diff --git a/.docker_utils/Dockerfile.f1tenth_arm b/.docker_utils/Dockerfile.f1tenth_arm new file mode 100644 index 00000000..bbcaf844 --- /dev/null +++ b/.docker_utils/Dockerfile.f1tenth_arm @@ -0,0 +1,435 @@ +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# Getting Base image (ubuntu 20.04) +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# FROM ghcr.io/ucsd-ecemae-148/donkeycontainer:ros +# FROM nvcr.io/nvidia/l4t-base:35.4.1 as base + +### dustynv/**:r35.4.1 has opencv version 4.5.0 built-with-cuda +### dustynv/ros has ros distro built-from-source + +FROM dustynv/opencv:r35.4.1 as base +# FROM dustynv/l4t-ml:r35.4.1 as base +# FROM dustynv/ros:foxy-desktop-l4t-r35.4.1 as base +SHELL ["/bin/bash", "-o", "pipefail", "-c"] + +ARG WORKSPACE=/home/projects/f1tenth_ws/ +ARG ROS_DISTRO=foxy +ARG BRANCH_NAME=foxy_devel + +WORKDIR / +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# apt update & upgrade +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# RUN apt update &&\ +# apt upgrade -y + +# ######### JETPACK FOR JETSON ######### +# RUN apt-get update && apt-get install -y --no-install-recommends \ +# nvidia-cuda-dev \ +# nvidia-cudnn8-dev \ +# && rm -rf /var/lib/apt/lists/* \ +# && apt-get clean + +# Install nvidia-tensorrt-dev for TensorRT developer packages +RUN apt-get update && apt-get install -y --no-install-recommends \ + nvidia-tensorrt-dev \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +# Install nvidia-vpi-dev for VPI developer packages +RUN mkdir -p /lib/firmware/ +RUN apt-get update && apt-get install -y --no-install-recommends \ + nvidia-vpi-dev \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +# Install Multimedia API samples & libs +RUN apt-get update && apt-get download nvidia-l4t-jetson-multimedia-api \ + && dpkg-deb -R ./nvidia-l4t-jetson-multimedia-api_*_arm64.deb ./mm-api \ + && cp -r ./mm-api/usr/src/jetson_multimedia_api /usr/src/jetson_multimedia_api \ + && ./mm-api/DEBIAN/postinst \ + && rm -rf ./nvidia-l4t-jetson-multimedia-api_*_arm64.deb ./mm-api + +# Setup environment variables +ENV CUDA_HOME="/usr/local/cuda" +ENV PATH="/usr/local/cuda/bin:${PATH}" +ENV LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}" + +#Update libraries +RUN ldconfig + +# FROM base AS cv2 + +# ARG DEBIAN_FRONTEND=noninteractive +# ARG OPENCV_VERSION=4.9.0 + +# RUN apt-get update && apt-get upgrade -y &&\ +# # Install build tools, build dependencies and python +# apt-get install -y \ +# python3-pip \ +# build-essential \ +# cmake \ +# git \ +# wget \ +# unzip \ +# yasm \ +# libopenblas-dev \ +# curl \ +# sudo \ +# pkg-config \ +# libswscale-dev \ +# libtbb2 \ +# libtbb-dev \ +# libjpeg-dev \ +# libpng-dev \ +# libtiff-dev \ +# libavformat-dev \ +# libpq-dev \ +# libxine2-dev \ +# libglew-dev \ +# libtiff5-dev \ +# zlib1g-dev \ +# libjpeg-dev \ +# libavcodec-dev \ +# libavformat-dev \ +# libavutil-dev \ +# libpostproc-dev \ +# libswscale-dev \ +# libeigen3-dev \ +# libtbb-dev \ +# libgtk2.0-dev \ +# pkg-config \ +# python3-dev \ +# python3-numpy \ +# && rm -rf /var/lib/apt/lists/* + +# RUN cd /opt/ &&\ +# # Download and unzip OpenCV and opencv_contrib and delte zip files +# wget https://github.com/opencv/opencv/archive/$OPENCV_VERSION.zip &&\ +# unzip $OPENCV_VERSION.zip &&\ +# rm $OPENCV_VERSION.zip &&\ +# wget https://github.com/opencv/opencv_contrib/archive/$OPENCV_VERSION.zip &&\ +# unzip ${OPENCV_VERSION}.zip &&\ +# rm ${OPENCV_VERSION}.zip &&\ +# # Create build folder and switch to it +# mkdir /opt/opencv-${OPENCV_VERSION}/build && cd /opt/opencv-${OPENCV_VERSION}/build && \ +# # Cmake configure +# cmake -D CMAKE_BUILD_TYPE=RELEASE \ +# -D OPENCV_EXTRA_MODULES_PATH=/opt/opencv_contrib-${OPENCV_VERSION}/modules \ +# -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \ +# -D WITH_OPENCL=OFF \ +# -D WITH_CUDA=ON \ +# -D CUDA_ARCH_BIN= 5.0,7.2,8.7 \ +# -D CUDA_ARCH_PTX="" \ +# -D WITH_CUDNN=ON \ +# -D WITH_CUBLAS=ON \ +# -D ENABLE_FAST_MATH=ON \ +# -D CUDA_FAST_MATH=ON \ +# -D OPENCV_DNN_CUDA=ON \ +# -D ENABLE_NEON=ON \ +# -D WITH_QT=OFF \ +# -D WITH_OPENMP=ON \ +# -D BUILD_TIFF=ON \ +# -D WITH_FFMPEG=ON \ +# -D WITH_GSTREAMER=ON \ +# -D WITH_TBB=ON \ +# -D BUILD_TBB=ON \ +# -D BUILD_TESTS=OFF \ +# -D WITH_EIGEN=ON \ +# -D WITH_V4L=ON \ +# -D WITH_LIBV4L=ON \ +# -D OPENCV_ENABLE_NONFREE=ON \ +# -D INSTALL_C_EXAMPLES=OFF \ +# -D INSTALL_PYTHON_EXAMPLES=OFF \ +# -D BUILD_NEW_PYTHON_SUPPORT=ON \ +# -D BUILD_opencv_python3=TRUE \ +# -D OPENCV_GENERATE_PKGCONFIG=ON \ +# -D BUILD_EXAMPLES=OFF \ +# .. &&\ +# # Make +# make -j"$(nproc)" && \ +# # Install to /usr/local/lib +# make install && \ +# ldconfig && \ +# # # Remove OpenCV sources and build folder +# rm -rf /opt/opencv-${OPENCV_VERSION} && rm -rf /opt/opencv_contrib-${OPENCV_VERSION} + +RUN echo 'export PYTHONPATH=/usr/local/lib/python3.8/site-packages/:$PYTHONPATH' >> ~/.bashrc + +# FROM cv2 as dl_gpu + +RUN python3 -m pip install --upgrade pip && \ + apt-get install -y --no-install-recommends \ + pkg-config \ + libhdf5-103 \ + libhdf5-dev \ + libopenblas-dev + +ARG JP_VERSION=512 +ARG TF_VERSION=2.12.0 +ARG NV_VERSION=23.06 +RUN pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v$JP_VERSION tensorflow==$TF_VERSION+nv$NV_VERSION + +######### PyTorch for Jetpack ######### +ARG TORCH_INSTALL=https://developer.download.nvidia.com/compute/redist/jp/v512/pytorch/torch-2.1.0a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl +RUN python3 -m pip install --no-cache $TORCH_INSTALL + +######### TorchVision for Jetpack ######### +ARG TORCHVISION_INSTALL=release/0.16 +RUN git clone --branch $TORCHVISION_INSTALL https://github.com/pytorch/vision torchvision && \ + cd torchvision && \ + python3 setup.py install --user && \ + rm -rf /torchvision + +# FROM dl_gpu as utils + +# install useful packages +RUN echo "wireshark-common wireshark-common/install-setuid boolean true" | debconf-set-selections && \ + apt-get update && \ + apt-get install -y --no-install-recommends \ + python3-dev \ + nautilus \ + firefox \ + git-all \ + wireshark \ + python3-argcomplete \ + jstest-gtk \ + joystick \ + python3-tk \ + python3.8-venv \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +# FROM utils as ros + +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# Install ROS2 +# -------------------------------------------------------------------------------------------------------------------------------------------------- +RUN apt update && \ + apt install software-properties-common -y && \ + add-apt-repository universe && \ + apt update && sudo apt install curl -y && \ + curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + +WORKDIR / + +RUN export ROS_DISTRO=$ROS_DISTRO +RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc +RUN source /opt/ros/$ROS_DISTRO/setup.bash && \ + rosdep init + +#################################################################################################################################################### +# Install required packages/dependencies for f1tenth_arm +#################################################################################################################################################### +RUN apt-get update --fix-missing && \ + apt-get install -y --no-install-recommends \ + git \ + nano \ + vim \ + libeigen3-dev \ + tmux \ + ros-$ROS_DISTRO-rviz2 \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +WORKDIR /tmp/ + +### create a dummpy opencv package for apt +RUN apt-get update --fix-missing && apt-get install -y --no-install-recommends\ + equivs \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +# Create and install dummy package for python3-opencv +RUN equivs-control /tmp/python3-opencv-dummy.control && \ + echo "Section: misc" > /tmp/python3-opencv-dummy.control && \ + echo "Priority: optional" >> /tmp/python3-opencv-dummy.control && \ + echo "Standards-Version: 3.9.2" >> /tmp/python3-opencv-dummy.control && \ + echo "Package: python3-opencv-dummy" >> /tmp/python3-opencv-dummy.control && \ + echo "Version: 1.0" >> /tmp/python3-opencv-dummy.control && \ + echo "Maintainer: Your Name " >> /tmp/python3-opencv-dummy.control && \ + echo "Provides: python3-opencv" >> /tmp/python3-opencv-dummy.control && \ + echo "Description: Dummy package to satisfy python3-opencv dependency" >> /tmp/python3-opencv-dummy.control && \ + echo " This package provides nothing but exists to satisfy dependencies." >> /tmp/python3-opencv-dummy.control && \ + equivs-build /tmp/python3-opencv-dummy.control && \ + dpkg -i /tmp/python3-opencv-dummy_1.0_all.deb + +# List of OpenCV development libraries +ENV OPENCV_LIBS="libopencv-core-dev libopencv-flann-dev libopencv-imgproc-dev libopencv-imgcodecs-dev libopencv-videoio-dev libopencv-highgui-dev libopencv-ml-dev libopencv-features2d-dev libopencv-calib3d-dev libopencv-dnn-dev libopencv-objdetect-dev libopencv-photo-dev libopencv-video-dev libopencv-shape-dev libopencv-stitching-dev libopencv-superres-dev libopencv-videostab-dev libopencv-contrib-dev libopencv-dev" + +# Create and install dummy packages for OpenCV development libraries +RUN for lib in $OPENCV_LIBS; do \ + equivs-control /tmp/${lib}-dummy.control && \ + echo "Section: misc" > /tmp/${lib}-dummy.control && \ + echo "Priority: optional" >> /tmp/${lib}-dummy.control && \ + echo "Standards-Version: 3.9.2" >> /tmp/${lib}-dummy.control && \ + echo "Package: ${lib}-dummy" >> /tmp/${lib}-dummy.control && \ + echo "Version: 1.0" >> /tmp/${lib}-dummy.control && \ + echo "Maintainer: Your Name " >> /tmp/${lib}-dummy.control && \ + echo "Provides: ${lib}" >> /tmp/${lib}-dummy.control && \ + echo "Description: Dummy package to satisfy ${lib} dependency" >> /tmp/${lib}-dummy.control && \ + echo " This package provides nothing but exists to satisfy dependencies." >> /tmp/${lib}-dummy.control && \ + equivs-build /tmp/${lib}-dummy.control && \ + dpkg -i /tmp/${lib}-dummy_1.0_all.deb; \ + done + +RUN apt-get update --fix-missing && apt-get install -y --no-install-recommends \ + ros-$ROS_DISTRO-desktop \ + ros-$ROS_DISTRO-message-filters \ + ros-$ROS_DISTRO-image-transport \ + ros-$ROS_DISTRO-teleop-twist-joy \ + ros-$ROS_DISTRO-joy \ + ros-$ROS_DISTRO-joy-teleop \ + ros-$ROS_DISTRO-rviz-default-plugins \ + ros-$ROS_DISTRO-rviz-rendering \ + ros-$ROS_DISTRO-ros2bag \ + ros-$ROS_DISTRO-rosbag2-converter-default-plugins \ + ros-$ROS_DISTRO-rosbag2-storage-default-plugins \ + ros-$ROS_DISTRO-robot-localization \ + ros-$ROS_DISTRO-slam-toolbox \ + ros-$ROS_DISTRO-ackermann-msgs \ + ros-$ROS_DISTRO-serial-driver \ + ros-$ROS_DISTRO-depthai-ros \ + ros-$ROS_DISTRO-pcl-ros \ + ros-$ROS_DISTRO-robot-state-publisher \ + ros-$ROS_DISTRO-joint-state-publisher \ + && rm -rf /var/lib/apt/lists/* + +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# install useful packages +# -------------------------------------------------------------------------------------------------------------------------------------------------- +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + python3-pip \ + python3-dev \ + python3-argcomplete \ + cmake \ + nano \ + iputils-ping \ + x11-apps \ + xauth \ + nautilus \ + usbutils \ + vim \ + tmux \ + tmuxp \ + htop \ + network-manager \ + firefox \ + git-all \ + cheese \ + jstest-gtk \ + joystick \ + # gedit \ + # gedit-plugin-multi-edit \ + # gedit-plugins \ + python3-tk \ + python3-rosdep \ + python3-vcstool \ + ros-dev-tools \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get clean + +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + ros-$ROS_DISTRO-rmw-cyclonedds-cpp \ + ros-$ROS_DISTRO-rosbridge-suite \ + ros-$ROS_DISTRO-nav2* \ + ros-$ROS_DISTRO-navigation2 \ + ros-$ROS_DISTRO-smac-planner \ + ros-$ROS_DISTRO-spatio-temporal-voxel-layer \ + ros-$ROS_DISTRO-nonpersistent-voxel-layer \ + ros-$ROS_DISTRO-tf-transformations + +# RUN apt-get -y dist-upgrade + +WORKDIR /home/projects/ +####### CREATE VIRTUAL ENVIRONMENTS ####### +RUN apt install python3.8-venv +RUN echo "alias python=python3" >> ~/.bashrc +ENV VIRTUAL_ENV=/opt/venv +RUN python3 -m venv "${VIRTUAL_ENV}/donkey" --system-site-packages + +################ DEPTHAI ################## +WORKDIR /home/projects/ +RUN git clone https://github.com/luxonis/depthai.git && \ + git clone https://github.com/luxonis/depthai-python.git && \ + cd depthai && \ + source ${VIRTUAL_ENV}/donkey/bin/activate && \ + curl -fL https://docs.luxonis.com/install_dependencies.sh | bash && \ + python3 install_requirements.py && \ + cd ../depthai-python/examples && \ + python3 install_requirements.py +RUN echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc +RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules + +########### Install Groot ########### +WORKDIR /home + +RUN apt-get update --fix-missing +RUN apt-get install -y --no-install-recommends ros-$ROS_DISTRO-behaviortree-cpp-v3 \ + libtool \ + pkg-config \ + build-essential \ + autoconf \ + automake \ + # libzmq-dev \ + qtbase5-dev \ + libqt5svg5-dev \ + libzmq3-dev \ + libdw-dev + +RUN git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git +WORKDIR /home/Groot +RUN cmake -S . -B build +RUN cmake --build build + +### Create f1tenth workspace +WORKDIR $WORKSPACE + +RUN git clone -b $BRANCH_NAME https://github.com/Triton-AI/robocar.git && \ + mv robocar .. && \ + cd .. && \ + rm -rf $WORKSPACE && \ + mv robocar/ $WORKSPACE && \ + cd $WORKSPACE + +# Global Planner Dependencies +RUN pip install trajectory_planning_helpers==0.78 \ + scipy==1.7.3 \ + matplotlib==3.5.1 \ + casadi \ + scikit-image==0.19.2 \ + scikit-learn \ + transforms3d + +########### Clone Basic ROS 2 Packages ########### +RUN source source_ros2.sh && \ + vcs import < repos/common.repos && \ + vcs import < repos/lidar_utils.repos && \ + vcs import < repos/racer.repos && \ + sed -i '/#include > /root/.bashrc"] + +WORKDIR $WORKSPACE +RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc +# RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc +ENTRYPOINT ["/bin/bash"] \ No newline at end of file diff --git a/.docker_utils/Dockerfile.f1tenth_x86 b/.docker_utils/Dockerfile.f1tenth_x86 new file mode 100644 index 00000000..6d057eac --- /dev/null +++ b/.docker_utils/Dockerfile.f1tenth_x86 @@ -0,0 +1,218 @@ +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# Getting Base image (ubuntu 20.04) +# -------------------------------------------------------------------------------------------------------------------------------------------------- +FROM ros:foxy +SHELL ["/bin/bash", "-o", "pipefail", "-c"] + +ARG WORKSPACE=/home/projects/f1tenth_ws/ + +WORKDIR / + +#################################################################################################################################################### +# Install required packages/dependencies for f1tenth_x86 +#################################################################################################################################################### +RUN apt-get update --fix-missing && \ + apt-get install -y --no-install-recommends \ + sudo \ + wget \ + gedit \ + curl \ + unzip \ + net-tools \ + git \ + nano \ + vim \ + libeigen3-dev \ + tmux \ + ros-foxy-rviz2 && \ + rm -rf /var/lib/apt/lists/* + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-foxy-desktop \ + ros-foxy-message-filters \ + ros-foxy-image-transport \ + ros-foxy-teleop-twist-joy \ + ros-foxy-joy \ + ros-foxy-joy-teleop \ + ros-foxy-rviz-default-plugins \ + ros-foxy-rviz-rendering \ + ros-foxy-ros2bag \ + ros-foxy-rosbag2-converter-default-plugins \ + ros-foxy-rosbag2-storage-default-plugins \ + ros-foxy-robot-localization \ + ros-foxy-slam-toolbox \ + ros-foxy-ackermann-msgs \ + ros-foxy-serial-driver \ + ros-foxy-depthai-ros \ + ros-foxy-pcl-ros \ + ros-foxy-robot-state-publisher \ + ros-foxy-joint-state-publisher && \ + rm -rf /var/lib/apt/lists/* + +# -------------------------------------------------------------------------------------------------------------------------------------------------- +# Install useful packages +# -------------------------------------------------------------------------------------------------------------------------------------------------- +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + python3-pip \ + python3-dev \ + python3-argcomplete \ + cmake \ + nano \ + iputils-ping \ + x11-apps \ + xauth \ + nautilus \ + usbutils \ + vim \ + tmux \ + tmuxp \ + # htop \ + network-manager \ + firefox \ + git-all \ + cheese \ + jstest-gtk \ + joystick \ + # gedit \ + # gedit-plugin-multi-edit \ + # gedit-plugins \ + python3-tk \ + python3-rosdep \ + python3-vcstool \ + ros-dev-tools && \ + rm -rf /var/lib/apt/lists/* + +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + ros-foxy-rmw-cyclonedds-cpp \ + ros-foxy-rosbridge-suite \ + ros-foxy-nav2* \ + ros-foxy-navigation2 \ + ros-foxy-smac-planner \ + ros-foxy-spatio-temporal-voxel-layer \ + ros-foxy-nonpersistent-voxel-layer \ + ros-foxy-tf-transformations \ + ros-foxy-imu-tools && \ + rm -rf /var/lib/apt/lists/* + +RUN apt-get update --fix-missing && \ + apt-get install -y xvfb ffmpeg libgdal-dev libsm6 libxext6 && \ + apt-get -y dist-upgrade && \ + rm -rf /var/lib/apt/lists/* + +WORKDIR /home/projects + +####### CREATE VIRTUAL ENVIRONMENTS ####### +RUN apt-get update && apt-get install -y python3.8-venv && \ + echo "alias python=python3" >> ~/.bashrc && \ + python3 -m venv /opt/venv/donkey --system-site-packages + +################ DEPTHAI ################## +WORKDIR /home/projects/ +RUN git clone https://github.com/luxonis/depthai.git && \ + git clone https://github.com/luxonis/depthai-python.git && \ + cd depthai && \ + source /opt/venv/donkey/bin/activate && \ + curl -fL https://docs.luxonis.com/install_dependencies.sh | bash && \ + python3 install_requirements.py && \ + cd ../depthai-python/examples && \ + python3 install_requirements.py + +RUN echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc && \ + echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules + +########### Install Groot ########### +WORKDIR /home + +RUN apt-get update --fix-missing && \ + apt-get install -y --no-install-recommends ros-foxy-behaviortree-cpp-v3 \ + libtool \ + pkg-config \ + build-essential \ + autoconf \ + automake \ + # libzmq-dev \ + qtbase5-dev \ + libqt5svg5-dev \ + libzmq3-dev \ + libdw-dev && \ + rm -rf /var/lib/apt/lists/* + +RUN git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git +WORKDIR /home/Groot +RUN cmake -S . -B build && \ + cmake --build build + +### Create f1tenth workspace +WORKDIR $WORKSPACE + +RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \ + mv robocar .. && \ + cd .. && \ + rm -rf $WORKSPACE && \ + mv robocar/ $WORKSPACE && \ + cd $WORKSPACE + +# Global Planner Dependencies +RUN pip install trajectory_planning_helpers==0.78 \ + scipy==1.7.3 \ + matplotlib==3.5.1 \ + casadi \ + scikit-image==0.19.2 \ + scikit-learn \ + transforms3d + +########### Clone Basic ROS 2 Packages ########### +RUN source source_ros2.sh && \ + make livox-driver && \ + make racer && \ + make autodrive && \ + sed -i '/#include > /root/.bashrc + +WORKDIR $WORKSPACE +RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc + +# Set entrypoint +EXPOSE 4567 +# RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc +ENTRYPOINT [ "/bin/bash"] \ No newline at end of file diff --git a/.github/workflows/publish_arm.yml b/.github/workflows/publish_arm.yml new file mode 100644 index 00000000..b67fab0a --- /dev/null +++ b/.github/workflows/publish_arm.yml @@ -0,0 +1,132 @@ +name: publish +on: + schedule: + - cron: '38 23 * * *' + release: + types: [published] + branches: [ "foxy_devel" ] + # Publish semver tags as releases. + tags: [ 'a*.*.*' ] + pull_request: + branches: [ "foxy_devel" ] # TBD + + +env: + # Use docker.io for Docker Hub if empty + REGISTRY: ghcr.io + # github.repository as / + IMAGE_NAME: ${{ github.repository }} + ROS_DISTRO: foxy + +jobs: + build: + runs-on: ubuntu-20.04 + strategy: + fail-fast: false + matrix: + include: + # - dockerfile: .docker_utils/Dockerfile.f1tenth_x86 + # tag: x86 + - dockerfile: .docker_utils/Dockerfile.f1tenth_arm + tag: arm + permissions: + contents: read + packages: write + # This is used to complete the identity challenge + # with sigstore/fulcio when running outside of PRs. + id-token: write + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v3 + with: + platforms: linux/arm64/v8 + + - name: Set up SSH + uses: webfactory/ssh-agent@v0.9.0 + with: + ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} + + # Install the cosign tool except on PR + # https://github.com/sigstore/cosign-installer + - name: Install cosign + if: github.event_name != 'pull_request' + uses: sigstore/cosign-installer@v3.5.0 # c3667d99424e7e6047999fb6246c0da843953c65 #v3.0.1 + with: + cosign-release: 'v2.2.4' + + - name: Free Disk Space (Ubuntu) + uses: jlumbroso/free-disk-space@main + with: + # this might remove tools that are actually needed, + # if set to "true" but frees about 6 GB + tool-cache: false + + # all of these default to true, but feel free to set to + # "false" if necessary for your workflow + android: true + dotnet: true + haskell: true + large-packages: true + docker-images: false + swap-storage: true + + # Workaround: https://github.com/docker/build-push-action/issues/461 + - name: Setup Docker buildx + uses: docker/setup-buildx-action@v3 # b167a89702b8b5314c104ab9d211b3dcf774f2b1 + with: + platforms: linux/arm64/v8 + + # Login against a Docker registry except on PR + # https://github.com/docker/login-action + - name: Log into registry ${{ env.REGISTRY }} + if: github.event_name != 'pull_request' + uses: docker/login-action@v3 # f4ef78c080cd8ba55a85445d5b36e214a81df20a + with: + registry: ${{ env.REGISTRY }} + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + # Extract metadata (tags, labels) for Docker + # https://github.com/docker/metadata-action + - name: Extract Docker metadata + id: meta + uses: docker/metadata-action@v5 # 507c2f2dc502c992ad446e3d7a5dfbe311567a96 + with: + images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} + tags: | + type=raw,value=${{ env.ROS_DISTRO }}-${{ matrix.tag }} + + # Build and push Docker image with Buildx (don't push on PR) + # https://github.com/docker/build-push-action + - name: Build and push Docker final + id: build-and-push + uses: docker/build-push-action@v5 + with: + context: . + push: ${{ github.event_name != 'pull_request' }} + file: ${{ matrix.dockerfile }} + tags: ${{ steps.meta.outputs.tags }} + platforms: linux/arm64/v8 + labels: ${{ steps.meta.outputs.labels }} + ssh: | + default=${{ env.SSH_AUTH_SOCK }} + cache-from: type=gha + cache-to: type=gha,mode=max + + + # Sign the resulting Docker image digest except on PRs. + # This will only write to the public Rekor transparency log when the Docker + # repository is public to avoid leaking data. If you would like to publish + # transparency data even for private images, pass --force to cosign below. + # https://github.com/sigstore/cosign +# - name: Sign the published Docker image +# if: ${{ github.event_name != 'pull_request' }} +# env: +# COSIGN_EXPERIMENTAL: "true" +# # This step uses the identity token to provision an ephemeral certificate +# # against the sigstore community Fulcio instance. +# run: echo "${{ steps.meta.outputs.tags }}" | xargs -I {} cosign sign {}@${{ steps.build-and-push.outputs.digest }} \ No newline at end of file diff --git a/.github/workflows/publish_x86.yml b/.github/workflows/publish_x86.yml new file mode 100644 index 00000000..1dcfe5ed --- /dev/null +++ b/.github/workflows/publish_x86.yml @@ -0,0 +1,116 @@ +name: publish +on: + schedule: + - cron: '38 23 * * *' + release: + types: [published] + branches: [ "foxy_devel" ] + # Publish semver tags as releases. + tags: [ 'v*.*.