Add Navigation Stack to Stage Simulation

README.md

@@ -3,22 +3,21 @@
 
 Second iteration of the Autonomous Software Stack (ASS) for the AMP go-kart.
 
-# Current Nodes
-## stage_ros
-See sim\_files inside the `env_sim` file for the image file that specifies the shape of the racetrack and the config files that define the simulated laserscanner sensor and kart.
+# Design
+Our software stack uses the [ROS 2d navigation package](http://wiki.ros.org/navigation) to obtain control information given sensor and odometry sources, a map, a [tf](http://wiki.ros.org/tf) transform tree, a node to publish the desired kart position (i.e. goal setting), and a set of configurations for the naviagtion stack's global and local planners and costmaps.
+This repository contains top-level launch files for simulation and physical testing in `src/sim_stage/launch` and `.../launch` (TODO: Issue 34). We highlight some of the main packages below:
 
-This simulated kart takes /cmd\_vel topic to move. (cmd\_vel contains tf map frame, quaternion, and 3d pose, but we are only using it for forward displacement and yaw displacement)   
+TODO(35): Add other packages and refactor current ones.
 
+## sim_stage
+This package runs the [`stage_ros`](http://wiki.ros.org/stage_ros) node. See `src/sim_stage/sim_files` for the image file that specifies the shape of the racetrack and the config files that define the simulated laserscanner sensor and kart.
+This simulated kart takes /cmd\_vel topic to move. (cmd\_vel contains tf map frame, quaternion, and 3d pose, but we are only using it for forward displacement and yaw displacement)   
 Broadcasts /top/scan, which is the current moment laserscan data as a list of each ray's distance in a 180 degree range. 
 
 ## slam_mode_goal
 Reads top/scan and moves the kart towards open space (path finding). Puts out /amp\_slam\_goal which is a MoveBaseGoal structure that represents displacement. TODO: change from MoveBaseGoal to something simpler.
-
 slam\_mode\_goal is intended to put out high-level, ideal cart commands that are translated by the mover node into hardware commands for the kart's motors and steering.
 
-## Mover
-Takes MoveBaseGoal and converts them to cmd_vel to the simulated kart
-
 # Running 
 * To build the amp-cli tool, run:
 ```

src/mover/CMakeLists.txt → src/navigation_stack/CMakeLists.txt

@@ -1,13 +1,17 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(mover)
+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)
+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)
@@ -100,8 +104,8 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES mover
-#  CATKIN_DEPENDS other_catkin_pkg
+#  LIBRARIES navigation_stack
+#  CATKIN_DEPENDS move_base
 #  DEPENDS system_lib
 )
 
@@ -113,12 +117,12 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
-# ${catkin_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/mover.cpp
+#   src/${PROJECT_NAME}/navigation_stack.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -129,7 +133,7 @@ include_directories(
 ## 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(${PROJECT_NAME}_node src/mover_node.cpp)
+# add_executable(${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
@@ -153,12 +157,12 @@ include_directories(
 # 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
-   mover.py
-   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
+## 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
@@ -193,7 +197,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_mover.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_navigation_stack.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

src/navigation_stack/launch/move_base.launch

@@ -0,0 +1,34 @@
+<?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/mover/package.xml → src/navigation_stack/package.xml

@@ -1,12 +1,31 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>mover</name>
+  <name>navigation_stack</name>
   <version>0.0.0</version>
-  <description>Light utility for sending cmd_vel messages</description>
+  <description>The navigation_stack package</description>
 
-  <maintainer email="[email protected]">Xuyang Chen</maintainer>
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">z</maintainer>
 
-  <license>MIT</license>
+
+  <!-- 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 -->
@@ -31,15 +50,10 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>move_base_msgs</exec_depend>
-  <exec_depend>actionlib_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
+  <depend>move_base</depend>
+  <depend>teb_local_planner</depend>
+  <depend>global_planner</depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

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"

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"}
+

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"}
+