init

2025-11-18 09:38:47 +01:00
commit a2491e7624
27 changed files with 1199 additions and 0 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "cmake.ignoreCMakeListsMissing": true
+}
--- a/toid_bot_description/CMakeLists.txt
+++ b/toid_bot_description/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_bot_description)
+
+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(<dependency> REQUIRED)
+
+install(
+  DIRECTORY 
+    src 
+    launch
+    rviz
+  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()
--- a/toid_bot_description/LICENSE
+++ b/toid_bot_description/LICENSE
@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
--- a/toid_bot_description/launch/display.launch.py
+++ b/toid_bot_description/launch/display.launch.py
@@ -0,0 +1,50 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'default.rviz')
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
+    )
+
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', default_model_path])}],
+        condition=UnlessCondition(LaunchConfiguration('gui'))
+    )
+
+    joint_state_publisher_gui_node = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        condition=IfCondition(LaunchConfiguration('gui'))
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path]
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(name='gui', default_value='True', description='Flag to enable joint_state_publisher'),
+        DeclareLaunchArgument(name='model', default_value=default_model_path, description='Path to model'),
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])
--- a/toid_bot_description/package.xml
+++ b/toid_bot_description/package.xml
@@ -0,0 +1,24 @@
+<?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>toid_bot_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="example@example.com">pimpest</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/toid_bot_description/rviz/default.rviz
+++ b/toid_bot_description/rviz/default.rviz
@@ -0,0 +1,235 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 542
+  - 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: 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
+    - Alpha: 0.30000001192092896
+      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
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        drivewhl_l_link:
+          Value: true
+        drivewhl_r_link:
+          Value: true
+        left_caster:
+          Value: true
+        lidar:
+          Value: true
+        right_caster:
+          Value: true
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          base_footprint:
+            {}
+          drivewhl_l_link:
+            {}
+          drivewhl_r_link:
+            {}
+          left_caster:
+            {}
+          lidar:
+            {}
+          right_caster:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    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: 1.59040105342865
+      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: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6053992509841919
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz_default_plugins)
+      Yaw: 1.088563323020935
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016c000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002de00fffffffb0000000800540069006d0065010000000000000450000000000000000000000229000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 60
--- a/toid_bot_description/src/toid_bot_control.xacro
+++ b/toid_bot_description/src/toid_bot_control.xacro
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="toid_control" params="name:=toid_control use_mock_hardware:=^|true">
+
+    <ros2_control name="${name}" type="system">
+      <xacro:unless value="${use_mock_hardware}">
+        <hardware>
+            <!-- plugin would eventually go here-->
+        </hardware>
+      </xacro:unless>
+      <xacro:if value="${use_mock_hardware}">
+        <hardware>
+          <plugin>mock_components/GenericSystem</plugin>
+          <param name="calculate_dynamics">true</param>
+        </hardware>
+      </xacro:if>
+
+      <joint name="drivewhl_l_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+      <joint name="drivewhl_r_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>
--- a/toid_bot_description/src/toid_bot_description.urdf
+++ b/toid_bot_description/src/toid_bot_description.urdf
@@ -0,0 +1,117 @@
+<?xml version="1.0"?>
+<robot name="toid_bot" xmlns:xacro="http://ros.org/wiki/xacro">
+
+<xacro:arg name="use_mock" default="true" />
+
+<xacro:property name="base_width" value="0.31"/>
+<xacro:property name="base_length" value="0.25"/>
+<xacro:property name="base_height" value="0.34"/>
+
+<xacro:property name="wheel_radius" value="0.04"/>
+<xacro:property name="wheel_width" value="0.03"/>
+
+<xacro:property name="wheel_zoff" value="0.03"/>
+<xacro:property name="wheel_xoff" value="-0.07"/>
+<xacro:property name="wheel_inset" value="0.01"/>
+
+<xacro:property name="caster_radius" value="0.02"/>
+
+<xacro:property name="caster_inset" value="0.04"/>
+<xacro:property name="caster_xoff" value="0.10"/>
+
+
+<xacro:property name="lidar_radius" value="0.03"/>
