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added navigation test

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This commit is contained in:
pimpest
2025-11-20 03:43:35 +01:00
parent bc87578729
commit 02542ec8e5
5 changed files with 654 additions and 47 deletions
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11
toid_navigation/launch/mock_control_launch.py
View File

@@ -20,15 +20,8 @@ def generate_launch_description():
'toid_bot_description.urdf'
)
starting_position = LaunchConfiguration("start_position")
visualize = LaunchConfiguration("visualize")
starting_position_arg = DeclareLaunchArgument(
'start_position',
default_value='0 0 0 0 0 0',
description="Set initial robot position"
)
visualize_arg = DeclareLaunchArgument(
'visualize',
default_value='True',
@@ -39,7 +32,8 @@ def generate_launch_description():
package='tf2_ros',
executable='static_transform_publisher',
name='map_to_odom_broadcaster',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
condition=IfCondition(LaunchConfiguration('visualize'))
)
robot_state_publisher = Node(
@@ -89,7 +83,6 @@ def generate_launch_description():
)
return LaunchDescription([
starting_position_arg,
visualize_arg,
odom_broadcast,
robot_state_publisher,

112
toid_navigation/launch/navigation_launch.py Normal file
View File

@@ -0,0 +1,112 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
import os
def generate_launch_description():
pkg_share = FindPackageShare("").find('toid_navigation')
params = os.path.join(pkg_share, 'params', 'toid_general_params.yaml')
map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml')
launch_dir = os.path.join(pkg_share, 'launch')
default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'nav2.rviz')
position = "0.756 0.225 0 0 0 0".split(' ')
#position = "0 0 0 0 0 0".split(' ')
visualize = LaunchConfiguration("visualize")
visualize_arg = DeclareLaunchArgument(
'visualize',
default_value='True',
description="Whether to launch rviz2"
)
toid_control = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'mock_control_launch.py')
),
launch_arguments={
'visualize': 'False'
}.items()
)
set_position = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='map_to_odom_broadcaster',
arguments=position + ['map', 'odom'],
condition=IfCondition(visualize)
)
map_server = Node(
package='nav2_map_server',
executable='map_server',
name='map_server',
output='screen',
parameters=[{'yaml_filename': map}]
)
planner_server = Node(
package='nav2_planner',
executable='planner_server',
name='planner_server',
output='screen',
parameters=[params]
)
controller_server = Node(
package='nav2_controller',
executable='controller_server',
name='controller_server',
output='screen',
parameters=[params]
)
bt_navigator = Node(
package='nav2_bt_navigator',
executable='bt_navigator',
name='bt_navigator',
output='screen',
parameters=[params]
)
behavior_server = Node(
package='nav2_behaviors',
executable='behavior_server',
name='behavior_server',
output='screen',
parameters=[params]
)
lifecycle_manager_node = Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager',
output='screen',
parameters=[params]
)
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', default_rviz_config_path],
condition=IfCondition(visualize)
)
return LaunchDescription([
visualize_arg,
set_position,
rviz_node,
map_server,
bt_navigator,
behavior_server,
planner_server,
controller_server,
lifecycle_manager_node,
toid_control
])

