From 31fdf953fab0eb6cde3d2b616fd9562cf43197a4 Mon Sep 17 00:00:00 2001 From: Zach Ghera Date: Sun, 27 Feb 2022 09:09:54 -0800 Subject: [PATCH] Add navigation stack package (i.e. move_base). --- src/navigation_stack/CMakeLists.txt | 206 ++++++++++++++++++ src/navigation_stack/launch/move_base.launch | 34 +++ src/navigation_stack/package.xml | 63 ++++++ .../params/costmap_common_params.yaml | 38 ++++ .../params/global_costmap_params.yaml | 18 ++ .../params/local_costmap_params.yaml | 21 ++ .../params/teb_local_planner_params.yaml | 118 ++++++++++ 7 files changed, 498 insertions(+) create mode 100644 src/navigation_stack/CMakeLists.txt create mode 100644 src/navigation_stack/launch/move_base.launch create mode 100644 src/navigation_stack/package.xml create mode 100644 src/navigation_stack/params/costmap_common_params.yaml create mode 100644 src/navigation_stack/params/global_costmap_params.yaml create mode 100644 src/navigation_stack/params/local_costmap_params.yaml create mode 100644 src/navigation_stack/params/teb_local_planner_params.yaml diff --git a/src/navigation_stack/CMakeLists.txt b/src/navigation_stack/CMakeLists.txt new file mode 100644 index 0000000..c24b2b8 --- /dev/null +++ b/src/navigation_stack/CMakeLists.txt @@ -0,0 +1,206 @@ +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) diff --git a/src/navigation_stack/launch/move_base.launch b/src/navigation_stack/launch/move_base.launch new file mode 100644 index 0000000..79b6463 --- /dev/null +++ b/src/navigation_stack/launch/move_base.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation_stack/package.xml b/src/navigation_stack/package.xml new file mode 100644 index 0000000..7bbb915 --- /dev/null +++ b/src/navigation_stack/package.xml @@ -0,0 +1,63 @@ + + + navigation_stack + 0.0.0 + The navigation_stack package + + + + + z + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + move_base + teb_local_planner + global_planner + + + + + + + + diff --git a/src/navigation_stack/params/costmap_common_params.yaml b/src/navigation_stack/params/costmap_common_params.yaml new file mode 100644 index 0000000..46ff87f --- /dev/null +++ b/src/navigation_stack/params/costmap_common_params.yaml @@ -0,0 +1,38 @@ +# 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" diff --git a/src/navigation_stack/params/global_costmap_params.yaml b/src/navigation_stack/params/global_costmap_params.yaml new file mode 100644 index 0000000..b3fab47 --- /dev/null +++ b/src/navigation_stack/params/global_costmap_params.yaml @@ -0,0 +1,18 @@ +# 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"} + diff --git a/src/navigation_stack/params/local_costmap_params.yaml b/src/navigation_stack/params/local_costmap_params.yaml new file mode 100644 index 0000000..e2ade5b --- /dev/null +++ b/src/navigation_stack/params/local_costmap_params.yaml @@ -0,0 +1,21 @@ +# 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"} + diff --git a/src/navigation_stack/params/teb_local_planner_params.yaml b/src/navigation_stack/params/teb_local_planner_params.yaml new file mode 100644 index 0000000..27e87a3 --- /dev/null +++ b/src/navigation_stack/params/teb_local_planner_params.yaml @@ -0,0 +1,118 @@ +# All parameters are set to based on values in teb_local_planner_tutorials +# unless otherwise noted. See http://wiki.ros.org/teb_local_planner for details. + +# TODO(Issue 25): Ensure these params work for both simulation and match the +# kart's physical params. +TebLocalPlannerROS: + odom_topic: "odom" + + # Trajectory + teb_autosize: True + dt_ref: 0.3 + dt_hysteresis: 0.1 + max_samples: 500 + global_plan_overwrite_orientation: True + allow_init_with_backwards_motion: True + max_global_plan_lookahead_dist: 3.0 + global_plan_viapoint_sep: -1 + global_plan_prune_distance: 1 + exact_arc_length: False + feasibility_check_no_poses: 2 + publish_feedback: False + + ## Kart + max_vel_x: 0.4 + max_vel_x_backwards: 0.2 + max_vel_y: 0.0 + # The angular velocity is also bounded by min_turning_radius in case of a + # carlike robot (r = v / omega). + max_vel_theta: 0.3 + acc_lim_x: 0.5 + acc_lim_theta: 0.5 + + min_turning_radius: 0.5 + wheelbase: 0.4 + # Substitute the rotational velocity in the commanded velocity message + # (/cmd_vel) by the corresponding steering angle [-pi/2,pi/2]. + cmd_angle_instead_rotvel: True + + # footprint used by teb_local_planner_tutorials. + # Use this for simulation as of now + footprint_model: + type: "polygon" + vertices: [[-0.1,-0.125], [0.5,-0.125], [0.5,0.125], [-0.1,0.125]] + + ## Goal Tolerance + xy_goal_tolerance: 0.2 + yaw_goal_tolerance: 0.1 + free_goal_vel: False + complete_global_plan: True # In tutorial param file but not in the docs. + + ## Obstacles + min_obstacle_dist: 0.27 + inflation_dist: 0.6 + include_costmap_obstacles: True + costmap_obstacles_behind_robot_dist: 1.0 + obstacle_poses_affected: 15 + + dynamic_obstacle_inflation_dist: 0.6 + include_dynamic_obstacles: True + + costmap_converter_plugin: "" + costmap_converter_spin_thread: True + costmap_converter_rate: 5 + + ## Optimization + no_inner_iterations: 5 + no_outer_iterations: 4 + optimization_activate: True + optimization_verbose: False + penalty_epsilon: 0.1 + obstacle_cost_exponent: 4 + weight_max_vel_x: 2 + weight_max_vel_theta: 1 + weight_acc_lim_x: 1 + weight_acc_lim_theta: 1 + weight_kinematics_nh: 1000 + weight_kinematics_forward_drive: 1 + weight_kinematics_turning_radius: 1 + weight_optimaltime: 1 # must be > 0 + weight_shortest_path: 0 + weight_obstacle: 100 + weight_inflation: 0.2 + weight_dynamic_obstacle: 10 # not in use yet + weight_dynamic_obstacle_inflation: 0.2 + weight_viapoint: 1 + weight_adapt_factor: 2 + + ## Homotopy Class Planner + enable_homotopy_class_planning: True + enable_multithreading: True + max_number_classes: 4 + selection_cost_hysteresis: 1.0 + selection_prefer_initial_plan: 0.95 + selection_obst_cost_scale: 1.0 + selection_alternative_time_cost: False + + roadmap_graph_no_samples: 15 + roadmap_graph_area_width: 5 + roadmap_graph_area_length_scale: 1.0 + h_signature_prescaler: 0.5 + h_signature_threshold: 0.1 + obstacle_heading_threshold: 0.45 + switching_blocking_period: 0.0 + viapoints_all_candidates: True + delete_detours_backwards: True + max_ratio_detours_duration_best_duration: 3.0 + visualize_hc_graph: False + visualize_with_time_as_z_axis_scale: False + + ## Recovery + shrink_horizon_backup: True + shrink_horizon_min_duration: 10 + oscillation_recovery: True + oscillation_v_eps: 0.1 + oscillation_omega_eps: 0.1 + oscillation_recovery_min_duration: 10 + oscillation_filter_duration: 10 +