+<xacro:property name="lidar_height" value="0.02"/>
+<xacro:property name="lidar_xoff" value="0.09"/>
+
+<xacro:property name="base_zoff" value="${-wheel_zoff + wheel_radius + base_height/2}"/>
+
+<link name="base_link">
+    <visual>
+        <geometry>
+            <box size="${base_length} ${base_width} ${base_height}"/>
+        </geometry>
+        <material name="Cyan">
+            <color rgba="0 1.0 1.0 1.0"/>
+        </material>
+    </visual>
+</link>
+
+<link name="base_footprint"/>
+
+<link name="lidar">
+    <visual>
+        <geometry>
+            <cylinder radius="${lidar_radius}" length="${lidar_height}"/>
+        </geometry>
+        <material name="White">
+            <color rgba="0.9 0.9 0.9 1.0"/>
+        </material>
+    </visual>
+</link>
+
+<joint name="base_joint" type="fixed">
+    <child link="base_link"/>
+    <parent link="base_footprint"/>
+    <origin xyz="0.0 0.0 ${base_zoff}" rpy="0 0 0"/>
+</joint>
+
+<joint name="lidar_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar"/>
+    <origin xyz="${lidar_xoff} 0 ${(base_height + lidar_height)/2}" rpy="0 0 0"/>
+</joint>
+
+
+<xacro:macro name="wheel" params="prefix y_reflect">
+    <link name="${prefix}_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
+            <geometry>
+                <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
+            </geometry>
+            <material name="Yellow">
+                <color rgba="0.8 0.8 0.3 1.0"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}_joint" type="continuous">
+        <parent link="base_link"/>
+        <child link="${prefix}_link"/>
+        <origin xyz="${wheel_xoff} ${y_reflect*(base_width/2 - wheel_inset)} ${wheel_zoff-base_height/2}" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+</xacro:macro>
+
+
+<xacro:macro name="cstr" params="prefix y_reflect">
+    <link name="${prefix}_caster">
+        <visual>
+            <geometry>
+                <sphere radius="${caster_radius}"/>
+            </geometry>
+            <material name="White">
+                <color rgba="1.0 1.0 1.0 1.0"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}_caster_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="${prefix}_caster"/>
+        <origin xyz="${caster_xoff} ${y_reflect*(base_width/2 - caster_inset)} ${caster_radius-base_zoff}" rpy="0 0 0"/>
+    </joint>
+</xacro:macro>
+
+
+<xacro:wheel prefix="drivewhl_l" y_reflect="1" />
+<xacro:wheel prefix="drivewhl_r" y_reflect="-1" />
+
+<xacro:cstr prefix="left" y_reflect="1" />
+<xacro:cstr prefix="right" y_reflect="-1" />
+
+<xacro:include filename="$(find toid_bot_description)/src/toid_bot_control.xacro"/>
+<xacro:toid_control name="toid_bot_control" use_mock_hardware="$(arg use_mock)"/>
+
+</robot>
--- a/toid_navigation/CMakeLists.txt
+++ b/toid_navigation/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_navigation)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY
+    launch
+    maps
+    params
+    rviz
+  DESTINATION share/${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()
--- a/toid_navigation/LICENSE
+++ b/toid_navigation/LICENSE
@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
--- a/toid_navigation/launch/view_map.py
+++ b/toid_navigation/launch/view_map.py
@@ -0,0 +1,60 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node, LifecycleNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_navigation')
+    #default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
+    params = os.path.join(pkg_share, 'params', 'toid_costmap_params.yaml')
+    map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'conf.rviz')
+
+
+    map_server = Node(
+        package='nav2_map_server',
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        parameters=[{'yaml_filename': map}]
+    )
+
+    costmap2d_node = Node(
+        package='nav2_costmap_2d',
+        executable='nav2_costmap_2d',
+        name='global_costmap',
+        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]
+    )
+
+    return LaunchDescription([
+        map_server,
+        costmap2d_node,
+        lifecycle_manager_node,
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='map_to_base_link_broadcaster',
+            arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']
+        ),
+        rviz_node
+    ])
--- a/toid_navigation/maps/map.png
+++ b/toid_navigation/maps/map.png
--- a/toid_navigation/maps/map.yaml
+++ b/toid_navigation/maps/map.yaml
@@ -0,0 +1,6 @@
+image: map.png
+resolution: 0.01
+origin: [-1.55, -1.05, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
--- a/toid_navigation/maps/map5cm.png
+++ b/toid_navigation/maps/map5cm.png
--- a/toid_navigation/maps/map5cm.yaml
+++ b/toid_navigation/maps/map5cm.yaml
@@ -0,0 +1,6 @@
+image: map5cm.png
+resolution: 0.05
+origin: [-1.55, -1.05, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
--- a/toid_navigation/maps/mapb1cm.png
+++ b/toid_navigation/maps/mapb1cm.png
--- a/toid_navigation/maps/mapb1cm.yaml
+++ b/toid_navigation/maps/mapb1cm.yaml
@@ -0,0 +1,6 @@
+image: mapb1cm.png
+resolution: 0.01
+origin: [-1.55, -1.05, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
