added move_base, configs, edited urdf

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
new file mode 100644 (file)
index 0000000..d046846
--- /dev/null
+++ b/config/base_local_planner_params.yaml
@@ -0,0 +1,12 @@
+TrajectoryPlannerROS:
+  max_vel_x: 0.20
+  min_vel_x: 0.20
+  max_vel_theta: 1.5
+  min_vel_theta: 0.8
+  min_in_place_vel_theta: 0.8
+
+  acc_lim_x: 180
+  acc_lim_y: 0.0
+  acc_lim_th: 620
+
+  holonomic_robot: false

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
new file mode 100644 (file)
index 0000000..ffff33a
--- /dev/null
+++ b/config/costmap_common_params.yaml
@@ -0,0 +1,9 @@
+obstacle_range: 2.5
+raytrace_range: 3.0
+#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
+robot_radius: 0.15
+inflation_radius: 0.55
+
+observation_sources: laser_scan_sensor
+
+laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
new file mode 100644 (file)
index 0000000..01a3c8f
--- /dev/null
+++ b/config/global_costmap_params.yaml
@@ -0,0 +1,5 @@
+global_costmap:
+  global_frame: /map
+  robot_base_frame: base_link
+  update_frequency: 5.0
+  static_map: true

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
new file mode 100644 (file)
index 0000000..544e1b3
--- /dev/null
+++ b/config/local_costmap_params.yaml
@@ -0,0 +1,10 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_link
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 6.0
+  height: 6.0
+  resolution: 0.05

diff --git a/config/map.pgm b/config/map.pgm
new file mode 100644 (file)
index 0000000..3d53230
--- /dev/null
+++ b/config/map.pgm
@@ -0,0 +1,5 @@
+P5
+# CREATOR: GIMP PNM Filter Version 1.1
+400 400
+255
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ÿ
\ No newline at end of file

diff --git a/move_base.launch b/move_base.launch
new file mode 100644 (file)
index 0000000..d15b077
--- /dev/null
+++ b/move_base.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+       <!-- Run the map server -->
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.pgm 0.05"/>
+
+       <!-- Run AMCL -->
+       <include file="$(find amcl)/examples/amcl_diff.launch" />
+
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+               <param name="controller_frequency" value="2.0" />
+               <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+               <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+               <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
+               <rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
+               <rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
+       </node>
+</launch>

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 24a577b7a2e24f31b0e1eac1b2db95f007ab29ea..99e6dac78f31d185e84cac032a14e370281f56cd 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -3,31 +3,19 @@
        <link name="base_link">
                <visual>
                        <geometry>
-                               <box size="0.23 0.17 0.20"/>
+                               <box size="0.30 0.22 0.015"/>
                        </geometry>
-                       <origin xyz="0.0 0 0.12" rpy="0 0 0"/>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="front_left_wheel">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.03" length="0.005"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
+                       <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
                        <material name="black">
-                               <color rgba="0 0 0 1"/>
+                               <color rgba="0.0 0.0 0.0 1"/>
                        </material>
                </visual>
        </link>
 
-       <link name="front_right_wheel">
+       <link name="front_wheel">
                <visual>
                        <geometry>
-                               <cylinder radius="0.03" length="0.005"/>
+                               <cylinder radius="0.025" length="0.002"/>
                        </geometry>
                        <origin xyz="0 0 0" rpy="1.57 0 0"/>
                        <material name="black">
@@ -39,7 +27,7 @@
        <link name="aft_left_wheel">
                <visual>
                        <geometry>
-                               <cylinder radius="0.03" length="0.005"/>
+                               <cylinder radius="0.025" length="0.002"/>
                        </geometry>
                        <origin xyz="0 0 0" rpy="1.57 0 0"/>
                        <material name="black">
@@ -51,7 +39,7 @@
        <link name="aft_right_wheel">
                <visual>
                        <geometry>
-                               <cylinder radius="0.03" length="0.005"/>
+                               <cylinder radius="0.025" length="0.002"/>
                        </geometry>
                        <origin xyz="0 0 0" rpy="1.57 0 0"/>
                        <material name="black">
@@ -60,163 +48,21 @@
                </visual>
        </link>
 
-       <link name="platform">
-               <visual>
-                       <geometry>
-                               <box size="0.08 0.065 0.075"/>
-                       </geometry>
-                       <material name="red">
-                               <color rgba="1 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="scan">
-               <visual>
-                       <geometry>
-                               <box size="0.01 0.045 0.015"/>
-                       </geometry>
-               </visual>
-       </link>
-
-       <link name="front_left_eye">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.0075" length="0.01"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="0 1.57 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="front_right_eye">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.0075" length="0.01"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="0 1.57 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="sonar_forward_lower">
-               <visual>
-                       <geometry>
-                               <box size="0.01 0.045 0.03"/>
-                       </geometry>
-               </visual>
-       </link>
-
-       <link name="front_lower_left_eye">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.0075" length="0.01"/>
-                       </geometry>
-                       <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="front_lower_right_eye">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.0075" length="0.01"/>
-                       </geometry>
-                       <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="antenna">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.005" length="0.20"/>
-                       </geometry>
-                       <origin xyz="0 0 0.1" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <joint name="front_left_wheel_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="front_left_wheel"/>
-               <origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="front_right_wheel_joint" type="fixed">
+       <joint name="front_wheel_joint" type="fixed">
                <parent link="base_link"/>
-               <child link="front_right_wheel"/>
-               <origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
+               <child link="front_wheel"/>
+               <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
        </joint>
 
        <joint name="aft_left_wheel_joint" type="fixed">
                <parent link="base_link"/>
                <child link="aft_left_wheel"/>
-               <origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
+               <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
        </joint>
 
        <joint name="aft_right_wheel_joint" type="fixed">
                <parent link="base_link"/>
                <child link="aft_right_wheel"/>
-               <origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="platform_joint" type="continuous">
-               <parent link="base_link"/>
-               <child link="platform"/>
-               <origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
-               <axis xyz="0 0 1"/>
-       </joint>
-
-       <joint name="scan_joint" type="fixed">
-               <parent link="platform"/>
-               <child link="scan"/>
-               <origin xyz="0.035 0 0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="front_left_eye_joint" type="fixed">
-               <parent link="scan"/>
-               <child link="front_left_eye"/>
-               <origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="front_right_eye_joint" type="fixed">
-               <parent link="scan"/>
-               <child link="front_right_eye"/>
-               <origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="sonar_forward_lower_join" type="fixed">
-               <parent link="base_link"/>
-               <child link="sonar_forward_lower"/>
-               <origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
-       </joint>
-
-       <joint name="front_lower_left_eye_joint" type="fixed">
-               <parent link="sonar_forward_lower"/>
-               <child link="front_lower_left_eye"/>
-               <origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="front_lower_right_eye_joint" type="fixed">
-               <parent link="sonar_forward_lower"/>
-               <child link="front_lower_right_eye"/>
-               <origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="antenna_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="antenna"/>
-               <origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
+               <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
        </joint>
 </robot>