Add Navigation Stack to Stage Simulation

[zghera]

What is a quick description of the change?

Add the ROS 2D navigation stack with teb_local_planner set as the local planner.

Is this fixing an issue?

Closes #20

Were any issues created as a result of this change?

#34 and #35

Are there more details that are relevant?

Initially looked at just using teb_local_planner with the current ASSv2 architecture. However, teb's API is made to interface with move_base and we would end up having to reimplement a portion of move_base's functionality to obtain the same cmd_vel topic that we need. Thus, it made sense to add move_base back.

With this change, the only major difference between the v2 and v1 architectures is the SLAM module (using rtabmap instead of hector_mapping).

Check lists (check x in [ ] of list items)

For each of these items, please refer to the software style guide

• Test written/updated
• Tests passing
• Logging (where appropriate)
• Coding style

Any additional comments?

Note: This was a huge PR. Not advisable for most other PRs. However, it was arguably appropriate in this case given the hefty requirements of move_base.

RQT Graph

Tf Tree

[alanssitis]

I am currently encountering an issue where amcl and map_server are not being launched when running roslaunch sim_stage stage.launch . Currently trying to find the root of the issue. Also, you mixed tabs and spaces in sim_stage/launch/stage.launch ; there may be more since I haven't looked at other files that closely. Shouldn't be a big deal and could be automated in the future, so could be ignored for now and be dealt with in Issue #18 .

[zghera]

I am currently encountering an issue where amcl and map_server are not being launched when running roslaunch sim_stage stage.launch . Currently trying to find the root of the issue. Also, you mixed tabs and spaces in sim_stage/launch/stage.launch ; there may be more since I haven't looked at other files that closely. Shouldn't be a big deal and could be automated in the future, so could be ignored for now and be dealt with in Issue #18 .

Weird it is working on my local build. @Reschivon , did you try to run it?

I tried also running in docker. It appears there is an issue when trying to catkin_make.
Using devel:

$ amp-cli devel --build
Building containers...
Step 1/2: Building amp-devel:noetic-desktop.
 ---> Finished building amp-devel:noetic-desktop.
Step 2/2: Building amp-devel:frame-desktop.
 ---> Finished building amp-devel:frame-desktop.
Running amp-devel:frame-desktop...
Use [<Ctrl> + D] to stop and exit the container.
Entering container amp-assv2-scratch:d2837809cc.

root@ubuntu:/amp_ws# catkin_make
Base path: /amp_ws
Source space: /amp_ws/src
Build space: /amp_ws/build
Devel space: /amp_ws/devel
Install space: /amp_ws/install
####
#### Running command: "cmake /amp_ws/src -DCATKIN_DEVEL_PREFIX=/amp_ws/devel -DCMAKE_INSTALL_PREFIX=/amp_ws/install -G Unix Makefiles" in "/amp_ws/build"
####
CMake Error: The current CMakeCache.txt directory /amp_ws/build/CMakeCache.txt is different than the directory /home/z/Documents/AMP_ASSv2/build where CMakeCache.txt was created. This may result in binaries being created in the wrong place. If you are not sure, reedit the CMakeCache.txt
CMake Error: The source "/amp_ws/src/CMakeLists.txt" does not match the source "/home/z/Documents/AMP_ASSv2/src/CMakeLists.txt" used to generate cache.  Re-run cmake with a different source directory.
Invoking "cmake" failed

Using scratch:

$ amp-cli scratch --build
Building containers...
Step 1/3: Building amp-devel:noetic-desktop.
 ---> Finished building amp-devel:noetic-desktop.
Step 2/3: Building amp-devel:frame-desktop.
 ---> Finished building amp-devel:frame-desktop.
Step 3/3: Building amp-devel:mesa-build.
Error: Ran into an error, look at the help menu.
Error The command '/bin/bash -c . /opt/ros/noetic/setup.bash &&     rosdep install --from-paths src -r -y &&     catkin_make' returned a non-zero code: 1

How are you testing on this branch @alanssitis ?

[alanssitis]

Via amp-cli, my comments above address the fix.

[zghera]

Via amp-cli, my comments above address the fix.

For reference: @alanssitis and I had some discussions offline. The related fixes to the amp-cli tool from those discussions are in #37 . Once that PR is merged I will test my fix for the issue of amcl and map_server not being launched.

[alanssitis]

LGTM