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change sensors used
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@meshvaD
meshvaD committed Jan 18, 2024
1 parent dd80385 commit d35b1e0
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Showing 6 changed files with 58 additions and 86 deletions.
80 changes: 26 additions & 54 deletions ...rs_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
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Expand Up @@ -83,43 +83,33 @@ global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.03
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
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", "inflation_layer", "obstacle_layer"]
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan pointcloud1 pointcloud2
observation_sources: pointcloud1
footprint_clearing_enabled: true
max_obstacle_height: 2.0
combination_method: 1
scan:
topic: /lidar_controller/out
obstacle_max_range: 2.5
obstacle_min_range: 0.0
raytrace_max_range: 3.0
raytrace_min_range: 0.0
max_obstacle_height: 2.0
min_obstacle_height: 0.0
clearing: True
marking: True
data_type: "LaserScan"
inf_is_valid: false
combination_method: 0
pointcloud1:
topic: /camera1_sensor/points
clearing: True
marking: True
data_type: "PointCloud2"
pointcloud2:
topic: /camera2_sensor/points
clearing: True
sensor_frame: camera1
clearing: False
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
Expand All @@ -140,48 +130,30 @@ local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 100.0
global_frame: base_link
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", "inflation_layer", "obstacle_layer"]
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan pointcloud1 pointcloud2
observation_sources: pointcloud1
footprint_clearing_enabled: true
max_obstacle_height: 2.0
combination_method: 1
scan:
topic: /lidar_controller/out
data_type: "LaserScan"
sensor_frame: lidar1
marking: true
clearing: true
observation_persistence: 100.0
combination_method: 0
pointcloud1:
topic: /camera1_sensor/points
clearing: True
marking: True
data_type: "PointCloud2"
sensor_frame: camera1_virtual_link
marking: true
clearing: true
observation_persistence: 100.0
pointcloud2:
topic: /camera2_sensor/points
clearing: True
sensor_frame: camera1
clearing: False
marking: True
data_type: "PointCloud2"
sensor_frame: camera2_virtual_link
marking: true
clearing: true
observation_persistence: 100.0
min_obstacle_height: 0.001
max_obstacle_height: 10.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
Expand All @@ -204,9 +176,9 @@ map_saver:

map_server:
ros__parameters:
yaml_filename: "map.yaml"
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: "map"
frame_id: "odom"

costmap_filter_info_server:
ros__parameters:
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6 changes: 3 additions & 3 deletions uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm
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2 changes: 1 addition & 1 deletion uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml
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@@ -1,4 +1,4 @@
image: ./map.pgm
image: map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
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50 changes: 25 additions & 25 deletions ...ars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml
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Expand Up @@ -47,30 +47,30 @@ depth_camera:
# 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: 0.15
# 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
2 changes: 1 addition & 1 deletion uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py
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Expand Up @@ -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(
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4 changes: 2 additions & 2 deletions uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
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Expand Up @@ -66,7 +66,7 @@
<!-- <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>

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