*-x86' ] + pull_request: + branches: [ "foxy_devel" ] # TBD + + +env: + # Use docker.io for Docker Hub if empty + REGISTRY: ghcr.io + # github.repository as / + IMAGE_NAME: ${{ github.repository }} + ROS_DISTRO: foxy + +jobs: + build: + runs-on: ubuntu-20.04 + strategy: + fail-fast: false + matrix: + include: + - dockerfile: .docker_utils/Dockerfile.f1tenth_x86 + tag: x86 + # - dockerfile: .docker_utils/Dockerfile.f1tenth_arm + # tag: arm + permissions: + contents: read + packages: write + # This is used to complete the identity challenge + # with sigstore/fulcio when running outside of PRs. + id-token: write + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v3 + # with: + # platforms: linux/arm64/v8 + + - name: Set up SSH + uses: webfactory/ssh-agent@v0.9.0 + with: + ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} + + # Install the cosign tool except on PR + # https://github.com/sigstore/cosign-installer + - name: Install cosign + if: github.event_name != 'pull_request' + uses: sigstore/cosign-installer@v3.5.0 # c3667d99424e7e6047999fb6246c0da843953c65 #v3.0.1 + with: + cosign-release: 'v2.2.4' + + # Workaround: https://github.com/docker/build-push-action/issues/461 + - name: Setup Docker buildx + uses: docker/setup-buildx-action@v3 # b167a89702b8b5314c104ab9d211b3dcf774f2b1 + # with: + # platforms: linux/arm64/v8 + + # Login against a Docker registry except on PR + # https://github.com/docker/login-action + - name: Log into registry ${{ env.REGISTRY }} + if: github.event_name != 'pull_request' + uses: docker/login-action@v3 # f4ef78c080cd8ba55a85445d5b36e214a81df20a + with: + registry: ${{ env.REGISTRY }} + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + # Extract metadata (tags, labels) for Docker + # https://github.com/docker/metadata-action + - name: Extract Docker metadata + id: meta + uses: docker/metadata-action@v5 # 507c2f2dc502c992ad446e3d7a5dfbe311567a96 + with: + images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} + tags: | + type=raw,value=${{ env.ROS_DISTRO }}-${{ matrix.tag }} + + # Build and push Docker image with Buildx (don't push on PR) + # https://github.com/docker/build-push-action + - name: Build and push Docker final + id: build-and-push + uses: docker/build-push-action@v5 + with: + context: . + push: ${{ github.event_name != 'pull_request' }} + file: ${{ matrix.dockerfile }} + tags: ${{ steps.meta.outputs.tags }} + # platforms: linux/arm64/v8 + labels: ${{ steps.meta.outputs.labels }} + ssh: | + default=${{ env.SSH_AUTH_SOCK }} + cache-from: type=gha + cache-to: type=gha,mode=max + + + # Sign the resulting Docker image digest except on PRs. + # This will only write to the public Rekor transparency log when the Docker + # repository is public to avoid leaking data. If you would like to publish + # transparency data even for private images, pass --force to cosign below. + # https://github.com/sigstore/cosign +# - name: Sign the published Docker image +# if: ${{ github.event_name != 'pull_request' }} +# env: +# COSIGN_EXPERIMENTAL: "true" +# # This step uses the identity token to provision an ephemeral certificate +# # against the sigstore community Fulcio instance. +# run: echo "${{ steps.meta.outputs.tags }}" | xargs -I {} cosign sign {}@${{ steps.build-and-push.outputs.digest }} \ No newline at end of file diff --git a/.gitignore b/.gitignore index 327a0367..751c1efe 100644 --- a/.gitignore +++ b/.gitignore @@ -3,3 +3,30 @@ src/external/* build/** log/** install/** + +# Executables +*.exe +*.out +*.app + +# macos +.DS_Store + +# py +*.pyc + +#vscode +.vscode +.vscode/build +.vscode/log +.vscode/c_cpp_properties.json + +# gb_optimizer dependencies +src/path_planning/gb_optimizer_nav2/gb_optimizer_nav2/global_racetrajectory_optimization/* +src/path_planning/global_planner/global_planner/global_racetrajectory_optimization/* + +# ros2 frames +src/launch/basestation_launch/ros_data/frames/frames.gv + +# self_test map data +src/launch/basestation_launch/ros_data/maps/self_test/*/* \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 00000000..1f856fd2 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,33 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "${default}", + "limitSymbolsToIncludedHeaders": false + }, + "includePath": [ + "/home/jetson/projects/robocar/install/vesc_driver/include/**", + "/home/jetson/projects/robocar/install/vesc_ackermann/include/**", + "/home/jetson/projects/robocar/install/vesc_msgs/include/**", + "/home/jetson/projects/robocar/install/teleop_tools_msgs/include/**", + "/home/jetson/projects/robocar/install/pointcloud_to_laserscan/include/**", + "/home/jetson/projects/robocar/install/ackermann_mux/include/**", + "/home/jetson/projects/robocar/src/external/lidar/install/livox_ros_driver2/include/**", + "/opt/ros/foxy/include/**", + "/home/jetson/projects/robocar/src/external/lidar/livox/livox-SDK2/include/**", + "/home/jetson/projects/robocar/src/external/lidar_utils/pointcloud_to_laserscan/include/**", + "/home/jetson/projects/robocar/src/external/vesc/ackermann_mux/include/**", + "/home/jetson/projects/robocar/src/external/vesc/vesc/vesc_ackermann/include/**", + "/home/jetson/projects/robocar/src/external/vesc/vesc/vesc_driver/include/**", + "/usr/include/**", + "/home/jetson/projects/robocar/src/actuator/twist_to_ackermann/include" + ], + "name": "ROS", + "intelliSenseMode": "gcc-arm64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "gnu11", + "cppStandard": "c++14" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 00000000..95f3ca7b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,92 @@ +{ + "ros.distro": "foxy", + "python.autoComplete.extraPaths": [ + "/home/jetson/projects/robocar/install/wall_follow/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/vesc_msgs/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/joy_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/teleop_tools_msgs/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/multi_cam/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/mouse_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/key_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/src/external/lidar/install/livox_ros_driver2/lib/python3.8/site-packages", + "/opt/ros/foxy/lib/python3.8/site-packages" + ], + "python.analysis.extraPaths": [ + "/home/jetson/projects/robocar/install/wall_follow/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/vesc_msgs/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/joy_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/teleop_tools_msgs/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/multi_cam/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/mouse_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/install/key_teleop/lib/python3.8/site-packages", + "/home/jetson/projects/robocar/src/external/lidar/install/livox_ros_driver2/lib/python3.8/site-packages", + "/opt/ros/foxy/lib/python3.8/site-packages", + "./build/f110_msgs/rosidl_generator_py", + "./build/f110_msgs/rosidl_generator_py", + "./build/f110_msgs/rosidl_generator_py" + ], + "files.associations": { + "array": "cpp", + "atomic": "cpp", + "bit": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "cctype": "cpp", + "chrono": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "codecvt": "cpp", + "condition_variable": "cpp", + "csignal": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdint": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "deque": "cpp", + "list": "cpp", + "map": "cpp", + "set": "cpp", + "unordered_map": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "regex": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "future": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "shared_mutex": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cinttypes": "cpp", + "typeinfo": "cpp" + } +} \ No newline at end of file diff --git a/Groot.sh b/Groot.sh new file mode 100644 index 00000000..b406bbe9 --- /dev/null +++ b/Groot.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +/home/Groot/build/Groot diff --git a/Makefile b/Makefile index 84a4addf..910515ea 100644 --- a/Makefile +++ b/Makefile @@ -22,16 +22,39 @@ rosdep-install-eol: image-update: docker pull ghcr.io/ucsd-ecemae-148/donkeycontainer:ros -.PHONY: rocker-nvidia -rocker-nvidia: - @CONT_NAME="${CONT_NAME}" - rocker --network host --nvidia runtime -e NVIDIA_DRIVER_CAPABILITIES=all --git --ssh --x11 --privileged --name ${CONT_NAME} --user --volume ${shell pwd} -- ghcr.io/ucsd-ecemae-148/donkeycontainer:ros +# .PHONY: rocker-nvidia +# rocker-nvidia: +# @CONT_NAME="${CONT_NAME}" +# rocker --network host --nvidia runtime -e NVIDIA_DRIVER_CAPABILITIES=all --git --ssh --x11 --privileged --name ${CONT_NAME} --user --volume ${shell pwd} -- ghcr.io/ucsd-ecemae-148/donkeycontainer:ros .PHONY: sick-driver sick-driver: - vcs import < dsc.repos + vcs import < repos/dsc.repos ./scripts/sick_driver.sh - + .PHONY: livox-driver livox-driver: + vcs import < repos/livox.repos ./scripts/livox_driver.sh + +.PHONY: racer +racer: + vcs import < repos/common.repos + vcs import < repos/racer.repos --recursive + vcs import < repos/lidar_utils.repos + +.PHONY: gb_opt +gb_opt: + chmod +x scripts/gb_opt_setup.sh + ./scripts/gb_opt_setup.sh + +.PHONY: sim +sim: + vcs import < repos/sim.repos + pip install -e src/external/f1tenth_sim/f1tenth_gym + +.PHONY: autodrive +autodrive: + vcs import < repos/autodrive_utils.repos + cd src/external/AutoDRIVE-F1TENTH-Sim-Racing/; \ + git pull diff --git a/README.md b/README.md index 3efed16e..37e32b7a 100644 --- a/README.md +++ b/README.md @@ -2,18 +2,73 @@ ## ALWAYS SOURCE ROS IN EVERY TERMINAL -## First build +## To get started +### First build Clone this repo. Then, in the robocar home directory, do ``` -source /opt/ros/foxy/setup.bash -vcs import < common.repos -vcs import < ADDITIONAL_REPO_FILE (If you have one) +source docker.sh +``` +This creates a new container based on `ghcr.io/triton-ai/robocar:foxy-x86`, and you should be in the docker container, if not, do `docker exec -it ucsd_ros bash` to get into it. + +`car_config.yaml` contains the car's components. This includes lidar, oakd camera, etc. + +- `node_config.yaml` contains selections of nodes and launch files to be used. + - `SLAM` will be outputting a `pgm` or `png` file. + - `TUM_global_planner` will be turned to `1` only after `SLAM` is used. It will be used once. The output will be global waypoints in `.json` format. + +- Then go to `map_select.yaml` to specify the new map to be used. + +TODO: +- vehicle dynamic + + +Next, while inside the container, do +``` +cd /home/jetson/projects/robocar +sudo apt update && sudo apt upgrade +source source_ros2.sh +``` +`source source_ros2.sh` helps you source all required environment while making sure some dependencies are indeed installed. +Don't worry if there's any error regarding no directory at: `install/setup.bash`, since you have not build the required packages yet. +Some useful custom commands can be used after sourcing `source_ros2.sh`: +- `source_ros2` sets up/sources required ROS environments. +- `build_ros2` colcon build all packages (except `livox_sdk2`, `livox_ros_driver2`), and then, source the environments. +- `build_ros2_pkg $arg1 $arg2 ...` colcon build the specific packages (replace `$arg#` with desired package name), and then, source the environments. + +Import, and Build every packages (except Livox ones) +```bash +source_ros2 +make racer + +vcs import < repos/ADDITIONAL_REPO_FILE (If you have one, please put it into "repos/") + make rosdep-install -make -source install/setup.bash +build_ros2 +``` + +#### If using Livox LiDARs, +Import, and Build `livox_sdk2` and `livox_ros_driver2` +```bash +source_ros2 +make livox-driver ``` +#### If using SICK LiDARs, +Import, and Build +```bash +source_ros2 +make sick-driver +``` + +## Base Structure +1. **Master Stack**: `src/launch/basestation_launch/` + - `nano src/launch/basestation_launch/param/car_config.yaml` to turn on/off any component of the racer + - `nano src/launch/basestation_launch/param/node_config.yaml` to turn on/off any nodes you want + +2. **Libraries**: `src/external/` + - any external repo you clone will be here. + +3. **Control - _Low level_**: `src/actuator/` -## Future build -In the home directory, `make` +4. **Planning** & **Control - _High level_**: `src/planner/` \ No newline at end of file diff --git a/docker.sh b/docker.sh new file mode 100644 index 00000000..650ffd1e --- /dev/null +++ b/docker.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +xhost + +docker run \ + --name ucsd_ros \ + --runtime nvidia \ + -it \ + --rm \ + --privileged \ + --net=host \ + -e DISPLAY=$DISPLAY \ + -v /dev/bus/usb:/dev/bus/usb \ + --device-cgroup-rule='c 189:* rmw' \ + --device /dev/video0 \ + --volume='/dev/input:/dev/input' \ + --volume='/home/jetson/.Xauthority:/root/.Xauthority:rw' \ + --volume='/tmp/.X11-unix/:/tmp/.X11-unix' \ + --volume='/home/jetson/projects/robocar:/home/jetson/projects/robocar' \ + ghcr.io/ucsd-ecemae-148/donkeycontainer:ros diff --git a/docker_autodrive_simulator.sh b/docker_autodrive_simulator.sh new file mode 100644 index 00000000..e1e521ec --- /dev/null +++ b/docker_autodrive_simulator.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +xhost + +docker run \ + --name autodrive_f1tenth_sim \ + --rm \ + -it \ + --entrypoint /bin/bash \ + --network=host \ + --ipc=host \ + -v /tmp/.X11-unix:/tmp.X11-umix:rw \ + --env DISPLAY \ + --privileged \ + --gpus all \ + autodriveecosystem/autodrive_f1tenth_sim:2024-cdc-practice \ No newline at end of file diff --git a/docker_sim.sh b/docker_sim.sh new file mode 100644 index 00000000..85e90627 --- /dev/null +++ b/docker_sim.