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Merged
merged 8 commits into from
May 3, 2022
Merged

Add files via upload #12

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f008674
Add files via upload
CHEVULAHAARVISH Apr 21, 2022
c71e4e8
updating motor control
CHEVULAHAARVISH May 3, 2022
e5f22f8
imu updated
CHEVULAHAARVISH May 3, 2022
12bd491
updated localisation
siddarth09 May 3, 2022
358c524
uploading localization node for rusty hardware
siddarth09 May 3, 2022
9abb5bb
adding robot parameters
siddarth09 May 3, 2022
5dfa644
updating navigation launch file
siddarth09 May 3, 2022
26b4e5e
updating move base
siddarth09 May 3, 2022
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64 changes: 44 additions & 20 deletions rusty/launch/amcl.launch
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<launch>
<!-- Arguments -->
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>

<!-- Arguments -->
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">


<!-- AMCL Node -->
<node name="amcl" pkg="amcl" type="amcl" output="screen">
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>

<remap from="scan" to="$(arg scan_topic)"/>
<param name="odom_model_type" value="diff-corrected"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_link"/>
<param name="global_frame_id" value="map"/>

</node>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<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_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>


<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="scanmatch_odom"/>
<param name="base_frame_id" value="base_link"/>

<param name="tf_broadcast" value="true" />
<param name="base_frame_id" value="/base_link" />
<param name="global_frame_id" value="map" />
<param name="odom_frame_id" value="scanmatch_odom" />
<param name="use_map_topic" value="false" />
</node>
</launch>
16 changes: 13 additions & 3 deletions rusty/launch/move_base.launch
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<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS" />
<!--<param name="base_global_planner" value="navfn/NavfnROS" />
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rusty)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/move_base_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" />-->

<!-- ROBOT MOVE BASE -->
<param name="base_global_planner" value="navfn/NavfnROS" />
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find rusty)/robot_param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rusty)/robot_param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rusty)/robot_param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/robot_param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/robot_param/move_base_params.yaml" command="load" />
<rosparam file="$(find rusty)/robot_param/dwa_local_planner_params.yaml" command="load" />
<!--rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" /-->
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="odom" to="scanmatch_odom"/>

</node>
</launch>
12 changes: 9 additions & 3 deletions rusty/launch/navigation.launch
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<arg name="move_forward_only" default="false"/>

<!--MAP SERVER NODE-->
<arg name="map_file" default="$(find rusty)/maps/house.yaml"/>
<arg name="map_file" default="$(find rusty)/maps/first_slam.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />


<!-- AMCL -->
<include file="$(find rusty)/launch/amcl.launch"/>
<include file="$(find rusty)/launch/robot_localize.launch"/>

<!-- move_base -->
<include file="$(find rusty)/launch/move_base.launch">

<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
<rosparam command="load" file="$(find rusty)/config/location.yaml" />
<!--<rosparam command="load" file="$(find rusty)/config/location.yaml" />-->
<!-- rviz -->

<arg default="$(find rusty)/config/rusty_nav.rviz" name="rvizconfig"/>
Expand All @@ -29,4 +30,9 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/>


<!--static transform-->
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_to_map_broadcaster" args="0 0 0 0 0 0 map base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map odom 100"/>-->
</launch>
8 changes: 8 additions & 0 deletions rusty/launch/odomtransform.launch
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<launch>

<node name="odomtransformer" pkg="lidarbot" type="odomtransformer.py" output="screen">
<param name="odom_input" value="/scanmatch_odom" />
<param name="tf_output" value="/base_link" />
</node>

</launch>
55 changes: 55 additions & 0 deletions rusty/launch/robot_localize.launch
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<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="base_link"/>
<!-- Change below!! Used to be true. -->
<arg name="pub_map_odom_transform" default="false"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<arg name="pub_odometry" default="true"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="pub_odometry" value="$(arg pub_odometry)"/>

