costmap setup (#261)

* simple costmap using 2 cameras, 1 lidar

* costmap layers

* change sensors used

* allow clearing obstacles

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml

@@ -0,0 +1,189 @@
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.26
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.26
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      footprint_padding: 0.03
+      update_frequency: 5.0
+      publish_frequency: 5.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22 # should modify
+      resolution: 0.05
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: pointcloud1
+        footprint_clearing_enabled: true
+        combination_method: 0
+        pointcloud1: 
+          topic: /camera1_sensor/points
+          sensor_frame: camera1
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+          min_obstacle_height: 0.001
+          max_obstacle_height: 10.0
+      denoise_layer:
+        plugin: "nav2_costmap_2d::DenoiseLayer"
+        enabled: True
+        minimal_group_size: 2
+        group_connectivity_type: 8
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+        enabled: true
+        subscribe_to_updates: true
+        transform_tolerance: 0.1
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        enabled: true
+        inflation_radius: 0.55
+        cost_scaling_factor: 1.0
+        inflate_unknown: false
+        inflate_around_unknown: true
+      always_send_full_costmap: True
+
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 5.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: pointcloud1
+        footprint_clearing_enabled: true
+        combination_method: 0
+        pointcloud1: 
+          topic: /camera1_sensor/points
+          sensor_frame: camera1
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+          min_obstacle_height: 0.001
+          max_obstacle_height: 10.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+        enabled: true
+        subscribe_to_updates: true
+        transform_tolerance: 0.1
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        enabled: true
+        inflation_radius: 0.55
+        cost_scaling_factor: 1.0
+        inflate_unknown: false
+        inflate_around_unknown: true
+
+map_saver:
+  ros__parameters:
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+
+map_server:
+  ros__parameters:
+    yaml_filename: "/home/meshva/uwrt/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml"
+    topic_name: "map"
+    frame_id: "odom"
+
+costmap_filter_info_server:
+  ros__parameters:
+    type: 1
+    filter_info_topic: "costmap_filter_info"
+    mask_topic: "filter_mask"
+    base: 0.0
+    multiplier: 0.25

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml

@@ -0,0 +1,6 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml

@@ -23,54 +23,54 @@ depth_camera:
         near: 0.05
         far: 3
 
-  camera2:
-    dim:
-      length: 0.05
-      width: 0.05
-      height: 0.05
-    parent_link: chassis
-    offset:
-      x: -0.61
-      y: 0
-      z: 0
+  # camera2:
+  #   dim:
+  #     length: 0.05
+  #     width: 0.05
+  #     height: 0.05
+  #   parent_link: chassis
+  #   offset:
+  #     x: -0.61
+  #     y: 0
+  #     z: 0
 
-      r_rot: 0
-      p_rot: 0
-      y_rot: 3.14159265359
-    camera_properties:
-      horizontal_fov: 1.047198
-      image:
-        width: 640
-        height: 480
-        format: R8G8B8
-      clip:
-        near: 0.05
-        far: 3
+  #     r_rot: 0
+  #     p_rot: 0
+  #     y_rot: 3.14159265359
+  #   camera_properties:
+  #     horizontal_fov: 1.047198
+  #     image:
+  #       width: 640
+  #       height: 480
+  #       format: R8G8B8
+  #     clip:
+  #       near: 0.05
+  #       far: 3
 
-lidar:
-  lidar1:
-    dim:
-      length: 0.05
-      width: 0.05
-      height: 0.05
-    parent_link: chassis
-    offset:
-      x: 0.61
-      y: 0
-      z: 0.1
+# lidar:
+#   lidar1:
+#     dim:
+#       length: 0.05
+#       width: 0.05
+#       height: 0.05
+#     parent_link: chassis
+#     offset:
+#       x: 0.61
+#       y: 0
+#       z: 0.15
 
-      r_rot: 0
-      p_rot: 0
-      y_rot: 0
+#       r_rot: 0
+#       p_rot: 0
+#       y_rot: 0
 
-    lidar_properties:
-      update_rate: 5
-      scan:
-        samples: 360
-        resolution: 1.000000
-        min_angle: 0.000000
-        max_angle: 6.280000
-      range:
-        min: 0.120000
-        max: 3.5
-        resolution: 0.015000
+#     lidar_properties:
+#       update_rate: 5
+#       scan:
+#         samples: 360
+#         resolution: 1.000000
+#         min_angle: 0.000000
+#         max_angle: 6.280000
+#       range:
+#         min: 0.120000
+#         max: 3.5
+#         resolution: 0.015000

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py

@@ -83,7 +83,7 @@ def generate_launch_description():
         package='rviz2',
         executable='rviz2',
         name='rviz2',
-        output='',
+        output='screen',
         arguments=['-d', str(rviz_config_path)],
     )
     nodes += [RegisterEventHandler(
@@ -114,4 +114,4 @@ def generate_launch_description():
     # Run the node
     return LaunchDescription(
         nodes
-    )
+    )

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py

@@ -0,0 +1,53 @@
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.descriptions import ParameterFile
+
+import os
+
+def generate_launch_description():
+
+    declared_arguments = []
+    nodes = []
+
+    controller_yaml = os.path.join(get_package_share_directory('uwrt_mars_rover_drivetrain_description'), 'config', 'costmap_parameters.yaml')
+
+    lifecycle_nodes = ['controller_server',
+                       'planner_server',
+                       'map_server']
+
+    nodes +=  [Node(
+                package='nav2_map_server',
+                executable='map_server',
+                output='screen',
+                parameters=[controller_yaml])]
+
+    nodes += [Node(
+                package='nav2_controller',
+                executable='controller_server',
+                output='screen',
+                respawn=True,
+                respawn_delay=2.0,
+                parameters=[controller_yaml])]
+
+    nodes += [Node(
+                package='nav2_planner',
+                executable='planner_server',
+                name='planner_server',
+                output='screen',
+                respawn=True,
+                respawn_delay=2.0,
+                parameters=[controller_yaml])]
+
+    nodes += [Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_navigation',
+                output='screen',
+                parameters=[{'autostart': True},
+                            {'node_names': lifecycle_nodes}])]
+
+    return LaunchDescription(declared_arguments + nodes)

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro

@@ -63,10 +63,10 @@
   <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera1']}" name="camera1"/>
   <xacro:default_depth_camera_frame camera_link_name="camera1" camera_props="${sensors_parameters['depth_camera']['camera1']['camera_properties']}"/>
 
-  <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
-  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/>
+  <!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
+  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/> -->
 
-  <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}"         name="lidar1"/>
-  <xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/>
+  <!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}"         name="lidar1"/>
+  <xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/> -->
 
 </robot>