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +if [ -z "$XAUTH" ] +then + echo "\$XAUTH is empty" + return +else + echo "\$XAUTH is NOT empty" + xauth_path=$XAUTH +fi + +xhost + +docker run \ + --name sim_test \ + -it \ + --rm \ + --privileged \ + --net=host \ + -e DISPLAY=$DISPLAY \ + -v /dev/bus/usb:/dev/bus/usb \ + --device /dev/video0 \ + -v $xauth_path:/root/.Xauthority:rw \ + ghcr.io/triton-ai/robocar:foxy-x86 \ No newline at end of file diff --git a/racer.repos b/racer.repos deleted file mode 100644 index c29731ab..00000000 --- a/racer.repos +++ /dev/null @@ -1,10 +0,0 @@ -repositories: - #VESC - src/external/lidar/livox/livox_ros_driver2: - type: git - url: https://github.com/Triton-AI/livox_ros_driver2.git - version: master - src/external/lidar/livox/livox-SDK2: - type: git - url: https://github.com/Triton-AI/Livox-SDK2.git - version: master diff --git a/repos/autodrive_utils.repos b/repos/autodrive_utils.repos new file mode 100644 index 00000000..ca642bf0 --- /dev/null +++ b/repos/autodrive_utils.repos @@ -0,0 +1,5 @@ +repositories: + src/external/autodrive_utils/ackermann_odom: + type: git + url: https://github.com/Triton-AI/ackermann-odom-ros2.git + version: main diff --git a/common.repos b/repos/common.repos similarity index 71% rename from common.repos rename to repos/common.repos index b6aa6fd9..b56be44b 100644 --- a/common.repos +++ b/repos/common.repos @@ -1,19 +1,19 @@ repositories: #VESC - src/external/vesc/vesc: + src/external/actuator/vesc/vesc: type: git url: https://github.com/f1tenth/vesc.git version: foxy - src/external/vesc/ackermann_mux: + src/external/actuator/vesc/ackermann_mux: type: git url: https://github.com/f1tenth/ackermann_mux.git version: foxy-devel - src/external/vesc/teleop_tools: + src/external/actuator/vesc/teleop_tools: type: git url: https://github.com/f1tenth/teleop_tools.git version: foxy-devel #OAKD - src/external/oakd/multi_cam_oak_lite: + src/external/sensors/oakd/multi_cam_oak_lite: type: git url: https://github.com/Triton-AI/multi_cam_oak_lite.git version: master diff --git a/dsc.repos b/repos/dsc.repos similarity index 100% rename from dsc.repos rename to repos/dsc.repos diff --git a/repos/lidar_utils.repos b/repos/lidar_utils.repos new file mode 100644 index 00000000..7506934a --- /dev/null +++ b/repos/lidar_utils.repos @@ -0,0 +1,13 @@ +repositories: + src/external/lidar_utils/pointcloud_to_laserscan: + type: git + url: https://github.com/ros-perception/pointcloud_to_laserscan.git + version: foxy + src/external/lidar_utils/livox_to_pointcloud2: + type: git + url: https://github.com/Triton-AI/livox_to_pointcloud2.git + version: master + src/external/lidar_utils/wall-following-utils: + type: git + url: https://github.com/Triton-AI/wall-following-utils.git + version: Obstacle_Avoidance diff --git a/repos/livox.repos b/repos/livox.repos new file mode 100644 index 00000000..44abdedd --- /dev/null +++ b/repos/livox.repos @@ -0,0 +1,10 @@ +repositories: + #VESC + src/external/sensors/lidar/livox/livox_ros_driver2: + type: git + url: https://github.com/Livox-SDK/livox_ros_driver2.git + version: master + src/external/sensors/lidar/livox/livox-SDK2: + type: git + url: https://github.com/Livox-SDK/Livox-SDK2.git + version: master diff --git a/repos/racer.repos b/repos/racer.repos new file mode 100644 index 00000000..1a7fd3a1 --- /dev/null +++ b/repos/racer.repos @@ -0,0 +1,17 @@ +repositories: + src/external/planner/global_race_planner: + type: git + url: https://github.com/Triton-AI/global_race_planner.git + version: main + src/external/planner/global_race_planner/global_planner/global_planner/global_racetrajectory_optimization: + type: git + url: https://github.com/Triton-AI/global_racetrajectory_optimization.git + version: pip_package + src/external/state_estimation/rf2o_laser_odometry: + type: git + url: https://github.com/MAPIRlab/rf2o_laser_odometry.git + version: ros2 + src/external/state_estimation/FAST_LIO: + type: git + url: https://github.com/Triton-AI/FAST_LIO.git + version: foxy \ No newline at end of file diff --git a/repos/sim.repos b/repos/sim.repos new file mode 100644 index 00000000..c79bd249 --- /dev/null +++ b/repos/sim.repos @@ -0,0 +1,9 @@ +repositories: + src/external/f1tenth_sim/f1tenth_gym: + type: git + url: https://github.com/Triton-AI/f1tenth_gym.git + version: main + src/external/f1tenth_sim/f1tenth_gym_ros: + type: git + url: https://github.com/Triton-AI/f1tenth_gym_ros.git + version: main \ No newline at end of file diff --git a/scripts/bashrc.sh b/scripts/bashrc.sh new file mode 100644 index 00000000..dae8ed96 --- /dev/null +++ b/scripts/bashrc.sh @@ -0,0 +1,128 @@ +# ~/.bashrc: executed by bash(1) for non-login shells. +# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) +# for examples + +# If not running interactively, don't do anything +[ -z "$PS1" ] && return + +# don't put duplicate lines in the history. See bash(1) for more options +# ... or force ignoredups and ignorespace +HISTCONTROL=ignoredups:ignorespace + +# append to the history file, don't overwrite it +shopt -s histappend + +# for setting history length see HISTSIZE and HISTFILESIZE in bash(1) +HISTSIZE=1000 +HISTFILESIZE=2000 + +# check the window size after each command and, if necessary, +# update the values of LINES and COLUMNS. +shopt -s checkwinsize + +# make less more friendly for non-text input files, see lesspipe(1) +[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" + +# set variable identifying the chroot you work in (used in the prompt below) +if [ -z "$debian_chroot" ] && [ -r /etc/debian_chroot ]; then + debian_chroot=$(cat /etc/debian_chroot) +fi + +# set a fancy prompt (non-color, unless we know we "want" color) +case "$TERM" in + xterm-color) color_prompt=yes;; +esac + +# uncomment for a colored prompt, if the terminal has the capability; turned +# off by default to not distract the user: the focus in a terminal window +# should be on the output of commands, not on the prompt +force_color_prompt=yes + +if [ -n "$force_color_prompt" ]; then + if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then + # We have color support; assume it's compliant with Ecma-48 + # (ISO/IEC-6429). (Lack of such support is extremely rare, and such + # a case would tend to support setf rather than setaf.) + color_prompt=yes + else + color_prompt= + fi +fi + +function git_branch { + git branch --no-color 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/\1/' +} + +function markup_git_branch { + if [[ "x$1" = "x" ]]; then + echo -e "$1" + else + if [[ $(git status 2> /dev/null | tail -n1) = "nothing to commit, working tree clean" ]]; then + echo -e '\001\033[1;32m('"$1"')\033[0;0m\002' + else + echo -e '\001\033[1;31m('"$1"')\033[0;0m\002' + fi + fi +} + +COLOR_RED="\033[0;31m" +COLOR_YELLOW="\033[0;33m" +COLOR_GREEN="\033[0;32m" +COLOR_OCHRE="\033[38;5;95m" +COLOR_BLUE="\033[0;34m" +COLOR_WHITE="\033[0;37m" +COLOR_RESET="\033[0m" + + +if [ "$color_prompt" = yes ]; then + PS1='\[\033[01;34m\]Docker_Container\[\033[01;31m\]@\[\033[01;34m\]\h\[\033[01;34m\]:\[\033[01;32m\]\w\[\033[00m\]$(markup_git_branch $(git_branch))🦝 ' + # PS1='\[\033[01;34m\]Docker_Container@ucsd_robocar\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]$(markup_git_branch $(git_branch))🐳 ' + #PS1='\[\033[01;31m\]Docker_Container@ucsd_robocar\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\] 🐳 ' + #PS1='🐳${debian_chroot:+($debian_chroot)}\[\033[01;31m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ ' +# \[\033[01;31m\]@\[\033[01;34m\]\h\[\033[01;34m\]: +else + PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ ' +fi +unset color_prompt force_color_prompt + +# If this is an xterm set the title to user@host:dir +case "$TERM" in +xterm*|rxvt*) + PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1" + ;; +*) + ;; +esac + +# enable color support of ls and also add handy aliases +if [ -x /usr/bin/dircolors ]; then + test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" + alias ls='ls --color=auto' + #alias dir='dir --color=auto' + #alias vdir='vdir --color=auto' + + alias grep='grep --color=auto' + alias fgrep='fgrep --color=auto' + alias egrep='egrep --color=auto' +fi + +# some more ls aliases +alias ll='ls -alF' +alias la='ls -A' +alias l='ls -CF' + +# Alias definitions. +# You may want to put all your additions into a separate file like +# ~/.bash_aliases, instead of adding them here directly.alias +# See /usr/share/doc/bash-doc/examples in the bash-doc package. +if [ -f ~/.bash_aliases ]; then + . ~/.bash_aliases +fi + +# enable programmable completion features (you don't need to enable +# this, if it's already enabled in /etc/bash.bashrc and /etc/profile +# sources /etc/bash.bashrc). +#if [ -f /etc/bash_completion ] && ! shopt -oq posix; then +# . /etc/bash_completion +#fi +cd /home/projects \ No newline at end of file diff --git a/scripts/gb_opt_setup.sh b/scripts/gb_opt_setup.sh new file mode 100755 index 00000000..422d4616 --- /dev/null +++ b/scripts/gb_opt_setup.sh @@ -0,0 +1,5 @@ +#! /bin/bash + +SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) +echo $SCRIPT_DIR +cd $SCRIPT_DIR && pip3 install -e ../src/external/planner/global_race_planner/global_planner/global_planner/global_racetrajectory_optimization/ \ No newline at end of file diff --git a/scripts/livox_driver.sh b/scripts/livox_driver.sh index 4ab0aae1..c5ac7ad0 100755 --- a/scripts/livox_driver.sh +++ b/scripts/livox_driver.sh @@ -2,7 +2,7 @@ pushd `pwd` > /dev/null -LIVOX_SDK=src/external/lidar/livox/livox-SDK2 +LIVOX_SDK=src/external/sensors/lidar/livox/livox-SDK2 if [ -d $LIVOX_SDK ]; then cd $LIVOX_SDK mkdir build @@ -15,7 +15,7 @@ popd > /dev/null pushd `pwd` > /dev/null -LIVOX_ROS_DRIVER=src/external/lidar/livox/livox_ros_driver2 +LIVOX_ROS_DRIVER=src/external/sensors/lidar/livox/livox_ros_driver2 if [ -d $LIVOX_ROS_DRIVER ]; then cd $LIVOX_ROS_DRIVER ./build.sh ROS2 diff --git a/source_ros2.sh b/source_ros2.sh new file mode 100755 index 00000000..cdf22e8b --- /dev/null +++ b/source_ros2.sh @@ -0,0 +1,79 @@ +#!/bin/bash + +# Display help +if [[ $1 == "-h" ]] || [[ $1 == "--help" ]] +then + echo "Usage: source_ros2" + echo + echo "Sources the ROS distribution and workspace at WORKSPACE." + echo + echo "containing the name of the target ROS distribution." + echo "Supported distros: foxy" + return +fi + +export ROS_DISTRO=foxy +# sudo apt update && sudo apt upgrade +sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp -y +sudo apt install ros-$ROS_DISTRO-rosbridge-suite -y +# sudo apt install ros-$ROS_DISTRO-nav2* -y +# sudo apt install ros-$ROS_DISTRO-spatio-temporal-voxel-layer -y + +export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + +cd ${WORKSPACE} +source /opt/ros/$ROS_DISTRO/setup.bash +source install/setup.bash +source src/external/sensors/lidar/install/setup.bash + +function source_ros2() +{ + cd ${WORKSPACE} + source /opt/ros/$ROS_DISTRO/setup.bash + source install/setup.bash + source src/external/sensors/lidar/install/setup.bash +} + +function build_ros2() +{ + cd ${WORKSPACE} + colcon build --packages-ignore livox_ros_driver2 livox_sdk2 f1tenth_nav2_ctrl_plugin foxy_addon_behavior_tree --cmake-args -DCMAKE_BUILD_TYPE=Debug + source install/setup.bash +} + +function build_ros2_pkg() +{ + cd ${WORKSPACE} + for arg in "$@" + do + if [[ $arg == "livox_ros_driver2" ]] || [[ $arg == "livox_sdk2" ]] + then + echo "Don't try to colcon build livox packages" + return + fi + if [[ $arg == "gb_opt" ]] + then + make gb_opt + return + fi + if [[ $arg == "sick_scan_xd" ]] + then + make sick-driver + return + fi + done + colcon build --packages-select $@ --cmake-args -DCMAKE_BUILD_TYPE=Debug + source install/setup.bash +} +complete -W "basestation_launch vesc_odom sensors planner global_planner state_estimation ackermann_odom" build_ros2_pkg + +function rmw_switch() +{ + if [[ $1 == "cyclonedds" ]] + then + export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + else + export RMW_IMPLEMENTATION=rmw_fastrtps_cpp + fi +} +complete -W "cyclonedds fastrtps" rmw_switch diff --git a/src/actuator/twist_to_ackermann/CMakeLists.txt b/src/actuator/twist_to_ackermann/CMakeLists.txt new file mode 100644 index 00000000..e54cfa87 --- /dev/null +++ b/src/actuator/twist_to_ackermann/CMakeLists.txt @@ -0,0 +1,75 @@ +cmake_minimum_required(VERSION 3.5) +project(twist_to_ackermann) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +include_directories( + include +) + +### ------------------ +### find dependencies +### ------------------ + +# find_package(ament_cmake REQUIRED) +find_package(ament_cmake_auto REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(ackermann_msgs REQUIRED) +find_package(nav2_msgs REQUIRED) + +# add node entries, creating executables +add_executable(twist_to_ackermann_node src/twist_to_ackermann_node.cpp) +ament_target_dependencies(twist_to_ackermann_node rclcpp std_msgs geometry_msgs ackermann_msgs) + +install(TARGETS + twist_to_ackermann_node + DESTINATION lib/${PROJECT_NAME} +) + +# target_include_directories(my_target +# PUBLIC +# $ +# $) + +### --------------------------- +### install additional folders +### --------------------------- + +# install(DIRECTORY +# +# DESTINATION share/${PROJECT_NAME} +# ) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + # set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + param +) diff --git a/src/actuator/twist_to_ackermann/include/twist_to_ackermann/twist_to_ackermann_node.hpp b/src/actuator/twist_to_ackermann/include/twist_to_ackermann/twist_to_ackermann_node.hpp new file mode 100644 index 00000000..58a40957 --- /dev/null +++ b/src/actuator/twist_to_ackermann/include/twist_to_ackermann/twist_to_ackermann_node.hpp @@ -0,0 +1,75 @@ +#ifndef TWIST_TO_ACKERMANN__TWIST_TO_ACKERMANN_NODE_HPP_ +#define TWIST_TO_ACKERMANN__TWIST_TO_ACKERMANN_NODE_HPP_ + +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/qos.hpp" +#include "std_msgs/msg/header.