6003xuan
/
XTDrone
forked from xtdrone/XTDrone
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

modify 2d motion planning fot hectorslam

This commit is contained in:
robin_shaun 2021-08-07 17:21:28 +08:00
parent dc922527fa
commit 3ceccb6d26
13 changed files with 95 additions and 83 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
motion_planning/2d/launch/2d_motion_planning.launch
View File

@ -2,7 +2,7 @@
<node pkg="tf" type="static_transform_publisher" name="odom_to_map"
args="0.0 0.0 0 0.0 0.0 0.0 /odom /map 40" />
<!-- Arguments -->
<arg name="motion_planning" default="/home/robin/px4/xtdrone/motion_planning"/>
<arg name="motion_planning" default="/home/robin/XTDrone/motion_planning/2d/"/>
<arg name="move_forward_only" default="false"/>
<arg name="open_rviz" default="true"/>

2
motion_planning/2d/launch/move_base.launch
View File

@ -1,6 +1,6 @@
<launch>
<!-- Arguments -->
<arg name="motion_planning" default="/home/robin/px4/xtdrone/motion_planning"/>
<arg name="motion_planning" default="/home/robin/Xtdrone/motion_planning/2d"/>
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<arg name="move_forward_only" default="false"/>

4
motion_planning/2d/map/indoor3.pgm
View File

File diff suppressed because one or more lines are too long

2
motion_planning/2d/map/indoor3.yaml
View File

@ -1,6 +1,6 @@
image: /home/robin/XTDrone/motion_planning/2d/map/indoor3.pgm
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
origin: [-5.145000, -5.145000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

5
motion_planning/2d/map/indoor4.pgm Normal file
View File

File diff suppressed because one or more lines are too long

7
motion_planning/2d/map/indoor4.yaml Normal file
View File

@ -0,0 +1,7 @@
image: /home/robin/XTDrone/motion_planning/2d/map/indoor4.pgm
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

16
motion_planning/2d/param/dwa_local_planner_params.yaml
View File

@ -1,18 +1,18 @@
DWAPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.2
min_vel_x: -0.2
max_vel_x: 1.0
min_vel_x: -1.0
max_vel_y: 0.2
min_vel_y: -0.2
max_vel_y: 1.0
min_vel_y: -1.0
# The velocity when robot is moving in a straight line
max_trans_vel: 0.2
min_trans_vel: 0.01
max_vel_trans: 1.0
min_vel_trans: 0.01
max_rot_vel: 0.5
min_rot_vel: 0.01
max_vel_theta: 0.5
min_vel_theta: 0.01
acc_lim_x: 1
acc_lim_y: 1

2
motion_planning/2d/param/global_costmap_params.yaml
View File

@ -1,6 +1,6 @@
global_costmap:
global_frame: map
robot_base_frame: iris_0/base_link
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 10.0

2
motion_planning/2d/param/local_costmap_params.yaml
View File

@ -1,6 +1,6 @@
local_costmap:
global_frame: map
robot_base_frame: iris_0/base_link
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 10.0

123
motion_planning/2d/rviz/2d_motion_planning.rviz
View File

@ -12,7 +12,7 @@ Panels:
- /Local Map1/Costmap1
- /Local Map1/Planner1
Splitter Ratio: 0.5
Tree Height: 843
Tree Height: 796
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -20,7 +20,7 @@ Panels:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@ -31,6 +31,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -45,7 +47,7 @@ Visualization Manager:
Value: true
base_link_frd:
Value: true
iris_0/base_link:
base_stabilized:
Value: true
iris_0/laser_2d:
Value: true
@ -57,21 +59,15 @@ Visualization Manager:
Value: true
odom_ned:
Value: true
scanmatcher_frame:
Value: true
Marker Scale: 3
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
odom:
iris_0/base_link:
iris_0/laser_2d:
{}
map:
map_ned:
{}
odom_ned:
{}
{}
Update Interval: 0
Value: true
- Alpha: 1
@ -97,33 +93,33 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.100000001
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /iris_0/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Planner Plan
Offset:
X: 0
@ -131,15 +127,15 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/NavfnROS/plan
Unreliable: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
@ -154,11 +150,11 @@ Visualization Manager:
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Planner
Offset:
X: 0
@ -166,9 +162,9 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
@ -184,7 +180,7 @@ Visualization Manager:
Topic: /move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
@ -199,11 +195,11 @@ Visualization Manager:
Class: rviz/Path
Color: 255; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Planner
Offset:
X: 0
@ -211,9 +207,9 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
@ -221,15 +217,15 @@ Visualization Manager:
Name: Local Map
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Goal
Shaft Length: 0.5
Shaft Radius: 0.0500000007
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_simple/goal
Unreliable: false
@ -239,11 +235,11 @@ Visualization Manager:
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
@ -251,13 +247,13 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
@ -280,36 +276,39 @@ Visualization Manager:
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/Measure
Value: true
Views:
Current:
Angle: -0.00579636358
Angle: -1.5507957935333252
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Scale: 3.49905491
Near Clip Distance: 0.009999999776482582
Scale: 6.9065141677856445
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz)
X: 2.63081074
Y: -9.44457054
X: 2.6308107376098633
Y: -9.444570541381836
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Height: 1025
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000d700fffffffb0000000a0049006d0061006700650000000317000000cc0000000000000000fb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a7fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d0061006700650000000317000000cc0000000000000000fb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005cd000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -318,6 +317,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1855
X: 65
Y: 24
Width: 1853
X: 67
Y: 27

7
sensing/slam/laser_slam/hector_slam/hector_mapping_xtdrone.launch
View File

@ -7,7 +7,7 @@
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="/iris_0/scan"/>
<arg name="map_size" default="2048"/>
<arg name="map_size" default="512"/>
<node pkg="tf" type="static_transform_publisher" name="odom_to_map_broadcaster" args="0 0 0 0 0 0 map odom 100" />
@ -26,8 +26,8 @@
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_start_x" value="0.2"/>
<param name="map_start_y" value="0.2" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
@ -53,6 +53,7 @@
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
<remap from="/slam_out_pose" to="/iris_0/pose"/>
<!--remap from="/map" to="/map_new"/-->
</node>
</launch>

2
sensing/slam/laser_slam/laser_scan_matcher/launch/matcher.launch
View File

@ -21,7 +21,7 @@
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
name="laser_scan_matcher_node" output="screen">
<param name="fixed_frame" value = "odom"/>
<param name="base_frame" value = "iris_0/base_link"/>
<param name="base_frame" value = "base_link"/>
<param name="max_iterations" value="10"/>
<param name="use_imu" value="false"/>
<param name="use_odom" value="false"/>

4
sensing/slam/laser_slam/laser_scan_matcher/launch/matcher_gmapping.launch
View File

@ -18,7 +18,7 @@ slam_gmapping
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
name="laser_scan_matcher_node" output="screen">
<param name="fixed_frame" value = "odom"/>
<param name="base_frame" value = "iris_0/base_link"/>
<param name="base_frame" value = "base_link"/>
<param name="max_iterations" value="10"/>
<param name="use_imu" value="false"/>
<param name="use_odom" value="false"/>
@ -29,7 +29,7 @@ slam_gmapping
#### start gmapping ############################################
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value='iris_0/base_link'/>
<param name="base_frame" value='base_link/'/>
<param name="map_udpate_interval" value="1.0"/>
<param name="maxUrange" value="5.0"/>
<param name="sigma" value="0.1"/>