214
toid_navigation/params/toid_general_params.yaml
View File

@@ -1,3 +1,46 @@
bt_navigator:
ros__parameters:
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose"]
navigate_to_pose:
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
error_code_names:
- compute_path_error_code
- follow_path_error_code
behavior_server:
ros__parameters:
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_footprint
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.1
rotational_acc_lim: 3.2
global_costmap:
global_costmap:
ros__parameters:
@@ -6,7 +49,6 @@ global_costmap:
global_frame: map
robot_base_frame: base_footprint
robot_radius: 0.17
resolution: 0.01
track_unknown_space: false
rolling_window: false
plugins: ["static_layer", "inflation_layer"]
@@ -16,18 +58,157 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.23
inflation_radius: 0.25
always_send_full_costmap: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint: "[[-0.13, 0.16], [0.13, 0.16], [0.13, -0.16], [-0.13, -0.16]]"
global_frame: odom
robot_base_frame: base_footprint
rolling_window: true
width: 2
height: 2
resolution: 0.025
introspection_mode: "disabled"
plugins: ["static_layer", "inflation_layer"]
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: 0.25
planner_server:
ros__parameters:
allow_partial_planning: false
expected_planner_frequency: 20.0
costmap_update_timeout: 1.0
introspection_mode: "disabled"
planner_plugins: ['GridBased']
GridBased:
plugin: 'nav2_navfn_planner::NavfnPlanner'
controller_server:
ros__parameters:
controller_frequency: 20.0
costmap_update_timeout: 0.3
failure_tolerance: 0.3
odom_topic: "odom"
odom_duration: 0.3
progress_checker_plugins: ["progress_checker"]
goal_checker_plugins: ["goal_checker"]
controller_plugins: ["FollowPath"]
enable_stamped_cmd_vel: True
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.05
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.10
yaw_goal_tolerance: 0.10
stateful: True
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
ax_max: 3.0
ax_min: -3.0
ay_max: 3.0
ay_min: -3.0
az_max: 3.5
vx_std: 0.2
vy_std: 0.2
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
prune_distance: 1.7
transform_tolerance: 0.1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
visualize: true
regenerate_noises: true
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.2
critics: [
"ConstraintCritic", "CostCritic", "GoalCritic",
"GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
"PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
near_collision_cost: 253
critical_cost: 300.0
consider_footprint: false
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
mode: 0
lifecycle_manager:
ros__parameters:
autostart: true
node_names: ['map_server']
node_names: ['controller_server','planner_server','behavior_server','map_server','bt_navigator' ]
controller_manager:
ros__parameters:
update_rate: 10 # Hz
update_rate: 20 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
@@ -42,6 +223,7 @@ diffbot_base_controller:
wheel_separation: 0.29
wheel_radius: 0.04
use_stamped_vel: false
wheel_separation_multiplier: 1.0
left_wheel_radius_multiplier: 1.0
@@ -50,29 +232,9 @@ diffbot_base_controller:
publish_rate: 50.0
odom_frame_id: odom
base_frame_id: base_footprint
pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
open_loop: true
enable_odom_tf: true
publish_limited_velocity: true
cmd_vel_timeout: 0.5
linear.x.has_velocity_limits: true
linear.x.has_acceleration_limits: true
linear.x.has_jerk_limits: false
linear.x.max_velocity: 1.0
linear.x.min_velocity: -1.0
linear.x.max_acceleration: 1.0
linear.x.max_jerk: 0.0
linear.x.min_jerk: 0.0
angular.z.has_velocity_limits: true
angular.z.has_acceleration_limits: true
angular.z.has_jerk_limits: false
angular.z.max_velocity: 1.0
angular.z.min_velocity: -1.0
angular.z.max_acceleration: 1.0
angular.z.min_acceleration: -1.0
angular.z.max_jerk: 0.0
angular.z.min_jerk: 0.0
cmd_vel_timeout: 1.0

302
toid_navigation/rviz/nav2.rviz Normal file
View File

@@ -0,0 +1,302 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /GlobalCostMap1/Topic1
Splitter Ratio: 0.5
Tree Height: 592
- 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: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 0.05000000074505806
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: 64
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
drivewhl_l_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
drivewhl_r_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_caster:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_caster:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Binary representation: false
Binary threshold: 100
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: true
- Alpha: 0.30000001192092896
Binary representation: false
Binary threshold: 100
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: GlobalCostMap
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 0.5
Binary representation: false
Binary threshold: 100
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: LocalCostMap
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/published_footprint
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
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/XYOrbit
Distance: 1.4671714305877686
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.8760442137718201
Y: -0.15811485052108765
Z: -8.940696716308594e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.3697962760925293
Target Frame: <Fixed Frame>
Value: XYOrbit (rviz_default_plugins)
Yaw: 4.628584861755371
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 896
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000254000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002de000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002defc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002de000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005d30000003efc0100000002fb0000000800540069006d00650100000000000005d3000002de00fffffffb0000000800540069006d0065010000000000000450000000000000000000000264000002de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1491
X: 429
Y: 75

54
toid_navigation/rviz/ros_control.rviz
View File

@@ -3,7 +3,9 @@ Panels:
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Expanded:
- /GlobalCostMap1/Topic1
- /Polygon1
Splitter Ratio: 0.5
Tree Height: 592
- Class: rviz_common/Selection
@@ -105,6 +107,42 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 0.699999988079071
Binary representation: false
Binary threshold: 100
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: GlobalCostMap
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/published_footprint
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -151,25 +189,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/XYOrbit
Distance: 2.6907618045806885
Distance: 2.5692176818847656
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
X: -0.0017188787460327148
Y: -0.4051821231842041
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: 0.4453992545604706
Pitch: 0.8797978162765503
Target Frame: <Fixed Frame>
Value: XYOrbit (rviz_default_plugins)
Yaw: 0.8803985118865967
Yaw: 4.3135762214660645
Saved: ~
Window Geometry:
Displays:
@@ -187,5 +225,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1491
X: 1980
Y: 60
X: 476
Y: 75