diff --git a/CMakeLists.txt b/CMakeLists.txt index 5327c05..3d540b1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,7 +12,10 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) +install(DIRECTORY definitions DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY maps DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY models DESTINATION share/${PROJECT_NAME}) install(DIRECTORY params DESTINATION share/${PROJECT_NAME}) install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) diff --git a/README.md b/README.md index 7f0ed52..01badee 100644 --- a/README.md +++ b/README.md @@ -1,48 +1,112 @@ # mvsim_nav2_demos +## Launch with Nav2 + Launch and configuration files for running [Nav2](https://navigation.ros.org/) on [MVsim](https://github.com/MRPT/mvsim) worlds using ROS 2. Usage: + - Clone into your `workspace/src` directory. - Install dependencies (TESTED ON ROS humble !!): -```bash -sudo apt install \ - ros-$ROS_DISTRO-mvsim \ - ros-$ROS_DISTRO-navigation2 \ - ros-$ROS_DISTRO-nav2-bringup \ - ros-$ROS_DISTRO-turtlebot3* -``` + ```bash + sudo apt install \ + ros-$ROS_DISTRO-mvsim \ + ros-$ROS_DISTRO-navigation2 \ + ros-$ROS_DISTRO-nav2-bringup \ + ros-$ROS_DISTRO-turtlebot3* + ``` - Build as usual (colcon build). -```bash -colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -. install/setup.bash -``` + ```bash + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release + . install/setup.bash + ``` - Invoke with: - ros2 launch mvsim_nav2_demos turtlebot_simulation_launch.py - ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py + ```bash + ros2 launch mvsim_nav2_demos turtlebot_simulation_launch.py + ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py + + ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml + ``` - ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml - - This package is based on [nav2_bringup](https://github.com/ros-planning/navigation2/tree/main/nav2_bringup), so we inherit their Apache-2 License here. +### Multi-agent demo + +> ROS2 Humble only ([Issue](https://github.com/ros2/rviz/issues/463) is occurred in Iron and Jazzy.) + +Multi-agent demo supports multiple agents with fake-amcl (ground truth on mvsim). +Therefore, this demo is useful for verification and implementation of the overall system, including path planning. + +- Invoke mvsim with: + + ```bash + ros2 launch mvsim_nav2_demos demo_warehouse_6robots.launch.py + ``` + +- Invoke nav2 with: + + ```bash + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh1 + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh2 + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh3 + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh4 + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh5 + ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh6 + ``` + +#### How to send a goal + +- Send goal via rviz: + + - Click the ***Nav2 Goal*** button on the top bar. + - Click and hold on the goal position and drag to the goal heading. + - Then you can see a green arrow and that is the goal (2d position and heading). + +- Send goal action via terminal: + + - The namespace is ***veh1*** and ***-f*** option is for the feedback information + + ```bash + ros2 action send_goal /veh1/navigate_to_pose nav2_msgs/action/NavigateToPose \ + "{pose: {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \ + pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \ + behavior_tree: \"\"}" -f + ``` + +- Send goal poses action via terminal: + + - The namespace is ***veh1*** and ***-f*** option is for the feedback information + + ```bash + ros2 action send_goal /veh1/navigate_through_poses nav2_msgs/action/NavigateThroughPoses \ + "{poses: [ + {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \ + pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \ + {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \ + pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \ + {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \ + pose: {position: {x: 5.0, y: 1.