Added rotate acorns

toid_navigation/launch/main.py

@@ -1,7 +1,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.conditions import IfCondition, UnlessCondition 
-from launch.substitutions import  LaunchConfiguration
+from launch.substitutions import  LaunchConfiguration, AllSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
@@ -10,6 +10,7 @@ import os
 def generate_launch_description():
     nav_pkg_share = FindPackageShare("").find('toid_navigation')
     control_pkg_share = FindPackageShare("").find('toid_control')
+    lidar_pkg_share = FindPackageShare("").find('toid_lidar')
     params = os.path.join(nav_pkg_share, 'params', 'toid_general_params.yaml')
     map = os.path.join(nav_pkg_share, 'maps', 'mapb2_5cm.yaml')
     ctrl_launch_dir = os.path.join(control_pkg_share, 'launch')
@@ -38,6 +39,20 @@ def generate_launch_description():
         description="Whether to launch rviz2" 
     )
 
+    use_lidar = LaunchConfiguration("use_lidar")
+    use_lidar_arg = DeclareLaunchArgument(
+        'use_lidar',
+        default_value='True',
+        description="Whether to launch rviz2" 
+    )
+
+    is_blue = LaunchConfiguration("is_blue")
+    is_blue_arg = DeclareLaunchArgument(
+        'is_blue',
+        default_value='True',
+        description="Whether to launch rviz2" 
+    )
+    
     toid_control = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(ctrl_launch_dir, 'toid.launch.py')
@@ -49,6 +64,17 @@ def generate_launch_description():
         condition=IfCondition(run_nodes),
     )
 
+    toid_lidar = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(lidar_pkg_share, 'launch' , 'launch.py')
+        ),
+        launch_arguments={
+            'visualize': 'False',
+            'lidar_frame': 'lidar_frame', 
+        }.items(),
+        condition=IfCondition(AllSubstitution(run_nodes, use_lidar)),
+    ) 
+
     map_server = Node(
         package='nav2_map_server',
         executable='map_server',
@@ -118,6 +144,8 @@ def generate_launch_description():
         visualize_arg,
         use_mock_arg,
         run_nodes_arg,
+        use_lidar_arg,
+        toid_lidar,
         rviz_node,
         map_server,
         bt_navigator,

toid_navigation/params/toid_general_params.yaml

@@ -22,7 +22,7 @@ behavior_server:
     local_footprint_topic: local_costmap/published_footprint
     global_footprint_topic: global_costmap/published_footprint
     cycle_frequency: 50.0
-    behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns"]
+    behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns", rotateAcorns]
     spin:
       plugin: "nav2_behaviors::Spin"
     backup:
@@ -41,6 +41,8 @@ behavior_server:
       kdelta: 1.0
       lambda: 2.0
       debug_marker: true
+    rotateAcorns:
+      plugin: "toid::RotateAcorns"
     local_frame: map
     global_frame: map
     robot_base_frame: base_footprint
@@ -58,7 +60,7 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_footprint
-      footprint: "[[-0.08, 0.15], [0.22, 0.15], [0.22, -0.15], [-0.08, -0.15]]"
+      footprint: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
       footprint_padding: 0.02
       track_unknown_space: false
       rolling_window: false
@@ -79,7 +81,7 @@ local_costmap:
     ros__parameters:
       update_frequency: 5.0
       publish_frequency: 2.0
-      footprint: "[[-0.08, 0.15], [0.22, 0.15], [0.22, -0.15], [-0.08, -0.15]]"
+      footprint: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
       footprint_padding: 0.01
       #robot_radius: 0.18
       global_frame: map
@@ -89,11 +91,14 @@ local_costmap:
       height: 1
       resolution: 0.01
       introspection_mode: "disabled"
-      plugins: ["static_layer", "inflation_layer"]
+      plugins: ["static_layer", rival_layer, "inflation_layer"]
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         footprint_clearing_enabled: true
         map_subscribe_transient_local: True
+      rival_layer:
+        plugin: "toid::RivalLayer"
+        rival_size: 0.15
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0

toid_navigation/rviz/nav2.rviz

@@ -1,13 +1,14 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 138
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /RobotModel1
         - /GlobalCostMap1/Topic1
+        - /Pose1
       Splitter Ratio: 0.5
-    Tree Height: 592
+    Tree Height: 668
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -74,6 +75,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         drivewhl_l_link:
           Alpha: 1
           Show Axes: false
@@ -247,6 +252,39 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /start_point
       Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /marker
+      Value: true
+    - Alpha: 1
+      Axes Length: 0.10000000149011612
+      Axes Radius: 0.019999999552965164
+      Class: rviz_default_plugins/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Axes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /closest_acorn
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -293,33 +331,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/XYOrbit
-      Distance: 3.863811731338501
+      Distance: 2.2019217014312744
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.1778966784477234
+        X: 0.3222081661224365
-        Y: -1.1747734546661377
+        Y: -0.08033189922571182
-        Z: 1.7285346984863281e-06
+        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: 1.3697962760925293
+      Pitch: 1.064796805381775
       Target Frame: <Fixed Frame>
       Value: XYOrbit (rviz_default_plugins)
-      Yaw: 4.628584861755371
+      Yaw: 4.925206184387207
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 896
+  Height: 1186
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000254000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002de000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002defc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002de000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005d30000003efc0100000002fb0000000800540069006d00650100000000000005d30000027b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000264000002de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000025400000398fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000070000003980000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015b00000398fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000070000003980000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000070c0000005efc0100000002fb0000000800540069006d006501000000000000070c0000048700fffffffb0000000800540069006d00650100000000000004500000000000000000000003450000039800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -328,6 +366,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1491
+  Width: 1804
-  X: 429
+  X: 428
-  Y: 75
+  Y: 74