@ -1,7 +0,0 @@
-<launch>
- <!-- Start SLAM -->
- <include file="$(find automow_navigation)/launch/slam.xml" />
-
- <!-- Start the move_base Node -->
- <include file="$(find automow_navigation)/launch/move_base_slam.xml" />
-</launch>
View
26 automow_navigation/launch/slam.xml
@@ -1,26 +0,0 @@
-<launch>
- <!-- Start the GMapping SLAM Node -->
- <node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen">
- <param name="maxUrange" value="10.0" /> <!-- The maximum usable range of the laser. A beam is cropped to this value. (meters) -->
- <param name="particles" value="30" /> <!-- Number of particles in the filter -->
- <param name="delta" value="0.10" /> <!-- Processing parameters (resolution of the map) -->
- <param name="xmin" value="-15.0" /> <!-- Initial map size -->
- <param name="xmax" value="15.0" /> <!-- Initial map size -->
- <param name="ymin" value="-15.0" /> <!-- Initial map size -->
- <param name="ymax" value="15.0" /> <!-- Initial map size -->
- <param name="angularUpdate" value="0.5" /> <!-- Process a scan each time the robot rotates this far (radians) -->
- <param name="linearUpdate" value="1.0" /> <!-- Process a scan each time the robot translates this far (meters) -->
- <param name="map_update_interval" value="1.0" />
- <!--
- How long (in seconds) between updates to the map.
- Lowering this number updates the occupancy grid more often,
- at the expense of greater computational load.
- -->
- <param name="resampleThreshold" value="0.3" /> <!-- The neff based resampling threshold (?) -->
- <param name="llsamplerange" value ="0.05" /> <!-- Translational sampling range for the likelihood -->
- <param name="llsamplestep" value ="0.05" /> <!-- Translational sampling range for the likelihood -->
- <param name="lasamplerange" value ="0.05" /> <!-- Angular sampling range for the likelihood -->
- <param name="lasamplestep" value ="0.05" /> <!-- Angular sampling range for the likelihood -->
- <param name="odom_frame" value="odom_combined" />
- </node>
-</launch>
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26 automow_navigation/mainpage.dox
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b automow_navigation is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
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18 automow_navigation/manifest.xml
@@ -1,18 +0,0 @@
-<package>
- <description brief="automow_navigation">
-
- Contains all elements related to 2D navigation, including: move_base configurations, AMCL launch scripts, and SLAM launch scripts.
-
- </description>
- <author>William Woodall</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/automow_navigation</url>
- <depend package="move_base"/>
- <depand package="automow_maps" />
- <depend package="amcl" />
- <depand package="gmapping" />
-
-</package>
-
-

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