remove amcl and use odom as global frame

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index ca84cc0cfa0dc867c79d9b9c4dd6fc0fec347f7d..1e07752fc336500868bda9cbda564f5af711cfcb 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -6,4 +6,4 @@ inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor
 
-laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+laser_scan_sensor: {sensor_frame: forward_sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true}

diff --git a/config/explorer.rviz b/config/explorer.rviz
new file mode 100644 (file)
index 0000000..e413e5f
--- /dev/null
+++ b/config/explorer.rviz
@@ -0,0 +1,277 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 61
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+        - /Map1/Status1
+        - /Map1/Orientation1
+      Splitter Ratio: 0.618123
+    Tree Height: 656
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.439446
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 5
+        Y: 5
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: x
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4.20249
+      Min Color: 255; 255; 255
+      Min Intensity: 3.74045
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 16
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 25; 255; 0
+      Enabled: false
+      Name: Robot Footprint
+      Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped
+      Value: false
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Global Plan
+      Topic: /move_base/TrajectoryPlannerROS/global_plan
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 25; 255
+      Enabled: true
+      Name: Local Plan
+      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Planner Plan
+      Topic: /move_base/NavfnROS/plan
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Current Goal
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Arrow
+      Topic: /move_base/current_goal
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        aft_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        forward_sensor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tail:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: false
+      Name: Range
+      Queue Size: 100
+      Topic: /sonar_forward_lower
+      Value: false
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: ObstaclesMap
+      Topic: /move_base/local_costmap/costmap
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 10
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.63988
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 3.49739
+        Y: 1.95458
+        Z: 0.198305
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.5598
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.71126
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 855
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019300000309fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003500000309000000b600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000026d0000008d0000005300fffffffb0000000a0049006d0061006700650000000282000000bc0000000000000000fb0000000a0049006d006100670065000000027c000000c20000000000000000fb0000000a0049006d006100670065000000027c000000c20000000000000000000000010000012500000309fc0200000002fc00000035000003090000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009100fffffffb0000000a0056006900650077007300000005310000010f000000f100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000024700fffffffb0000000800540069006d00650100000000000004500000000000000000000004a70000030900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1600
+  X: 0
+  Y: 0

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 87b765957bdd978c1721efb838abbd51cae40a37..3a208225af6c8a59cb317beaffc63838a3813d26 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,6 +1,8 @@
 global_costmap:
-  global_frame: /map
+  global_frame: odom
   robot_base_frame: base_link
   update_frequency: 5.0
   static_map: true
   rolling_window: true
+  width: 10.0
+  height: 10.0

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index a8a92d550cce388eb6dc516d461597e85d601454..c8c35defd35cdc70bab15ca23f57fa649ba1cd5b 100644 (file)
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -7,4 +7,4 @@ local_costmap:
   rolling_window: true
   width: 4.0
   height: 4.0
-  resolution: 0.05
+  resolution: 0.01

diff --git a/config/map.pgm b/config/map.pgm
deleted file mode 100644 (file)
index 3d53230..0000000
--- a/config/map.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-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/config/map.png b/config/map.png
new file mode 100644 (file)
index 0000000..edbf44f
Binary files /dev/null and b/config/map.png differ

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index 6f8192b476b38197b1264b7b01a4746dd6f78b12..d8b8fc9a4c11723c14739bec07283949e636a405 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -15,4 +15,9 @@
        </node>
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+       <arg name="map_file" default="$(find roboint)/config/map.png" />
+       <include file="$(find roboint)/launch/move_base.launch">
+               <arg name="map_file" value="$(arg map_file)" />
+       </include>
 </launch>

diff --git a/launch/move_base.launch b/launch/move_base.launch
new file mode 100644 (file)
index 0000000..378dd07
--- /dev/null
+++ b/launch/move_base.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+       <!-- Run the map server -->
+       <arg name="map_file" default="$(find roboint)/config/map.png" />
+       <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file) 0.01" >
+               <param name="frame_id" value="odom" />
+       </node>
+
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+               <param name="controller_frequency" value="4.0" />
+               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+               <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
+               <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
+               <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
+       </node>
+</launch>

diff --git a/move_base.launch b/move_base.launch
deleted file mode 100644 (file)
index cb2ce6e..0000000
--- a/move_base.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-       <!-- Run the map server -->
-       <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
-
-       <!-- Run AMCL -->
-       <include file="$(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="4.0" />
-               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-               <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
-               <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
-               <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
-       </node>
-</launch>

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index de755c10c38abbb52fb0261ccd2ed5689282e415..db7a2271d99713919f260c373fda1075fac6b3bb 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -3,7 +3,7 @@ import roslib; roslib.load_manifest('roboint')
 import rospy
 import tf
 from math import *
-from geometry_msgs.msg import Twist, TransformStamped, Point32
+from geometry_msgs.msg import Twist, TransformStamped, Point32, PoseWithCovarianceStamped
 from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
 from roboint.msg import Motor
@@ -35,15 +35,23 @@ class RoboExplorer:
                # Speed to PWM equation constant (The b in pwm = speed*m+b)
                self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7"))
 
-               self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
+               self.pub_motor = rospy.Publisher("ft/set_motor", Motor, queue_size=16)
                if self.enable_ultrasonic_laser:
-                       self.pub_scan = rospy.Publisher("scan", LaserScan)
-               self.pub_odom = rospy.Publisher("odom", Odometry)
+                       self.pub_scan = rospy.Publisher("scan", LaserScan, queue_size=16)
+               self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
+               rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.posReceived)
 
                rospy.spin()
+       
+       def posReceived(self, msg):
+               self.x = msg.pose.pose.position.x
+               self.y = msg.pose.pose.position.y
+               orientation = msg.pose.pose.orientation
+               angles = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w])
+               self.alpha = angles[2]
 
        def inputsReceived(self, msg):
                current_time = rospy.Time.now()
@@ -69,10 +77,10 @@ class RoboExplorer:
                        elif msg.output[2] == 0 and msg.output[3] == 0: # right stop
                                in_diff[1] = 0
 
-                       dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m
+                       dist_dir = (in_diff[1] - in_diff[0]) * self.wheel_size*pi/8 # steps_changed in different direction => m
                        delta_alpha = dist_dir/self.wheel_dist
 
-                       dist = (in_diff[0] + in_diff[1])/2.0*self.wheel_size*pi/8 # steps_changed same direction => m
+                       dist = (in_diff[0] + in_diff[1])/2.0 * self.wheel_size*pi/8 # steps_changed same direction => m
 
                        delta_x = cos(self.alpha + delta_alpha/2)*dist
                        delta_y = sin(self.alpha + delta_alpha/2)*dist
@@ -129,15 +137,12 @@ class RoboExplorer:
                self.pub_odom.publish(odom)
                
        def send_laser_scan(self, msg, current_time):
-               # first, we'll publish the transform over tf
-               self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link")
-
                # actually ultra sonic range finder
                num_points = 60 # The base planner needs at least 30 points to work in the default config
                opening_angle = 30*pi/180 # each side
                scan = LaserScan()
                scan.header.stamp = current_time
-               scan.header.frame_id = "/scan"
+               scan.header.frame_id = "forward_sensor"
                scan.angle_min = -opening_angle
                scan.angle_max = opening_angle
                scan.angle_increment = (2*opening_angle)/num_points