<!-- Frame names -->
<remap from="map" to="mapcurrent" />
<param name="map_frame" value="mapcurrent_frame" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
</launch>
71 changes: 71 additions & 0 deletions rusty/launch/rusty_slam.launch
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<launch>
<!-- Arguments -->
<arg name="model" default="$(find rusty_description)/urdf/rusty.xacro"/>
<arg name="configuration_basename" default="/scan"/>

<arg name="odom_frame" default="base_link"/>
<arg name="base_frame" default="base_link"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<arg name="pub_map_odom_transform" default="true"/>

<arg name="tf_map_scanmatch_transform_frame_name" default="scan"/>

<!--static transform-->
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_to_map_broadcaster" args="0 0 0 0 0 0 map base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map odom 100"/>-->

<!-- Hector mapping -->
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="odom_frame" value="$(arg odom_frame)" />
<param name="base_frame" value="$(arg base_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_scanmatch_transform" value="true" />
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.05"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.1"/>
<param name="map_update_angle_thresh" value="0.04" />
<param name="map_pub_period" value="2" />
<param name="laser_z_min_value" value= "-0.1" />
<param name="laser_z_max_value" value= "0.1" />
<param name="laser_min_dist" value="0.12" />
<param name="laser_max_dist" value="3.5" />

<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
</node>
<!--RVIZ-->
<arg default="true" name="gui"/>
<arg default="$(find rover)/launch/urdf.rviz" name="rvizconfig"/>
<param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>

<node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/>

</launch>
23 changes: 23 additions & 0 deletions rusty/robot_param/base_local_planner.yaml
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controller_frequency: 10

TrajectoryPlannerROS:
max_vel_x: 1.0
min_vel_x: -0.1
max_vel_theta: 1.57

min_in_place_vel_theta: 0.314

acc_lim_theta: 3.14
acc_lim_x: 2.0
acc_lim_y: 2.0

sim_time: 1.0

vx_samples: 5.0
vtheta_samples: 10.0

pdist_scale: 0.6 #0.6
gdist_scale: 0.8 #0.8
occdist_scale: 0.02

holonomic_robot: false
12 changes: 12 additions & 0 deletions rusty/robot_param/costmap_common_params.yaml
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obstacle_range: 4.0
raytrace_range: 3.5

#footprint: [[0.250, 0.300], [-0.250, 0.300], [-0.250, -0.300], [0.250, -0.300]]
robot_radius: 0.305

inflation_radius: 0.6
cost_scaling_factor: 3.0

map_type: costmap
observation_sources: scan
scan: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
47 changes: 47 additions & 0 deletions rusty/robot_param/dwa_local_planner_params.yaml
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DWAPlannerROS:

# Robot Configuration Parameters
max_vel_x: 0.35
min_vel_x: -0.20

max_vel_y: 0.0
min_vel_y: 0.0

# The velocity when robot is moving in a straight line
max_vel_trans: 0.35
min_vel_trans: -0.25

max_vel_theta: 2.8
min_vel_theta: 1.5

acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2

# Goal Tolerance Parametes
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.17
latch_xy_goal_tolerance: false

# Forward Simulation Parameters
sim_time: 1.4
vx_samples: 20
vy_samples: 0
vth_samples: 40
controller_frequency: 10.0

# Trajectory Scoring Parameters
path_distance_bias: 25.0
goal_distance_bias: 10.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2

# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05

# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
10 changes: 10 additions & 0 deletions rusty/robot_param/global_costmap_params.yaml
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global_costmap:
global_frame: map
robot_base_frame: base_link

update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5

static_map: true

14 changes: 14 additions & 0 deletions rusty/robot_param/local_costmap_params.yaml
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local_costmap:
global_frame: odom
robot_base_frame: base_link

update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5

static_map: false
rolling_window: true
width: 4
height: 4
resolution: 0.05

9 changes: 9 additions & 0 deletions rusty/robot_param/move_base_params.yaml
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shutdown_costmaps: false
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 10.0
oscillation_timeout: 10.0
oscillation_distance: 0.2

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