Add navigation stack package (i.e. move_base).

src/navigation_stack/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(navigation_stack)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  move_base
+  teb_local_planner
+  global_planner
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES navigation_stack
+#  CATKIN_DEPENDS move_base
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/navigation_stack.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/navigation_stack_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_navigation_stack.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/navigation_stack/launch/move_base.launch

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+<?xml version="1.0"?>
+<!-- Run move_base node (with TebLocalPlannerROS as the local planner) to execute the navigation stack -->
+
+<launch>
+    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+        <!-- All the configuration parameters for local and global costmaps 
+             and planners live in the corresponding parameter files. -->
+        <rosparam file="$(find navigation_stack)/params/costmap_common_params.yaml" 
+                  command="load" ns="global_costmap" /> 
+        <rosparam file="$(find navigation_stack)/params/costmap_common_params.yaml" 
+                  command="load" ns="local_costmap" />
+        <rosparam file="$(find navigation_stack)/params/local_costmap_params.yaml" 
+                  command="load" />
+        <rosparam file="$(find navigation_stack)/params/global_costmap_params.yaml" 
+                  command="load" /> 
+        <rosparam file="$(find navigation_stack)/params/teb_local_planner_params.yaml" 
+                  command="load" />
+
+        <!-- Use the standard global planner -->
+        <param name="base_global_planner" value="global_planner/GlobalPlanner" />
+        <param name="planner_frequency" value ="1.0" />
+        <param name="planner_patience" value="5.0" />
+
+        <!-- Plugin to the base_local_planner that allows for local planning of 
+             car-like robots -->
+        <param name="base_local_planner" 
+                value="teb_local_planner/TebLocalPlannerROS" />
+        <param name="controller_frequency" value="5.0" />
+        <param name="controller_patience" value="15.0" />
+
+        <!-- Our carlike robot is not able to rotate in place -->
+        <param name="clearing_rotation_allowed" value="false" />
+    </node>
+</launch>

src/navigation_stack/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>navigation_stack</name>
+  <version>0.0.0</version>
+  <description>The navigation_stack package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">z</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/navigation_stack</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>move_base</depend>
+  <depend>teb_local_planner</depend>
+  <depend>global_planner</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/navigation_stack/params/costmap_common_params.yaml

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+# All parameters are set to default values unless otherwise noted.
+# See http://wiki.ros.org/costmap_2d for details.
+#
+# TODO(Issue 25): Ensure these params work for both simulation and match the 
+#                 kart's physical params.
+
+# Robot footprint in meters:
+# Footprint used by teb_local_planner_tutorials. Use this for simulation as of now.
+footprint: [ [-0.1,-0.125], [0.5,-0.125], [0.5,0.125], [-0.1,0.125] ]
+
+transform_tolerance: 0.2 
+map_type: costmap
+
+obstacle_layer:
+  enabled: true 
+  obstacle_range: 3.0
+  raytrace_range: 3.5
+  # TODO(Issue 25): May need to include and tune these in tandem with pointcloud_to_laserscan.
+  #max_obstacle_height: 2.0
+  #min_obstacle_height: 0.0
+  inflation_radius: 0.2
+  track_unknown_space: false
+  combination_method: 1
+
+  observation_sources: laser_scan_sensor
+  laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan,
+                      topic: top/scan, marking: true, clearing: true}
+  #point_cloud_sensor: {sensor_frame: velodyne, data_type: PointCloud2, 
+  #                     topic: velodyne_points, marking: true, clearing: true}
+
+inflation_layer:
+  enabled: true
+  cost_scaling_factor: 10.0
+  inflation_radius: 0.5
+
+static_layer:
+  enabled: true
+  map_topic: "map"

src/navigation_stack/params/global_costmap_params.yaml

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+# All parameters are set to default values unless otherwise noted.
+# See http://wiki.ros.org/costmap_2d for details.
+
+# TODO(Issue 25): Ensure these params work for both simulation and match the 
+#                 kart's physical params.
+global_costmap:
+  global_frame: "map"
+  robot_base_frame: "base_link"
+  update_frequency: 1.0
+  public_frequency: 0.5
+  static_map: true
+
+  transform_tolerance: 0.5
+  plugins:
+    - {name: static_layer,    type:    "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer,  type:  "costmap_2d::VoxelLayer"}
+    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+

src/navigation_stack/params/local_costmap_params.yaml

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+# All parameters are set to default values unless otherwise noted.
+# See http://wiki.ros.org/costmap_2d for details.
+
+# TODO(Issue 25): Ensure these params work for both simulation and match the 
+#                 kart's physical params.
+local_costmap:
+  global_frame: "map"
+  robot_base_frame: "base_link"
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 5.5
+  height: 5.5
+  resolution: 0.1
+  transform_tolerance: 0.5
+
+  plugins:
+    - {name: static_layer,   type:   "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+