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" + + +class TwistToAckermann : public rclcpp::Node +{ +public: + /** + * TwistToAckermann constructor. This constructor creates a ros2 node. + */ + TwistToAckermann(); + + /** + * TwistToAckermann destructor. This destructor destroys a tta node. + */ + ~TwistToAckermann(); + + /** + * Finds the appropriate steering angle for some turning radius, which is defined by the + * transient velocity of the vehicle along that curve (just the current velocity in this instance), + * and the rate that curve changes (angular z rotation). This angle is effected by vehicle wheelbase. + * + * All units are in m/s or rad/s. + */ + float convert_trans_rot_vel_to_steering_angle(float vel, float omega, float wheelbase); + + + +private: + // Publishers and Subscribers + // Without stamps + rclcpp::Publisher::SharedPtr _ack_pub = nullptr; + rclcpp::Subscription::SharedPtr _twist_sub = nullptr; + // With stamps + rclcpp::Publisher::SharedPtr _ack_S_pub = nullptr; + + /// Define timer_callback, things the node will execute periodically. + void timer_callback(); + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Time current_time; + + /// Define twist_callback, subscribe periodically. + void twist_callback(geometry_msgs::msg::Twist::SharedPtr msg); + + /// Wheelbase in meters. + float _wheelbase{}; + + /// Maximum Steering Angle in degrees + float max_steering_angle_deg; + /// Maximum Steering Angle in radians + float max_steering_angle; + /// default_steering_direction: counter-clockwise positive: 0, clockwise positive: 1 + int default_steering_direction; + + /// Whether to use stamped messages. + bool _use_stamps; + + std::string ack_topic; + std::string twist_topic; + std::string frame_id; +}; + +#endif // TWIST_TO_ACKERMANN__TWIST_TO_ACKERMANN_NODE_HPP_ \ No newline at end of file diff --git a/src/actuator/twist_to_ackermann/launch/twist_to_ack.launch.py b/src/actuator/twist_to_ackermann/launch/twist_to_ack.launch.py new file mode 100644 index 00000000..cc0611ec --- /dev/null +++ b/src/actuator/twist_to_ackermann/launch/twist_to_ack.launch.py @@ -0,0 +1,31 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + some_pkg = 'twist_to_ackermann' + param_file = 'twist_to_ackermann.yaml' + some_node = 'twist_to_ackermann_node' + desc_dir = get_package_share_directory(some_pkg) + + param_file_path = os.path.join( + desc_dir, + 'param', + param_file + ) + + tta_node = Node( + package=some_pkg, + executable=some_node, + output='screen', + parameters=[param_file_path] + ) + + ld = LaunchDescription() + ld.add_action(tta_node) + + return ld diff --git a/src/actuator/twist_to_ackermann/package.xml b/src/actuator/twist_to_ackermann/package.xml new file mode 100644 index 00000000..89404319 --- /dev/null +++ b/src/actuator/twist_to_ackermann/package.xml @@ -0,0 +1,23 @@ + + + + twist_to_ackermann + 0.1.0 + TODO: Convert drive message betweem twist and ackermann_drive_stamped + root + TODO: License declaration + + ament_cmake + + rclcpp + geometry_msgs + ackermann_msgs + nav2_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/actuator/twist_to_ackermann/param/twist_to_ackermann.yaml b/src/actuator/twist_to_ackermann/param/twist_to_ackermann.yaml new file mode 100644 index 00000000..e50d061c --- /dev/null +++ b/src/actuator/twist_to_ackermann/param/twist_to_ackermann.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + use_stamps_on_ackermann: true + ackermann_topic: "/ego_racecar/drive" + twist_topic: "/cmd_vel" + frame_id: odom + wheelbase: 0.5 + max_steering_angle_deg: 70.0 + default_steering_direction: 1 # counter-clockwise positive: 0, clockwise positive: 1 \ No newline at end of file diff --git a/src/actuator/twist_to_ackermann/src/twist_to_ackermann_node.cpp b/src/actuator/twist_to_ackermann/src/twist_to_ackermann_node.cpp new file mode 100644 index 00000000..b472b0a8 --- /dev/null +++ b/src/actuator/twist_to_ackermann/src/twist_to_ackermann_node.cpp @@ -0,0 +1,116 @@ +#include "twist_to_ackermann/twist_to_ackermann_node.hpp" + +template float sgn(T val) +{ + return (T(0) < val) - (val < T(0)); +} + +TwistToAckermann::TwistToAckermann() + : Node("twist_to_ackermann_node") +{ + _use_stamps = this->declare_parameter("use_stamps_on_ackermann", false); + + if (_use_stamps) + RCLCPP_INFO(this->get_logger(), "Start converting twist to ackermann_drive_stamped"); + else + RCLCPP_INFO(this->get_logger(), "Start converting twist to ackermann_drive"); + + ack_topic = this->declare_parameter("ackermann_topic", "/ack_cmd"); + twist_topic = this->declare_parameter("twist_topic", "/twist_cmd"); + + frame_id = this->declare_parameter("frame_id", "odom"); + + _wheelbase = this->declare_parameter("wheelbase", 1.0); + max_steering_angle_deg = this->declare_parameter("max_steering_angle_deg", 70.0); + max_steering_angle = max_steering_angle_deg / 180.0 * M_PI; + default_steering_direction = this->declare_parameter("default_steering_direction", 0); + + if (_use_stamps) + { + _ack_S_pub = this->create_publisher(ack_topic, 10); + } + else + { + _ack_pub = this->create_publisher(ack_topic, 10); + } + _twist_sub = this->create_subscription(twist_topic, + 10, + std::bind(&TwistToAckermann::twist_callback, this, std::placeholders::_1)); + + // current_time = this->get_clock()->now(); + // timer = this->create_wall_timer( + // std::chrono::milliseconds(20), + // std::bind(&TwistToAckermann::timer_callback, this) + // ); +} + +TwistToAckermann::~TwistToAckermann() +{ + RCLCPP_INFO(this->get_logger(), "Destorying twist_to_ackermann Node"); +} + +float TwistToAckermann::convert_trans_rot_vel_to_steering_angle(float vel, float omega, float wheelbase) +{ + if (omega == 0 || vel == 0) + { + return 0.0; + } + + // Remove negative so steering doesn't reverse when reversing. + vel = std::abs(vel); + + auto radius = vel / omega; + float desired_steering_angle = std::atan(wheelbase / radius); + if (desired_steering_angle < -max_steering_angle || desired_steering_angle > max_steering_angle) + { + desired_steering_angle = sgn(desired_steering_angle) * max_steering_angle; + } + + if (default_steering_direction == 0) + return desired_steering_angle; + else + return -desired_steering_angle; +} + +void TwistToAckermann::twist_callback(geometry_msgs::msg::Twist::SharedPtr msg) +{ + if (_use_stamps) + { + ackermann_msgs::msg::AckermannDriveStamped out{}; + out.header.frame_id = this->frame_id; + out.header.stamp = this->get_clock()->now(); + + out.drive.speed = msg->linear.x; + out.drive.steering_angle = convert_trans_rot_vel_to_steering_angle(msg->linear.x, + msg->angular.z, + this->_wheelbase); + _ack_S_pub->publish(out); + } + else + { + ackermann_msgs::msg::AckermannDrive out{}; + out.speed = msg->linear.x; + out.steering_angle = convert_trans_rot_vel_to_steering_angle(msg->linear.x, + msg->angular.z, + this->_wheelbase); + _ack_pub->publish(out); + } +} + +// void TwistToAckermann::timer_callback() +// { +// // RCLCPP_INFO(this->get_logger(), "timer working"); +// current_time = this->get_clock()->now(); +// } + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::executors::SingleThreadedExecutor exec; + auto node = std::make_shared(); + exec.add_node(node); + exec.spin(); + rclcpp::shutdown(); + + return 0; +} diff --git a/src/actuator/vesc_odom/param/ackermann_mux.param.yaml b/src/actuator/vesc_odom/param/ackermann_mux.param.yaml index 7deb7d90..be119cdd 100644 --- a/src/actuator/vesc_odom/param/ackermann_mux.param.yaml +++ b/src/actuator/vesc_odom/param/ackermann_mux.param.yaml @@ -2,10 +2,10 @@ ros__parameters: topics: navigation: - topic: drive + topic: /ego_racecar/drive timeout : 0.2 - priority: 10 + priority: 100 joystick: - topic : teleop + topic: /ego_racecar/teleop timeout : 0.2 - priority: 100 + priority: 10 diff --git a/src/actuator/vesc_odom/param/ackermann_vesc.param.yaml b/src/actuator/vesc_odom/param/ackermann_vesc.param.yaml index 69ba17ce..95c7263a 100644 --- a/src/actuator/vesc_odom/param/ackermann_vesc.param.yaml +++ b/src/actuator/vesc_odom/param/ackermann_vesc.param.yaml @@ -5,5 +5,5 @@ speed_to_erpm_offset: 93.59 # servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset - steering_angle_to_servo_gain: 1.2135 - steering_angle_to_servo_offset: 0.4 + steering_angle_to_servo_gain: 1.1061 + steering_angle_to_servo_offset: 0.55 diff --git a/src/actuator/vesc_odom/param/vesc_odom.param.yaml b/src/actuator/vesc_odom/param/vesc_odom.param.yaml index 80997100..22e3d055 100644 --- a/src/actuator/vesc_odom/param/vesc_odom.param.yaml +++ b/src/actuator/vesc_odom/param/vesc_odom.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: odom_frame: odom - base_frame: base_link + base_frame: ego_racecar/base_footprint - publish_tf: true + publish_tf: false # Disable if using Sensor Fusion use_servo_cmd_to_calc_angular_velocity: true wheelbase: .34 speed_to_erpm_gain: 2000.0 diff --git a/src/launch/basestation_launch/CMakeLists.txt b/src/launch/basestation_launch/CMakeLists.txt index 4b16f249..f2e7a43a 100644 --- a/src/launch/basestation_launch/CMakeLists.txt +++ b/src/launch/basestation_launch/CMakeLists.txt @@ -35,4 +35,7 @@ endif() ament_auto_package(INSTALL_TO_SHARE launch param + rviz + urdf + ros_data/maps ) diff --git a/src/launch/basestation_launch/launch/all_components.launch.py b/src/launch/basestation_launch/launch/all_components.launch.py new file mode 100644 index 00000000..ff7424ef --- /dev/null +++ b/src/launch/basestation_launch/launch/all_components.launch.py @@ -0,0 +1,77 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction, DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +import yaml + +launch_file_path = os.path.split(os.path.realpath(__file__))[0] + '/' +car_parameter_input_path = os.path.join(launch_file_path, '../param/car_config.yaml') # '/home/jetson/projects/robocar/src/launch/basestation_launch/param/car_config.yaml' +packages_info_path = os.path.join(launch_file_path, '../param/pkg_locations.yaml') # '/home/jetson/projects/robocar/src/launch/basestation_launch/param/pkg_locations.yaml' + +def update_parameters(car_parameter_input_path): + with open(car_parameter_input_path, "r") as file: + car_inputs = yaml.load(file, Loader=yaml.FullLoader) + my_car_inputs = {} + for key in car_inputs: + value = car_inputs[key] + if value==1: + my_car_inputs[key] = value + return my_car_inputs + + +def update_packages(packages_info_path): + with open(packages_info_path, "r") as file: + packages_dict = yaml.load(file, Loader=yaml.FullLoader) + car_inputs_dict = update_parameters(car_parameter_input_path) + my_packages = {} + for key in packages_dict: + value = packages_dict[key] + if key in car_inputs_dict: + my_packages[key] = value + return my_packages + + +def generate_a_launch_description(some_package, some_launch, new_topic_name): + if some_package == 'livox_ros_driver2': + launch_folder = 'launch_ROS2' + else: + launch_folder = 'launch' + + return LaunchDescription([ + DeclareLaunchArgument( + 'topic_name', + default_value = 'default_value', + description = 'REQUIRED argument for new topic name (can use original topic name if needed)' + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory(some_package), + launch_folder, + some_launch) + ), + launch_arguments = {'topic_name': new_topic_name}.items() + ), + ]) + + +def generate_launch_description(): + my_packages_dict = update_packages(packages_info_path) + ld = LaunchDescription() + for key in my_packages_dict: + pkg_name = my_packages_dict[key][0] + launch_name = my_packages_dict[key][1] + component_type = my_packages_dict[key][2] + new_topic_name = my_packages_dict[key][3] + # ld_list = [] + try: + ld.add_action(generate_a_launch_description(pkg_name, launch_name, new_topic_name)) + except: + pass + print(f"Trying to start: {launch_name} from {pkg_name}") + return ld diff --git a/src/launch/basestation_launch/launch/all_nodes.launch.py b/src/launch/basestation_launch/launch/all_nodes.launch.py new file mode 100644 index 00000000..e0ce3233 --- /dev/null +++ b/src/launch/basestation_launch/launch/all_nodes.launch.py @@ -0,0 +1,68 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction, DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +import yaml + +launch_file_path = os.path.split(os.path.realpath(__file__))[0] + '/' +node_list_input_path = os.path.join(launch_file_path, '../param/node_config.yaml') # '/home/jetson/projects/robocar/src/launch/basestation_launch/param/node_config.yaml' +node_packages_info_path = os.path.join(launch_file_path, '../param/node_pkg_locations.yaml') # '/home/jetson/projects/robocar/src/launch/basestation_launch/param/node_pkg_locations.yaml' + +def update_parameters(node_list_input_path): + with open(node_list_input_path, "r") as file: + car_inputs = yaml.load(file, Loader=yaml.FullLoader) + my_car_inputs = {} + for key in car_inputs: + value = car_inputs[key] + if value==1: + my_car_inputs[key] = value + return my_car_inputs + + +def update_packages(node_packages_info_path): + with open(node_packages_info_path, "r") as file: + packages_dict = yaml.load(file, Loader=yaml.FullLoader) + car_inputs_dict = update_parameters(node_list_input_path) + my_packages = {} + for key in packages_dict: + value = packages_dict[key] + if key in car_inputs_dict: + my_packages[key] = value + return my_packages + + +def generate_a_launch_description(some_package, some_launch): + return LaunchDescription([ + DeclareLaunchArgument( + 'topic_name', + default_value = 'default_value', + description = 'REQUIRED argument for new topic name (can use original topic name if needed)' + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory(some_package), + 'launch', + some_launch) + ), + ), + ]) + + +def generate_launch_description(): + my_packages_dict = update_packages(node_packages_info_path) + ld = LaunchDescription() + for key in my_packages_dict: + pkg_name = my_packages_dict[key][0] + launch_name = my_packages_dict[key][1] + try: + ld.add_action(generate_a_launch_description(pkg_name, launch_name)) + except: + pass + print(f"Trying to start: {launch_name} from {pkg_name}") + return ld diff --git a/src/launch/basestation_launch/launch/autodrive_sim.launch.py b/src/launch/basestation_launch/launch/autodrive_sim.launch.py new file mode 100644 index 00000000..3ac866c4 --- /dev/null +++ b/src/launch/basestation_launch/launch/autodrive_sim.launch.py @@ -0,0 +1,107 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch.substitutions import Command +from ament_index_python.packages import get_package_share_directory +import os +import yaml + +def generate_launch_description(): + pkg_name = 'basestation_launch' + desc_dir = get_package_share_directory(pkg_name) + + config = os.path.join( + desc_dir, + 'param', + 'autodrive_sim.yaml' + ) + + config_dict = yaml.safe_load(open(config, 'r')) + # has_opp = config_dict['bridge']['ros__parameters']['num_agent'] > 1 + # teleop = config_dict['bridge']['ros__parameters']['kb_teleop'] + + bridge_node = Node( + package='autodrive_f1tenth', + executable='autodrive_bridge', + name='autodrive_bridge', + emulate_tty=True, + output='screen', + remappings=[ + ('/autodrive/f1tenth_1/lidar', '/ego_racecar/scan'), + ('/autodrive/f1tenth_1/front_camera', '/ego_racecar/front_camera'), + ('/autodrive/f1tenth_1/imu', '/ego_racecar/imu'), + ], + ) + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', [FindPackageShare("autodrive_f1tenth"), '/rviz', '/simulator.rviz',]] + # arguments=['-d', os.path.join(get_package_share_directory('autodrive_f1tenth'), '/rviz', 'simulator.rviz')] + ) + # map_server_node = Node( + # package='nav2_map_server', + # executable='map_server', + # parameters=[{'yaml_filename': config_dict['bridge']['ros__parameters']['map_path'] + '.yaml'}, + # {'topic': 'map'}, + # {'frame_id': 'map'}, + # {'output': 'screen'}, + # {'use_sim_time': True}] + # ) + # nav_lifecycle_node = Node( + # package='nav2_lifecycle_manager', + # executable='lifecycle_manager', + # name='lifecycle_manager_localization', + # output='screen', + # parameters=[{'use_sim_time': True}, + # {'autostart': True}, + # {'node_names': ['map_server']}] + # ) + ackermann_odom_node = Node( + package='ackermann_odom', + executable='ackermann_odom_node', + name='ackermann_odom', + # prefix=['gdb -ex run --args'], # For GDB within the launch terminal + parameters=[{'use_sim_time': False}], + ) + ego_robot_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='ego_robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', os.path.join(get_package_share_directory('basestation_launch'), 'urdf', 'autodrive_racecar.xacro')])}], + remappings=[ + ('/robot_description', '/ego_racecar/robot_description'), + ('/joint_states', '/ego_racecar/joint_states'), + ] + ) + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='ego_joint_state_publisher', + arguments=[os.path.join(get_package_share_directory('basestation_launch'), 'urdf', 'autodrive_racecar.xacro')], + # condition=UnlessCondition(LaunchConfiguration('gui')) + remappings=[ + ('/robot_description', '/ego_racecar/robot_description'), + ('/joint_states', '/ego_racecar/joint_states'), + ], + ) + + ld = LaunchDescription() + + # finalize + ld.add_action(bridge_node) + # ld.add_action(nav_lifecycle_node) + # ld.add_action(map_server_node) + ld.add_action(ackermann_odom_node) + + if config_dict['bridge']['ros__parameters']['launch_rviz']: + ld.add_action(rviz_node) + + if config_dict['bridge']['ros__parameters']['ego_urdf_pub']: + ld.add_action(ego_robot_publisher) + ld.add_action(joint_state_publisher_node) + # if has_opp: + # if config_dict['bridge']['ros__parameters']['opp_urdf_pub']: + # ld.add_action(opp_robot_publisher) + + return ld \ No newline at end of file diff --git a/src/launch/basestation_launch/launch/joy.launch.py b/src/launch/basestation_launch/launch/joy.launch.py index 97864852..dc290efd 100644 --- a/src/launch/basestation_launch/launch/joy.launch.py +++ b/src/launch/basestation_launch/launch/joy.launch.py @@ -1,19 +1,30 @@ from launch import LaunchDescription from launch_ros.actions import Node +from launch.substitutions import Command +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch_xml.launch_description_sources import XMLLaunchDescriptionSource from ament_index_python.packages import get_package_share_directory import os def generate_launch_description(): - joy_teleop_config = os.path.join( - get_package_share_directory('basestation_launch'), + # print(get_package_share_directory('joy_teleop')) + ctrl_pkg = 'basestation_launch' + joy_config = os.path.join( + get_package_share_directory(ctrl_pkg), 'param', 'joy.param.yaml' ) - joy_config = os.path.join( - get_package_share_directory('basestation_launch'), + joy_teleop_config = os.path.join( + get_package_share_directory(ctrl_pkg), 'param', 'joy_teleop.param.yaml' ) + # joy_la = DeclareLaunchArgument( + # 'joy_config', + # default_value=joy_teleop_config, + # description='Descriptions for joy and joy_teleop configs') ld = LaunchDescription([]) @@ -28,7 +39,7 @@ def generate_launch_description(): package='joy_teleop', executable='joy_teleop', name='joy_teleop', - parameters=[joy_config] + parameters=[joy_teleop_config] ) ld.add_action(joy_node) diff --git a/src/launch/basestation_launch/launch/ros_bridge_launch.launch.py b/src/launch/basestation_launch/launch/ros_bridge_launch.launch.py new file mode 100644 index 00000000..36823479 --- /dev/null +++ b/src/launch/basestation_launch/launch/ros_bridge_launch.launch.py @@ -0,0 +1,22 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction, ExecuteProcess +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +import yaml + + +def generate_launch_description(): + ld = LaunchDescription() + ros_bridge_execute = ExecuteProcess( + name='execute_ros_bridge', + cmd=['ros2', 'run', 'ros1_bridge', 'dynamic_bridge','--bridge-all-topics'], + output='screen', + shell='True' + ) + ld.add_action(ros_bridge_execute) + return ld diff --git a/src/launch/basestation_launch/launch/rosbag_launch.launch.py b/src/launch/basestation_launch/launch/rosbag_launch.launch.py new file mode 100644 index 00000000..33c22047 --- /dev/null +++ b/src/launch/basestation_launch/launch/rosbag_launch.launch.py @@ -0,0 +1,24 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction, ExecuteProcess +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +import yaml + + + # cmd=['ros2', 'bag', 'record', '-o', 'sven_cbf2', '/teleop', '/scan', '/imu_topic', '/odom', '/slam_out_pose'], + +def generate_launch_description(): + ld = LaunchDescription() + rosbag_execute = ExecuteProcess( + name='execute_ros_bag', + cmd=['ros2', 'bag', 'record', '-o', 'icra_curve', '-a'], + output='screen', + shell='True' + ) + ld.add_action(rosbag_execute) + return ld diff --git a/src/launch/basestation_launch/launch/sensor_visualization.launch.py b/src/launch/basestation_launch/launch/sensor_visualization.launch.py new file mode 100644 index 00000000..d45e82b1 --- /dev/null +++ b/src/launch/basestation_launch/launch/sensor_visualization.launch.py @@ -0,0 +1,33 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +import yaml + + +def generate_launch_description(): + pkg_name = 'basestation_launch' + launch_file_path = os.path.split(os.path.realpath(__file__))[0] + '/' + pkg_dir = os.path.join(launch_file_path, '../rviz') + config_file = 'sensor_visualization.rviz' + + config = os.path.join( + get_package_share_directory(pkg_name), + 'rviz', + config_file) + + ld = LaunchDescription() + + rviz2_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', [config]]) + + ld.add_action(rviz2_node) + return ld diff --git a/src/launch/basestation_launch/launch/sim.launch.py b/src/launch/basestation_launch/launch/sim.launch.py new file mode 100644 index 00000000..f8ab11ee --- /dev/null +++ b/src/launch/basestation_launch/launch/sim.launch.py @@ -0,0 +1,83 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import Command +from ament_index_python.packages import get_package_share_directory +import os +import yaml + +def generate_launch_description(): + pkg_name = 'basestation_launch' + desc_dir = get_package_share_directory(pkg_name) + + config = os.path.join( + desc_dir, + 'param', + 'sim.yaml' + ) + + config_dict = yaml.safe_load(open(config, 'r')) + has_opp = config_dict['bridge']['ros__parameters']['num_agent'] > 1 + teleop = config_dict['bridge']['ros__parameters']['kb_teleop'] + + bridge_node = Node( + package='f1tenth_gym_ros', + executable='gym_bridge', + name='bridge', + parameters=[config] + ) + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'launch', 'gym_bridge.rviz')] + ) + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + parameters=[{'yaml_filename': config_dict['bridge']['ros__parameters']['map_path'] + '.yaml'}, + {'topic': 'map'}, + {'frame_id': 'map'}, + {'output': 'screen'}, + {'use_sim_time': True}] + ) + nav_lifecycle_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + parameters=[{'use_sim_time': True}, + {'autostart': True}, + {'node_names': ['map_server']}] + ) + ego_robot_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='ego_robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'launch', 'ego_racecar.xacro')])}], + remappings=[('/robot_description', '/ego_racecar/robot_description')] + ) + opp_robot_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='opp_robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', os.path.join(get_package_share_directory('f1tenth_gym_ros'), 'launch', 'opp_racecar.xacro')])}], + remappings=[('/robot_description', '/opp_racecar/robot_description')] + ) + + ld = LaunchDescription() + + # finalize + ld.add_action(bridge_node) + ld.add_action(nav_lifecycle_node) + ld.add_action(map_server_node) + + if config_dict['bridge']['ros__parameters']['launch_rviz']: + ld.add_action(rviz_node) + + if config_dict['bridge']['ros__parameters']['ego_urdf_pub']: + ld.add_action(ego_robot_publisher) + if has_opp: + if config_dict['bridge']['ros__parameters']['opp_urdf_pub']: + ld.add_action(opp_robot_publisher) + + return ld \ No newline at end of file diff --git a/src/launch/basestation_launch/launch/urdf_publisher_launch.launch.py b/src/launch/basestation_launch/launch/urdf_publisher_launch.launch.py new file mode 100644 index 00000000..31a77a8e --- /dev/null +++ b/src/launch/basestation_launch/launch/urdf_publisher_launch.launch.py @@ -0,0 +1,92 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, Command +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +launch_file_path = os.path.split(os.path.realpath(__file__))[0] + '/' +related_param_path = os.path.join(launch_file_path, '../urdf/urdf_related_param.yaml') + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + pkg_name = 'basestation_launch' + xacro_file = 'ucsd_racecar.xacro' + desc_dir = get_package_share_directory(pkg_name) + + related_param_num, related_param_str = yaml_decode(related_param_path) + # print(related_param_num, '\n', related_param_str) + + xacro_file_path = os.path.join( + desc_dir, + 'urdf', + xacro_file + ) + + # with open(urdf_file_path, 'r') as infile: + # urdf_content = infile.read() + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='ego_robot_state_publisher', + output='screen', + parameters=[ + {'robot_description':Command(['xacro',' ', xacro_file_path]), + 'use_sim_time': False} + ], + remappings=[ + ('/robot_description', '/ego_racecar/robot_description'), + ('/joint_states', '/ego_racecar/joint_states'), + ], + ) + + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='ego_joint_state_publisher', + arguments=[xacro_file_path], + # condition=UnlessCondition(LaunchConfiguration('gui')) + remappings=[ + ('/robot_description', '/ego_racecar/robot_description'), + ('/joint_states', '/ego_racecar/joint_states'), + ], + ) + + ## tf2 - lidar_link to laser frame + node_tf2_fp2laser = Node( + name='tf2_ros_fp_laser', + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=[str(related_param_num['x']), + str(related_param_num['y']), + str(related_param_num['z']), + str(related_param_num['yaw']), + str(related_param_num['pitch']), + str(related_param_num['roll']), + related_param_str['frame_id'], + related_param_str['child_frame_id']], + ) + + ld = LaunchDescription() + ld.add_action(robot_state_publisher_node) + ld.add_action(joint_state_publisher_node) + ld.add_action(node_tf2_fp2laser) + + return ld diff --git a/src/launch/basestation_launch/package.xml b/src/launch/basestation_launch/package.xml index b57ad1a2..412ab515 100644 --- a/src/launch/basestation_launch/package.xml +++ b/src/launch/basestation_launch/package.xml @@ -12,6 +12,13 @@ joy_teleop ackermann_msgs + robot_state_publisher + joint_state_publisher + joint_state_publisher_gui + xacro + rviz + robot_localization + ament_lint_auto ament_lint_common diff --git a/src/launch/basestation_launch/param/autodrive_sim.yaml b/src/launch/basestation_launch/param/autodrive_sim.yaml new file mode 100644 index 00000000..6e2e544b --- /dev/null +++ b/src/launch/basestation_launch/param/autodrive_sim.yaml @@ -0,0 +1,4 @@ +bridge: + ros__parameters: + launch_rviz: False + ego_urdf_pub: True diff --git a/src/launch/basestation_launch/param/car_config.yaml b/src/launch/basestation_launch/param/car_config.yaml new file mode 100644 index 00000000..ec28834e --- /dev/null +++ b/src/launch/basestation_launch/param/car_config.yaml @@ -0,0 +1,20 @@ +# sick: 0 +livox: 1 +# bpearl: 0 +# rp_lidar: 0 +# ld06: 0 +# webcam: 0 +# intel: 0 +# oakd: 0 +# zed: 0 +# artemis: 0 +# ublox: 0 +vesc_with_odom: 1 +# vesc_without_odom: 0 +# adafruit: 0 +# adafruit_servo: 0 +# adafruit_continuous_servo: 0 +# esp32: 0 +# stm32: 0 +# bldc_sensor: 0 +# bldc_no_sensor: 0 diff --git a/src/launch/basestation_launch/param/global_planner/global_planner_params.yaml b/src/launch/basestation_launch/param/global_planner/global_planner_params.yaml new file mode 100644 index 00000000..2dc29c7a --- /dev/null +++ b/src/launch/basestation_launch/param/global_planner/global_planner_params.yaml @@ -0,0 +1,14 @@ +global_planner: + ros__parameters: + rate: 10 # [hz] + required_laps: 1 # how many laps to drive until calculating global waypoints + safety_width: 0.2 # [m] including the width of the car + safety_width_sp: 0.2 # [m] including the width of the car for shortest path optimization + occupancy_grid_threshold: 10 + filter_kernel_size: 9 # how much filtering to do to raw map images + reverse_mapping: False # By default, do not reverse the direction of the track + + show_plots: False + + map_editor: False + create_map: False diff --git a/src/launch/basestation_launch/param/global_planner/racecar_f110.ini b/src/launch/basestation_launch/param/global_planner/racecar_f110.ini new file mode 100644 index 00000000..8ed99210 --- /dev/null +++ b/src/launch/basestation_launch/param/global_planner/racecar_f110.ini @@ -0,0 +1,282 @@ +# ---------------------------------------------------------------------------------------------------------------------- +[GENERAL_OPTIONS] + +### set name of ggv diagram and ax_max_machines files to use +ggv_file="ggv.csv" +ax_max_machines_file="ax_max_machines.csv" + + +### stepsize options +# stepsize_prep: [m] used for linear interpolation before spline approximation --> Initial Stepsize on the tracks +# stepsize_reg: [m] used for spline interpolation after spline approximation (stepsize during opt.) --> # Number of normals on the track +# stepsize_interp_after_opt: [m] used for spline interpolation after optimization + +stepsize_opts={"stepsize_prep": 0.05, + "stepsize_reg": 0.2, + "stepsize_interp_after_opt": 0.1} + +### spline regression smooth options +# k_reg: [-] order of B-Splines -> standard: 3 +# s_reg: [-] smoothing factor, range [1.0, 100.0] + +reg_smooth_opts={"k_reg": 3, + "s_reg": 1} + +### preview and review distances for numerical curvature calculation (used in minimum time optimization) +# d_preview_curv: [m] preview distance (curvature) +# d_review_curv: [m] review distance (curvature) +# d_preview_head: [m] preview distance (heading) +# d_review_head: [m] review distance (heading) + +curv_calc_opts = {"d_preview_curv": 2.0, + "d_review_curv": 2.0, + "d_preview_head": 1.0, + "d_review_head": 1.0} + +### general vehicle parameters required in several functions +# v_max: [m/s] maximal vehicle speed +# length: [m] vehicle length +# width: [m] vehicle width +# mass: [kg] vehiclemass +# dragcoeff: [kg*m2/m3] drag coefficient calculated by 0.5 * rho_air * c_w * A_front +# curvlim: [rad/m] curvature limit of the vehicle +# g: [N/kg] gravity acceleration + +veh_params = {"v_max":15.0, + "length": 0.535, + "width": 0.30, + "mass": 3.518, + "dragcoeff": 0.0136, + "curvlim": 1.0, + "g": 9.81} + +### velocity profile calculation options +# dyn_model_exp: [-] exponent used in the vehicle dynamics model (range [1.0, 2.0]) +# vel_profile_conv_filt_window: [-] moving average filter window size for velocity profile (set null if not used) + +vel_calc_opts = {"dyn_model_exp": 1.0, + "vel_profile_conv_filt_window": null} + +# ---------------------------------------------------------------------------------------------------------------------- +[OPTIMIZATION_OPTIONS] + +### optimization problem options (shortest path optimization) ---------------------------------------------------------- +# width_opt: [m] vehicle width for optimization including safety distance + +optim_opts_shortest_path={"width_opt": 1.20} + +### optimization problem options (minimum curvature optimization) ------------------------------------------------------ +# width_opt: [m] vehicle width for optimization including safety distance +# iqp_iters_min: [-] minimum number of iterations for the IQP +# iqp_curverror_allowed: [rad/m] maximum allowed curvature error for the IQP + +optim_opts_mincurv={"width_opt": 0.8, + "iqp_iters_min": 5, + "iqp_curverror_allowed": 0.1} + +### optimization problem options (minimum lap time optimization) ------------------------------------------------------- +# width_opt: [m] vehicle width for optimization including safety distance +# penalty_delta: [-] penalty of delta derivative for improved smoothness of controls (range [0.0, 50.0]) +# penalty_F: [-] penalty of F derivative for improved smoothness of controls (range [0.0, 2.0]) +# mue: [-] constant friction coefficient (determines tire's D parameter of MF by D = F_z * mue) +# n_gauss [-] number of gaussian basis functions on each side (var_friction: "gauss") +# dn [m] distance of equidistant points on normal vectors for extracting friction + # coefficients (var_friction: "linear" or "gauss") +# limit_energy: [true/false] limit energy consumption +# energy_limit: [kWh/lap] energy consumption limit (limit_energy: true) +# safe_traj: [true/false] safe trajectories -> limit accelerations +# ax_pos_safe: [m/s2] a_x+ limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# ax_neg_safe: [m/s2] a_x- limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# ay_safe: [m/s2] a_y limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# w_tr_reopt: [m] total track width in case of reoptimization using the IQP +# w_veh_reopt: [m] vehicle width in case of reoptimization using the IQP +# w_add_spl_regr: [m] width added in case of reoptimization to compensate second spline regression +# step_non_reg: [-] defines how many points to be skipped per step during non-regular point sampling +# (dependent on curvature) +# eps_kappa: [rad/m] curvature threshold to skip discretization points on straights (if +# step_non_reg > 0) + +optim_opts_mintime={"width_opt": 0.8, + "penalty_delta": 1.0, + "penalty_F": 0.1, + "mue": 1.0, + "n_gauss": 5, + "dn": 0.025, + "limit_energy": false, + "energy_limit": 2.0, + "safe_traj": false, + "ax_pos_safe": null, + "ax_neg_safe": null, + "ay_safe": null, + "w_tr_reopt": 1.0, + "w_veh_reopt": 0.8, + "w_add_spl_regr": 0.0, + "step_non_reg": 0, + "eps_kappa": 1e-3} + +### vehicle parameters (minimum lap time optimization) +# wheelbase_front: [m] wheelbase front +# wheelbase_rear: [m] wheelbase rear +# track_width_front: [m] track width front +# track_width_rear: [m] track width rear +# cog_z: [m] center of gravity +# I_z: [kgm^2] yaw inertia +# liftcoeff_front: [kg*m2/m3] lift coefficient front axle calculated by 0.5 * rho_air * c_l_f * A_spoiler_f +# liftcoeff_rear: [kg*m2/m3] lift coefficient rear axle calculated by 0.5 * rho_air * c_l_r * A_spoiler_r +# k_brake_front: [-] portion of braking force at the front axle of the total braking force +# k_drive_front: [-] portion of driving force at the front axle of the total driving force +# k_roll: [-] portion of roll moment at the front axle of the total roll moment +# t_delta: [s] time constant for steering dynamic +# t_drive: [s] time constant for acceleration dynamic +# t_brake: [s] time constant for braking dynamic +# power_max: [W] maximal engine power +# f_drive_max: [N] maximal drive force +# f_brake_max: [N] maximal brake force (only needed for actor dynamics) +# delta_max: [rad] maximal steer angle + +vehicle_params_mintime = {"wheelbase_front": 0.15875, + "wheelbase_rear": 0.17145, + "track_width_front": 0.281, + "track_width_rear": 0.281, + "cog_z": 0.074, + "I_z": 0.04712, + "liftcoeff_front": 0.001, + "liftcoeff_rear": 0.0015, + "k_brake_front": 0.5, + "k_drive_front": 0.0, + "k_roll": 0.5, + "t_delta": 0.1, + "t_drive": 0.1, + "t_brake": 0.1, + "power_max": 267, + "f_drive_max": 33.4, + "f_brake_max": 47.4, + "delta_max": 0.34} + +### tire parameters (minimum lap time optimization) +# c_roll: [-] rolling resistance coefficient +# f_z0: [N] nominal normal force +# B_front: [-] Coefficient B for front tire +# C_front: [-] Coefficient C for front tire +# eps_front: [-] load dependence of Coefficient D for front tire +# E_front: [-] Coefficient E for front tire +# B_rear: [-] Coefficient B for rear tire +# C_rear: [-] Coefficient C for rear tire +# eps_rear: [-] load dependence of Coefficient D for rear tire +# E_rear: [-] Coefficient E for rear tire +# Hint: The D parameter of the Magic Formula is determined by D = F_z * mue. mue can be set above in optim_opts_mintime! + +tire_params_mintime = {"c_roll": 0.010, + "f_z0": 8.6, + "B_front": 7.4, + "C_front": 1.2, + "eps_front": -0.1, + "E_front": 0.85, + "B_rear": 7.4, + "C_rear": 1.2, + "eps_rear": -0.1, + "E_rear": 0.85} + +### powertrain behavior (minimum lap time optimization) +# [1] Prof. Dr.