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \ + ], \ + behavior_tree: \"\"}" -f + ``` ## Launch alternative with mrpt_navigation - Clone into "src" https://github.com/mrpt-ros-pkg/mrpt_navigation.git - Build: -```bash -colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -. install/setup.bash -``` + + ```bash + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release + . install/setup.bash + ``` - Launch: -```bash -ros2 launch mrpt_tutorials demo_reactive_nav_mvsim.launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml -``` + ```bash + ros2 launch mrpt_tutorials demo_reactive_nav_mvsim.launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml + ``` diff --git a/launch/agricobiot2.vehicle.xml b/definitions/agricobiot2.vehicle.xml similarity index 100% rename from launch/agricobiot2.vehicle.xml rename to definitions/agricobiot2.vehicle.xml diff --git a/launch/camera.sensor.xml b/definitions/camera.sensor.xml similarity index 94% rename from launch/camera.sensor.xml rename to definitions/camera.sensor.xml index 6f67d4f..b30d2a4 100644 --- a/launch/camera.sensor.xml +++ b/definitions/camera.sensor.xml @@ -17,7 +17,7 @@ ${clip_max|1e+4} - simple_camera.dae + ../models/simple_camera.dae ${sensor_visual_scale|1.0} diff --git a/definitions/helios-32-FOV-31.sensor.xml b/definitions/helios-32-FOV-31.sensor.xml new file mode 100644 index 0000000..2b282a7 --- /dev/null +++ b/definitions/helios-32-FOV-31.sensor.xml @@ -0,0 +1,40 @@ + + ${sensor_x|0.5} ${sensor_y|0.0} ${sensor_z|0.7} ${sensor_yaw|0.0} ${sensor_pitch|0.0} ${sensor_roll|0.0} + + + + + 32 + 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 -1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16 + + + $f{1.0/${sensor_rate|10}} + $f{(1.0/${sensor_rate|10})/55.296e-6} + + + ${horz_resolution_factor|1.0} + ${vert_resolution_factor|1.0} + + + ${max_vert_relative_depth_to_interpolatate|0.3} + ${max_horz_relative_depth_to_interpolatate|0.1} + + ${sensor_std_noise|0.005} + ${min_range|0.20} + ${max_range|110.0} + + ../models/velodyne-vlp16.dae 90 + + + + /${PARENT_NAME}/${NAME} + + diff --git a/definitions/jackal.vehicle.xml b/definitions/jackal.vehicle.xml new file mode 100644 index 0000000..69c57df --- /dev/null +++ b/definitions/jackal.vehicle.xml @@ -0,0 +1,62 @@ + + + + + + + + ../models/jackal_description/jackal-wheel.dae + + + ../models/jackal_description/jackal-wheel.dae + + + ../models/jackal_description/jackal-wheel.dae + + + ../models/jackal_description/jackal-wheel.dae + + + + + + + + + + + + + + 0.8 + 0.05 + + + + + + ../models/jackal_description/jackal.dae + 0.0 + 0.0 + 90.0 + + + + + + + + + diff --git a/definitions/lidar2d.sensor.xml b/definitions/lidar2d.sensor.xml new file mode 100644 index 0000000..65b70e8 --- /dev/null +++ b/definitions/lidar2d.sensor.xml @@ -0,0 +1,28 @@ + + ${sensor_x|1.80} ${sensor_y|0.0} ${sensor_z|0.7} ${sensor_yaw|0.0} 0.0 0.0 + ${fov_degrees|180} + ${sensor_period_sec|0.05} + ${sensor_nrays|181} + ${sensor_std_noise|0.01} + ${sensor_std_noise_deg|0.01} + ${raytrace_3d|false} + ${max_range|30.0} + + + ../models/hokuyo_utm30.dae + + + + + /${PARENT_NAME}/${NAME} + + + + ${viz_visiblePoints|true} + ${viz_pointSize|3.0} + ${viz_visiblePlane|false} + ${viz_visibleLines|true} + ${viz_pointsColor|#ff000080} + ${viz_planeColor|#0000ff10} + + diff --git a/launch/rplidar-a2.sensor.xml b/definitions/rplidar-a2.sensor.xml similarity index 100% rename from launch/rplidar-a2.sensor.xml rename to definitions/rplidar-a2.sensor.xml diff --git a/launch/velodyne-vlp16.sensor.xml b/definitions/velodyne-vlp16.sensor.xml similarity index 94% rename from launch/velodyne-vlp16.sensor.xml rename to definitions/velodyne-vlp16.sensor.xml index 8aa710d..a33effb 100644 --- a/launch/velodyne-vlp16.sensor.xml +++ b/definitions/velodyne-vlp16.sensor.xml @@ -26,8 +26,8 @@ ${sensor_std_noise|0.005} ${max_range|80.0} - - velodyne-vlp16.dae 90 + + ../models/velodyne-vlp16.dae 90 diff --git a/launch/demo_greenhouse_jjaa.world.xml b/launch/demo_greenhouse_jjaa.world.xml index caea261..878bd4f 100644 --- a/launch/demo_greenhouse_jjaa.world.xml +++ b/launch/demo_greenhouse_jjaa.world.xml @@ -27,9 +27,9 @@ - + - + @@ -37,7 +37,7 @@ - + - + @@ -206,9 +206,9 @@ ====================================== --> - diff --git a/launch/demo_warehouse_6robots.launch.py b/launch/demo_warehouse_6robots.launch.py new file mode 100644 index 0000000..4d58128 --- /dev/null +++ b/launch/demo_warehouse_6robots.launch.py @@ -0,0 +1,91 @@ +# ROS2 launch file + +from launch import LaunchDescription +from launch.substitutions import TextSubstitution +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from ament_index_python import get_package_share_directory +import os + + +def generate_launch_description(): + mvsim_dir = get_package_share_directory('mvsim') + mvsim_tutorial_dir = os.path.join(mvsim_dir, 'mvsim_tutorial') + + mvsim_nav2_demo_dir = get_package_share_directory('mvsim_nav2_demos') + mvsim_nav2_launch_dir = os.path.join(mvsim_nav2_demo_dir, 'launch') + + ### mvsim + world_file_launch_arg = DeclareLaunchArgument( + "world_file", default_value=TextSubstitution( + text=os.path.join(mvsim_nav2_launch_dir, 'demo_warehouse_6robots.world.xml'))) + + headless_launch_arg = DeclareLaunchArgument( + "headless", default_value='False') + + do_fake_localization_arg = DeclareLaunchArgument( + "do_fake_localization", default_value='True', description='publish tf odom -> base_link') + + mvsim_node = Node( + package='mvsim', + executable='mvsim_node', + name='mvsim', + output='screen', + parameters=[ + os.path.join(mvsim_tutorial_dir, + 'mvsim_ros2_params.yaml'), + { + "world_file": LaunchConfiguration('world_file'), + "headless": LaunchConfiguration('headless'), + "do_fake_localization": LaunchConfiguration('do_fake_localization'), + }] + ) + + ### rviz + use_rviz = LaunchConfiguration('use_rviz') + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', + default_value='False', + description='Whether to start RVIZ') + + rviz2_nodes = [ + Node( + condition=IfCondition(use_rviz), + package='rviz2', + executable='rviz2', + name='rviz2', + namespace=f"veh{idx}", + arguments=[ + '-d', [os.path.join(mvsim_tutorial_dir, 'demo_warehouse_6robots_vehs_ros2.rviz')]], + output='screen', + remappings=[ + ("/map", "map"), + ("/tf", "tf"), + ("/tf_static", "tf_static"), + ("/goal_pose", "goal_pose"), + ("/clicked_point", "clicked_point"), + ("/vehs/cmd_vel", f"/veh{idx}/cmd_vel"), + ("/vehs/lidar1_points", f"/veh{idx}/lidar1_points"), + ("/vehs/cam1", f"/veh{idx}/cam1"), + ("/vehs/chassis_markers", f"/veh{idx}/chassis_markers"), + ("/vehs/scanner1", f"/veh{idx}/scanner1"), + ("/vehs/simul_map", f"/veh{idx}/simul_map"), + ("/vehs/simul_map_updates", f"/veh{idx}/simul_map_updates"), + ], + ) + for idx in range(1, 7) + ] + + return LaunchDescription( + [ + world_file_launch_arg, + headless_launch_arg, + do_fake_localization_arg, + mvsim_node, + declare_use_rviz_cmd, + ] + + rviz2_nodes + ) diff --git a/launch/demo_warehouse_6robots.world.xml b/launch/demo_warehouse_6robots.world.xml new file mode 100644 index 0000000..038d44e --- /dev/null +++ b/launch/demo_warehouse_6robots.world.xml @@ -0,0 +1,257 @@ + + + 0 + + true + + + + + + + + + + false + false 0.01 + 25 + 60 + 40 + + + + + + + true + 60.0 + 75.0 + + + + + + + + + + BACK + -15 -13 + 20 13 + 0.0 + https://mrpt.github.io/mvsim-models/textures-cgbookcase/concrete-ground-1.jpg + 2.0 + 2.0 + + + + + FRONT + -15 -13 + 20 13 + $f{CEILING_HEIGHT} + https://mrpt.github.io/mvsim-models/textures-cgbookcase/BathroomTiles03_1K_BaseColor.png + 3.0 + 3.0 + + + + + FRONT + -15 13 + -15 -13 + 0.0 $f{CEILING_HEIGHT} + https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png + 3.0 + 3.0 + + + FRONT + 20 13 + -15 13 + 0.0 $f{CEILING_HEIGHT} + https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png + 3.0 + 3.0 + + + FRONT + 20 -13 + 20 13 + 0.0 $f{CEILING_HEIGHT} + https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png + 3.0 + 3.0 + + + FRONT + -15 -13 + 20 -13 + 0.0 $f{CEILING_HEIGHT} + https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png + 3.0 + 3.0 + + + + + + + + + + $f{12*iX-6} $f{12*iY-12} 0 + + + + + + + true + + + + https://mrpt.github.io/mvsim-models/shelf_big_moveai.zip/shelf_big_moveai/shelf_big_movai.dae + 90.0 + + + + + true + 0.0 0.5 + + + + https://mrpt.github.io/mvsim-models/metal-stairs.dae + 4.31 + 90.0 + + + + + 6 0.1 + + + + https://mrpt.github.io/mvsim-models/tote.dae + 90.0 + + + + + 2 0.1 + + + + https://mrpt.github.io/mvsim-models/pallet.zip/pallet/pallet.dae + 90.0 + + + + + 20 1.0 + + + + https://mrpt.github.io/mvsim-models/pallet_jack.zip/pallet_jack/pallet_jack.dae + 90.0 + + + + + 6 0.1 + + + + https://mrpt.github.io/mvsim-models/chair_x3.dae + 90.0 + + + + + true + 2 1 + + + + https://mrpt.github.io/mvsim-models/extinguisher.zip/extinguisher/extinguisher.dae + 90.0 + + + + + + + + + + 0 5 0 + 0 9 180 + + 0 -5 0 + 0 -9 180 + + 12 0 90 + 17 0 -90 + + 3 3 0 + -12.5 11.5 -10 + -11 12 80 + + + 0 0 0 + + 0.0 -13 -3 0 + 10.0 5 -3 0 + 11.0 5 -3 0 + 14.0 5 -3 180 + 24.0 -13 -3 180 + 25.0 -13 -3 180 + 26.0 -13 -3 0 + + + + + -12 -11.5 -90 + 15 11.5 90 + + -2 3 -40 + 2 3 10 + + 10.4 -1.1 85 + 10.3 -2.3 91 + 10.5 1.15 80 + 10.2 0.1 86 + + + + + $f{-7.9+iX*1.3} $f{0.9*iY+2} 0 + + + + + + -14.5 1 90 + -14.5 3 90 + + -14.8 12 1.1 90 0 0 + 6.5 12.9 1.1 0 0 0 + 2.5 -12.9 1.1 180 0 0 + + diff --git a/launch/mvsim_vehs_launch.py b/launch/mvsim_vehs_launch.py new file mode 100644 index 0000000..55d2a0d --- /dev/null +++ b/launch/mvsim_vehs_launch.py @@ -0,0 +1,256 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, SetEnvironmentVariable, TimerAction +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import LoadComposableNodes, PushRosNamespace, Node +from launch_ros.descriptions import ComposableNode, ParameterFile +from nav2_common.launch import ReplaceString, RewrittenYaml + + +def generate_launch_description(): + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + nav2_bringup_launch_dir = os.path.join(nav2_bringup_dir, 'launch') + + mvsim_nav2_demo_dir = get_package_share_directory("mvsim_nav2_demos") + mvsim_nav2_params_dir = os.path.join(mvsim_nav2_demo_dir, 'params') + mvsim_nav2_maps_dir = os.path.join(mvsim_nav2_demo_dir, 'maps') + mvsim_nav2_rviz_dir = os.path.join(mvsim_nav2_demo_dir, 'rviz') + + ### bringup + namespace = LaunchConfiguration('namespace') + use_namespace = LaunchConfiguration('use_namespace') + slam = LaunchConfiguration('slam') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + # Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace') + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='True', + description='Whether to apply a namespace to the navigation stack') + + declare_slam_cmd = DeclareLaunchArgument( + 'slam', + default_value='False', + description='Whether run a SLAM') + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value=os.path.join(mvsim_nav2_maps_dir, 'mvsim_warehouse.yaml'), + description='Full path to map file to load') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true') + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(mvsim_nav2_params_dir, 'mvsim_vehs_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='True', + description='Automatically startup the nav2 stack') + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', default_value='True', + description='Whether to use composed bringup') + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + ### bringup + remappings = [('/tf', 'tf'), + ('/tf_static', 'tf_static')] + + param_substitutions = { + 'use_sim_time': use_sim_time, + 'yaml_filename': map_yaml_file} + + params_file = ReplaceString( + source_file=params_file, + replacements={'': ('/', namespace)}, + condition=IfCondition(use_namespace)) + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True), + allow_substs=True) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', + description='log level') + + ### localization + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition') + + localization_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'use_sim_time': use_sim_time}, + {'autostart': autostart}, + {'node_names': ['map_server']}]), + ] + ) + + localization_composable_nodes = LoadComposableNodes( + condition=IfCondition(use_composition), + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_map_server', + plugin='nav2_map_server::MapServer', + name='map_server', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_localization', + parameters=[{'use_sim_time': use_sim_time, + 'autostart': autostart, + 'node_names': ['map_server']}]), + ], + ) + + bringup_cmd_group = GroupAction([ + PushRosNamespace( + condition=IfCondition(use_namespace), + namespace=namespace), + + Node( + condition=IfCondition(use_composition), + name='nav2_container', + package='rclcpp_components', + executable='component_container_isolated', + parameters=[configured_params, {'autostart': autostart}], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + output='screen'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, 'slam_launch.py')), + condition=IfCondition(slam), + launch_arguments={'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'use_respawn': use_respawn, + 'params_file': params_file}.items()), + + localization_nodes, + localization_composable_nodes, + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, 'navigation_launch.py')), + launch_arguments={'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container'}.items()), + ]) + + + ### rviz + use_rviz = LaunchConfiguration('use_rviz') + rviz_config_file = LaunchConfiguration('rviz_config_file') + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', + default_value='True', + description='Whether to start RVIZ') + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config_file', + default_value=os.path.join( + mvsim_nav2_rviz_dir, 'nav2_vehs_view.rviz'), + description='Full path to the RVIZ config file to use') + + rviz_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_bringup_launch_dir, 'rviz_launch.py')), + condition=IfCondition(use_rviz), + launch_arguments={ + 'namespace': namespace, + 'use_namespace': use_namespace, + 'rviz_config': rviz_config_file}.items()) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + ### rviz + ld.add_action(declare_use_rviz_cmd) + ld.add_action(declare_rviz_config_file_cmd) + + ld.add_action(TimerAction( + period=5.0, + actions=[rviz_cmd])) + + ### bringup + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_slam_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + + ld.add_action( + TimerAction( + period=0.0, + actions=[bringup_cmd_group] + )) + + return ld diff --git a/maps/mvsim_warehouse.pgm b/maps/mvsim_warehouse.pgm new file mode 100644 index 0000000..1063b03 Binary files /dev/null and b/maps/mvsim_warehouse.pgm differ diff --git a/maps/mvsim_warehouse.yaml b/maps/mvsim_warehouse.yaml new file mode 100644 index 0000000..9532d59 --- /dev/null +++ b/maps/mvsim_warehouse.yaml @@ -0,0 +1,7 @@ +image: mvsim_warehouse.pgm +mode: trinary +resolution: 0.05 +origin: [-15.1, -13.1, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/models/hokuyo_utm30.dae b/models/hokuyo_utm30.dae new file mode 100644 index 0000000..04d3f22 --- /dev/null +++ b/models/hokuyo_utm30.dae @@ -0,0 +1,297 @@ + + + + + Blender User + Blender 2.82.7 + + 2022-09-27T02:15:57 + 2022-09-27T02:15:57 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 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[jackal](https://github.com/jackal/jackal) repository. + License: BSD-3-Clause +- The .dae files in this directory are derived work from the `jackal_description` files + above, and are also released under BSD-3-Clause. + diff --git a/models/jackal_description/jackal-wheel.dae b/models/jackal_description/jackal-wheel.dae new file mode 100644 index 0000000..d751bd2 --- /dev/null +++ b/models/jackal_description/jackal-wheel.dae @@ -0,0 +1,162 @@ + + + + + Blender User + Blender 2.82.7 + + 2022-09-23T20:18:15 + 2022-09-23T20:18:15 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 75 + 0.15 + 0 + 1 + 2 + 0.04999995 + 30.002 + 1 + 3 + 2880 + 3 + 1 + 1 + 0.1 + 0.1 + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.02618219 0.02534304 0.02720986 1 + + + 1.45 + + + + + + + + + + + + + + + + + -0.05671274 -0.02848219 0.02217882 -0.05963581 -0.02170568 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models/velodyne-vlp16.dae diff --git a/params/mvsim_vehs_params.yaml b/params/mvsim_vehs_params.yaml new file mode 100644 index 0000000..cd32bce --- /dev/null +++ b/params/mvsim_vehs_params.yaml @@ -0,0 +1,87 @@ +bt_navigator: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + goal_checker: + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.05 + yaw_goal_tolerance: 0.05 # 2.864789 deg + stateful: False + FollowPath: + plugin: "nav2_rotation_shim_controller::RotationShimController" + primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" + angular_dist_threshold: 0.1 # 5.72958 deg + rotate_to_heading_angular_vel: 3.6 + max_angular_accel: 9.6 + + desired_linear_vel: 1.0 + rotate_to_heading_min_angle: 0.5 + +lifecycle_manager: + ros__parameters: + autostart: true + +local_costmap: + local_costmap: + ros__parameters: + global_frame: odom + static_layer: + map_topic: /map + obstacle_layer: + observation_sources: scan + scan: + topic: /scanner1 + +global_costmap: + global_costmap: + ros__parameters: + track_unknown_space: True + robot_radius: 0.35 # 0.65 + static_layer: + map_topic: /map + obstacle_layer: + observation_sources: scan + scan: + topic: /scanner1 + max_obstacle_height: 2.0 + clearing: True + marking: True + raytrace_max_range: 7.0 + raytrace_min_range: 0.0 + obstacle_max_range: 5.0 + obstacle_min_range: 0.0 + inf_is_valid: false + inflation_layer: + inflation_radius: 1.0 + inflate_unknown: True + inflate_around_unknown: False + +map_server: + ros__parameters: + use_sim_time: True + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: True + +planner_server: + ros__parameters: + use_sim_time: True diff --git a/rviz/demo_warehouse_6robots_vehs_ros2.rviz b/rviz/demo_warehouse_6robots_vehs_ros2.rviz new file mode 100644 index 0000000..eca74fc --- /dev/null +++ b/rviz/demo_warehouse_6robots_vehs_ros2.rviz @@ -0,0 +1,295 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21/Topic1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 474 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_plugin_tutorials/Teleop + Name: Teleop + Topic: /vehs/cmd_vel +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + cam1: + Value: true + lidar1_points: + Value: true + map: + Value: true + odom: + Value: true + scanner1: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + map: + odom: + base_link: + base_footprint: + {} + cam1: + {} + lidar1_points: + {} + scanner1: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5.152361869812012 + Min Value: -0.007653355598449707 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/lidar1_points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/cam1 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + mvsim.chassis_shape: true + mvsim.chassis_shape.wheel0: true + mvsim.chassis_shape.wheel1: true + mvsim.chassis_shape.wheel2: true + mvsim.chassis_shape.wheel3: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/chassis_markers + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 5 + Size (m): 0.05000000074505806 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/scanner1 + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/simul_map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehs/simul_map_updates + Use Timestamp: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 15.757888793945312 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 4.610703468322754 + Y: -1.0565173625946045 + Z: -2.355980157852173 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7253978252410889 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.917252779006958 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Teleop: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 1990 + Y: 27 diff --git a/rviz/nav2_vehs_view.rviz b/rviz/nav2_vehs_view.rviz new file mode 100644 index 0000000..37da4ca --- /dev/null +++ b/rviz/nav2_vehs_view.rviz @@ -0,0 +1,623 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 193 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + cam1: + Value: true + lidar1_points: + Value: true + map: + Value: true + odom: + Value: true + scanner1: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + base_footprint: + {} + cam1: + {} + lidar1_points: + {} + scanner1: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0.25 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 10 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scanner1 + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Downsampled Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 125; 125; 125 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Controller + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RealsenseCamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/image_raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: RealsenseDepthImage + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: Realsense + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + mvsim.chassis_shape: true + mvsim.chassis_shape.wheel0: true + mvsim.chassis_shape.wheel1: true + mvsim.chassis_shape.wheel2: true + mvsim.chassis_shape.wheel3: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /chassis_markers + Value: true + - Alpha: 1 + Class: rviz_default_plugins/PointStamped + Color: 0; 255; 127 + Enabled: true + History Length: 1 + Name: PointStamped + Radius: 0.15000000596046448 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lookahead_point + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lookahead_collision_arc + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.5707999467849731 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 27 + Target Frame: + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 680 + Hide Left Dock: true + Hide Right Dock: true + Navigation 2: + collapsed: true + QMainWindow State: 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+ RealsenseCamera: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 830 + X: 0 + Y: 0