--- a/toid_navigation/maps/mapb2_5cm.png
+++ b/toid_navigation/maps/mapb2_5cm.png
--- a/toid_navigation/maps/mapb2_5cm.yaml
+++ b/toid_navigation/maps/mapb2_5cm.yaml
@@ -0,0 +1,6 @@
+image: mapb2_5cm.png
+resolution: 0.025
+origin: [-1.55, -1.05, 0.0]
+occupied_thresh: 0.10
+free_thresh: 0.06
+negate: 0
--- a/toid_navigation/maps/mapb5cm.png
+++ b/toid_navigation/maps/mapb5cm.png
--- a/toid_navigation/maps/mapb5cm.yaml
+++ b/toid_navigation/maps/mapb5cm.yaml
@@ -0,0 +1,6 @@
+image: mapb5cm.png
+resolution: 0.05
+origin: [-1.55, -1.05, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
--- a/toid_navigation/package.xml
+++ b/toid_navigation/package.xml
@@ -0,0 +1,19 @@
+<?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>toid_navigation</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="example@example.com">pimpest</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rsl</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/toid_navigation/params/toid_costmap_params.yaml
+++ b/toid_navigation/params/toid_costmap_params.yaml
@@ -0,0 +1,24 @@
+global_costmap:
+  ros__parameters:
+    update_frequency: 1.0
+    publish_frequency: 1.0
+    global_frame: map
+    robot_base_frame: base_link
+    robot_radius: 0.17
+    resolution: 0.01
+    track_unknown_space: false
+    rolling_window: false
+    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: 0.23
+    always_send_full_costmap: True
+
+lifecycle_manager:
+  ros__parameters:
+    autostart: true
+    node_names: ['map_server', 'global_costmap']
--- a/toid_navigation/params/toid_diffdrive_params.yaml
+++ b/toid_navigation/params/toid_diffdrive_params.yaml
@@ -0,0 +1,14 @@
+diffdrive_controller:
+  ros__parameters:
+    type: diff_drive_controller/DiffDriveController
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+    
+    enable_odom_tf: true
+    odom_frame_id: odom
+    base_frame_id: base_link
+
+    open_loop: true 
+
+    wheel_separation: 0.5
+    wheel_radius: 0.1
--- a/toid_navigation/params/toid_general_params.yaml
+++ b/toid_navigation/params/toid_general_params.yaml
@@ -0,0 +1,80 @@
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      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"]
+      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: 0.23
+      always_send_full_costmap: True
+
+lifecycle_manager:
+  ros__parameters:
+    autostart: true
+    node_names: ['map_server']
+
+
+controller_manager:
+  ros__parameters:
+    update_rate: 10  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffbot_base_controller:
+  ros__parameters:
+    type: diff_drive_controller/DiffDriveController
+
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+
+    wheel_separation: 0.29
+
+    wheel_radius: 0.04
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    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
+
+    cmd_vel_timeout: 0.5
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    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        
--- a/toid_navigation/rviz/conf.rviz
+++ b/toid_navigation/rviz/conf.rviz
@@ -0,0 +1,173 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /GlobalCostmap1
+      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
+      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: true
+      Enabled: true
+      Name: GlobalCostmap
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /costmap_updates
+      Use Timestamp: false
+      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:
+      Angle: -1.2665987014770508e-07
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 209.60946655273438
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: -0.12191840261220932
+      Y: -0.022097526118159294
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 896
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000018d000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002de000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002defc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002de000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005d30000003efc0100000002fb0000000800540069006d00650100000000000005d3000002de00fffffffb0000000800540069006d006501000000000000045000000000000000000000032b000002de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1491
+  X: 1980
+  Y: 60
--- a/toid_navigation/rviz/ros_control.rviz
+++ b/toid_navigation/rviz/ros_control.rviz
@@ -0,0 +1,232 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      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
+      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: true
+      Enabled: true
+      Name: GlobalCostmap
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /costmap_updates
+      Use Timestamp: false
+      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
+  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:
+      Angle: -1.2665987014770508e-07
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 176.13690185546875
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0.03602159023284912
+      Y: -0.12757755815982819
+    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: 1980
+  Y: 60