From: Erik Andresen Date: Sat, 10 Jan 2015 15:02:39 +0000 (+0100) Subject: remove amcl and use odom as global frame X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=a114d47e682d86ebe8c6c62833f509ea7400d04d;p=ros_roboint.git remove amcl and use odom as global frame --- diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml index ca84cc0..1e07752 100644 --- 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 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: + 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: + Value: Orbit (rviz) + Yaw: 4.71126 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 855 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ 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 87b7659..3a20822 100644 --- 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 a8a92d5..c8c35de 100644 --- 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 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 index 0000000..edbf44f Binary files /dev/null and b/config/map.png differ diff --git a/explorer_configuration.launch b/explorer_configuration.launch index 6f8192b..d8b8fc9 100644 --- a/explorer_configuration.launch +++ b/explorer_configuration.launch @@ -15,4 +15,9 @@ + + + + + diff --git a/launch/move_base.launch b/launch/move_base.launch new file mode 100644 index 0000000..378dd07 --- /dev/null +++ b/launch/move_base.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/move_base.launch b/move_base.launch deleted file mode 100644 index cb2ce6e..0000000 --- a/move_base.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index de755c1..db7a227 100755 --- 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