-Ing. Markus Lienkamp, „Auslegung von Elektrofahrzeugen: Lecture slides,“ Unpublished manuscript, 2018 +# [2] F. P. Incropera, Fundamentals of heat and mass transfer, 6th ed., Hoboken NJ, John Wiley, 2007, ISBN: 9780471457282 +# [3] M. Grabowski, K. Urbaniec, J. Wernik and K. J. Wołosz, „Numerical simulation and experimental verification of heat transfer from a finned housing of an electric motor,“Energy Conversion and Management, vol. 125, pp. 91–96, 2016 +# [4] K. Li, S. Wang and J. P. Sullivan, „A novel thermal network for the maximum temperaturerise of hollow cylinder,“ Applied Thermal Engineering, vol. 52, no. 1, pp. 198–208, 2013 + +# pwr_behavior: [-] consider powertrain behavior +# simple_loss: [-] use simple loss models (fitted to measured data, input -- ouput power), +# currently the only available option. A future release will contain more detailed +# powertrain models based on Gaussian basis functions. +# T_env: [°C] temperature of environment +# T_mot_ini: [°C] initial temperature electric machines +# T_batt_ini: [°C] initial temperature battery +# T_inv_ini: [°C] initial temperature inverter +# T_cool_mi_ini: [°C] initial temperature cooling fluid machine and inverter +# T_cool_b_ini: [°C] initial temperature battery fluid +# r_wheel: [m] Wheel radius +# R_i_simple: [Ohm] internal resistance of simple battery model +# V_OC_simple: [V] Open Circuit Voltage of simple battery model +# SOC_ini: [-] initial SOC of battery +# C_batt: [kWh] Capacity of battery (spreadsheet) +# N_cells_serial: [-] Number of battery cells in series in battery pack +# N_cells_parallel: [-] Number of battery cells in parallel in battery pack +# temp_mot_max: [°C] max. allowed temperature of electric machines (spreadsheet) +# temp_batt_max: [°C] max. allowed temperature of battery (spreadsheet) +# temp_inv_max: [°C] max. allowed temperature of inverters [1, p 7.19] +# N_machines: [-] number of electric machines (spreadsheet) +# transmission: [-] gear transmission +# MotorConstant: [Nm/A] motor constant (linear dependency current and torque) +# C_therm_machine: [J/K] Absolute thermal capacity electric machine + # c_iro = 420 J/kgK; c_magnet = 460 J/kgK; m_machine = 18 kg (spreadsheet) + # -> C_therm_machine = 99 % * m_machine * c_iro + 1 % * m_machine * c_magnet +# C_therm_inv: [J/K] Absolute thermal capacity inverter (equal to that of motor) +# C_therm_cell: [J/K] Absolute thermal capacity battery pouch cell +# C_TempCopper: [1/°C] temperature coefficient copper in electric machine +# m_therm_fluid_mi [kg] mass of cooling fluid (machine inverter circuit) +# m_therm_fluid_b [kg] mass of cooling fluid (battery circuit) +# r_rotor_int: [m] radius rotor internal (spreadsheet) +# r_rotor_ext: [m] radius rotor external (spreadsheet) +# r_stator_int: [m] radius stator internal (spreadsheet) +# r_stator_ext: [m] radius stator external (spreadsheet) +# l_machine: [m] length electric machine (spreadsheet) +# A_cool_inflate_machine: [-] factor of which cooling surface of machine is bigger than raw outer surface +# A_cool_inv: [m^2] cooling area of inverter: length * width +# A_cool_rad: [m^2] cooling area of radiator [2, p 704] +# k_iro: [W/m^2K] thermal conductivity of iron [3] +# h_air: [W/m^2K] convective heat flux coefficient of radiator to air [1, p 9.95] +# h_air_gap: [W/m^2K] convective heat flux coefficient of machine air gap [4] +# h_fluid_mi: [W/m^2K] convective heat flux coefficient of cooling fluid machine + inverter [1, p 9.95] +# c_heat_fluid [J/kgK] specific heat capacity cooling fluid (similar to water) [2] +# flow_rate_inv [kg/s] flow rate of cooling fluid through inverters +# flow_rate_rad [kg/s] flow rate of cooling fluid through radiator (estimated from spreadsheet) +# machine_simple_a,b,c: [-] fitting coefficients (ax^2 + bx + c) of machine efficiency (input -- output power) +# inverter_fit_a,b,c [-] fitting coefficients (ax^2 + bx + c) of inverter efficiency (input -- output power) + +pwr_params_mintime = {"pwr_behavior": false, + "simple_loss": true, + "T_env": 30, + "T_mot_ini": 30, + "T_batt_ini": 30, + "T_inv_ini": 30, + "T_cool_mi_ini": 30, + "T_cool_b_ini": 30, + "r_wheel": 0.3, + "R_i_simple": 0.05, + "V_OC_simple": 700, + "SOC_ini": 0.4, + "C_batt": 41.0, + "N_cells_serial": 176, + "N_cells_parallel": 3, + "temp_mot_max": 170.0, + "temp_batt_max": 50.0, + "temp_inv_max": 100.0, + "N_machines": 2, + "transmission": 6.25, + "MotorConstant": 0.465, + "C_therm_machine": 7567.2, + "C_therm_inv": 7567.2, + "C_therm_cell": 824.0, + "C_TempCopper": 0.004041, + "m_therm_fluid_mi": 5, + "m_therm_fluid_b": 5, + "r_rotor_int": 0.03, + "r_rotor_ext": 0.087, + "r_stator_int": 0.088, + "r_stator_ext": 0.121, + "l_machine": 0.055, + "A_cool_inflate_machine": 3.0, + "A_cool_inv": 0.3969, + "A_cool_rad": 5.0, + "k_iro": 45.0, + "h_air": 50.0, + "h_air_gap": 60.0, + "h_fluid_mi": 5000.0, + "c_heat_fluid": 4181.0, + "flow_rate_inv": 0.2, + "flow_rate_rad": 0.2, + "machine_simple_a": -0.000027510784764, + "machine_simple_b": 1.046187222759047, + "machine_simple_c": 1.001964003837042, + "inverter_simple_a": -0.000707138661579, + "inverter_simple_b": 1.139958410466637, + "inverter_simple_c": 1.004970807882952} diff --git a/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ax_max_machines.csv b/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ax_max_machines.csv new file mode 100644 index 00000000..f9a02593 --- /dev/null +++ b/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ax_max_machines.csv @@ -0,0 +1,62 @@ +#v_mps,ax_max_machines_mps2 +0.0,9.10935576152022 +0.25,8.97995725362624 +0.5,8.850558745732261 +0.75,8.721160237838284 +1.0,8.591761729944306 +1.25,8.462363222050326 +1.5,8.332964714156347 +1.75,8.203566206262368 +2.0,8.07416769836839 +2.25,7.944769190474411 +2.5,7.815370682580432 +2.75,7.685972174686453 +3.0,7.556573666792474 +3.25,7.427175158898495 +3.5,7.297776651004517 +3.75,7.168378143110537 +4.0,7.03897963521656 +4.25,6.90958112732258 +4.5,6.780182619428602 +4.75,6.650784111534623 +5.0,6.521385603640645 +5.25,6.391987095746665 +5.5,6.262588587852687 +5.75,6.133190079958707 +6.0,6.003791572064729 +6.25,5.87439306417075 +6.5,5.744994556276771 +6.75,5.615596048382792 +7.0,5.4861975404888135 +7.25,5.356799032594835 +7.5,5.2274005247008555 +7.75,5.098002016806878 +8.0,4.968603508912898 +8.25,4.83920500101892 +8.5,4.709806493124941 +8.75,4.580407985230962 +9.0,4.451009477336983 +9.25,4.321610969443004 +9.5,4.192212461549026 +9.75,4.062813953655047 +10.0,3.933415445761068 +10.25,3.804016937867089 +10.5,3.67461842997311 +10.75,3.545219922079131 +11.0,3.415821414185153 +11.25,3.286422906291174 +11.5,3.157024398397195 +11.75,3.027625890503216 +12.0,2.898227382609237 +12.25,2.768828874715258 +12.5,2.6394303668212804 +12.75,2.5100318589273014 +13.0,2.3806333510333224 +13.25,2.2512348431393434 +13.5,2.1218363352453644 +13.75,1.9924378273513854 +14.0,1.8630393194574073 +14.25,1.7336408115634283 +14.5,1.6042423036694495 +14.75,1.4748437957754705 +15.0,1.4748437957754705 \ No newline at end of file diff --git a/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ggv.csv b/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ggv.csv new file mode 100644 index 00000000..f355141a --- /dev/null +++ b/src/launch/basestation_launch/param/global_planner/veh_dyn_info/ggv.csv @@ -0,0 +1,19 @@ +# v_mps,ax_max_mps2,ay_max_mps2 +0.0,12.0,12.0 +4.0,12.0,12.0 +8.0,12.0,12.0 +12.0,12.0,12.0 +16.0,12.0,12.0 +20.0,12.0,12.0 +24.0,12.0,12.0 +28.0,12.0,12.0 +32.0,12.0,12.0 +36.0,12.0,12.0 +40.0,12.0,12.0 +44.0,12.0,12.0 +48.0,12.0,12.0 +52.0,12.0,12.0 +56.0,12.0,12.0 +60.0,12.0,12.0 +66.0,12.0,12.0 +72.0,12.0,12.0 diff --git a/src/launch/basestation_launch/param/joy.param.yaml b/src/launch/basestation_launch/param/joy.param.yaml index 983e6b13..f0a789ed 100644 --- a/src/launch/basestation_launch/param/joy.param.yaml +++ b/src/launch/basestation_launch/param/joy.param.yaml @@ -1,5 +1,6 @@ /**: - __parameters: + ros__parameters: + device_id: 0 deadzone: 0.01 autorepeat_rate: 20.0 coalesce_interval: 0.01 diff --git a/src/launch/basestation_launch/param/joy_teleop.param.yaml b/src/launch/basestation_launch/param/joy_teleop.param.yaml index 1728bb4f..dbac7e61 100644 --- a/src/launch/basestation_launch/param/joy_teleop.param.yaml +++ b/src/launch/basestation_launch/param/joy_teleop.param.yaml @@ -3,13 +3,13 @@ default: type: topic interface_type: ackermann_msgs/msg/AckermannDriveStamped - topic_name: drive + topic_name: /ego_racecar/teleop axis_mappings: drive-speed: axis: 4 - scale: -1.0 + scale: 4.0 offset: 0.0 drive-steering_angle: axis: 0 scale: -0.35 - offset: 0.0 + offset: 0 diff --git a/src/launch/basestation_launch/param/map_select.yaml b/src/launch/basestation_launch/param/map_select.yaml new file mode 100644 index 00000000..d49d23d1 --- /dev/null +++ b/src/launch/basestation_launch/param/map_select.yaml @@ -0,0 +1,5 @@ +## map selection for map_server +absolute_path_prefix: '/home/jetson/projects/robocar/src/launch/basestation_launch/ros_data' +default_path_prefix: 'maps' +custom_prefix: 'lab_test/lab_hallway_0505' +map_yaml_file: 'lab_hallway_0505.yaml' # where your map *.yaml is diff --git a/src/launch/basestation_launch/param/node_config.yaml b/src/launch/basestation_launch/param/node_config.yaml new file mode 100644 index 00000000..4fc48979 --- /dev/null +++ b/src/launch/basestation_launch/param/node_config.yaml @@ -0,0 +1,57 @@ +# sensors/hardware +all_components: 1 +simulator: 0 # simulator may publish its own urdf or launch rviz, please check your setting in sim.yaml. +autodrive_sim: 0 + +# camera navigation +# camera_nav_calibration: 0 +# camera_nav: 0 + +# slam-toolbox +slam: 0 +TUM_global_planner: 0 + +## nav2 +map: 1 # - map_server +global_path_publisher: 0 # - enable this only after finished using TUM_global_planner +localization: 1 # - localization_server +ekf: 1 # - ekf sensor fusion from robot_localization pkg +odom_rf2o: 0 # - rf2o laser odometry +odom_FAST_LIO: 0 # - FAST LIO odometry +planner: 1 # - Path Planner (Real-Time planner). Nav2 Local Planner. +twist_to_ackermann: 1 # - convert /cmd_vel from nav2_controller to /drive + +# recording data +rosbag_launch: 0 +ros_bridge_launch: 0 + +## Foxglove Studio +# rosbridge_suite: 0 + +# TODO: Obstacle Avoidance +# simple_obstacle_detection_launch: 0 + +# rviz +sensor_visualization: 1 + +# Wall Following +wall_follow: 0 + +# control +f1tenth_vesc_joy_launch: 1 +# pid_launch: 0 +# lqr_launch: 0 +# lqg_launch: 0 +# lqg_w_launch: 0 +# mpc_launch: 0 + +# path planner +# path_nav: 0 +# tube_follower_launch: 0 +# curve_localizer_launch: 0 + +urdf: 1 + +pointcloud_to_laserscan: 1 + +# scan_correction: 0 diff --git a/src/launch/basestation_launch/param/node_pkg_locations.yaml b/src/launch/basestation_launch/param/node_pkg_locations.yaml new file mode 100644 index 00000000..aa355fe7 --- /dev/null +++ b/src/launch/basestation_launch/param/node_pkg_locations.yaml @@ -0,0 +1,61 @@ +# +# param: ['package', 'launch_file'] +# +# sensors/hardware +all_components: ['basestation_launch', 'all_components.launch.py'] +simulator: ['basestation_launch', 'sim.launch.py'] +autodrive_sim: ['basestation_launch', 'autodrive_sim.launch.py'] + +# camera navigation +# camera_nav_calibration: ['ucsd_robocar_lane_detection2_pkg', 'camera_nav_calibration.launch.py'] +# camera_nav: ['ucsd_robocar_lane_detection2_pkg', 'camera_nav.launch.py'] + +# slam-toolbox online_async_node +slam: ['state_estimation', 'online_async_launch.py'] +TUM_global_planner: ['planner', 'global_planner.launch.py'] + +## nav2 +map: ['state_estimation', 'nav2_map_server.launch.py'] # - map_server +global_path_publisher: ['planner', 'global_path_publisher.launch.py'] +localization: ['state_estimation', 'nav2_amcl_server.launch.py'] # - localization_server +ekf: ['state_estimation', 'ekf.launch.py'] # - ekf sensor fusion from robot_localization pkg +odom_rf2o: ['state_estimation', 'rf2o.launch.py'] # - rf2o laser odometry +odom_FAST_LIO: ['state_estimation', 'fast_lio.launch.py'] # - FAST LIO odometry +planner: ['planner', 'pathplanner.launch.py'] # - Path Planner (Real-Time planner) +twist_to_ackermann: ['twist_to_ackermann', 'twist_to_ack.launch.py'] # - convert /cmd_vel from nav2_controller to /drive + +# recording/bridging data +rosbag_launch: ['basestation_launch', 'rosbag_launch.launch.py'] +ros_bridge_launch: ['basestation_launch', 'ros_bridge_launch.launch.py'] + +## Foxglove Studio +# rosbridge_suite: ['rosbridge_server', 'rosbridge_websocket_launch.xml'] + +# TODO: Obstacle Avoidance +# simple_obstacle_detection_launch: ['ucsd_robocar_path2_pkg', 'simple_obstacle_detection_launch.launch.py'] + +# rviz +sensor_visualization: ['basestation_launch', 'sensor_visualization.launch.py'] + +# Wall Following +wall_follow: ['wall_follow', 'wall_follower.launch.py'] + +# control +f1tenth_vesc_joy_launch: ['basestation_launch', 'joy.launch.py'] +# pid_launch: ['ucsd_robocar_control2_pkg', 'pid_launch.launch.py'] +# lqr_launch: ['ucsd_robocar_control2_pkg', 'lqr_launch.launch.py'] +# lqg_launch: ['ucsd_robocar_control2_pkg', 'lqg_launch.launch.py'] +# lqg_w_launch: ['ucsd_robocar_control2_pkg', 'lqg_w_launch.launch.py'] +# mpc_launch: ['ucsd_robocar_control2_pkg', 'mpc_launch.launch.py'] + + +# path planner +# path_nav: ['ucsd_robocar_path2_pkg', 'path_provider.launch.py'] +# tube_follower_launch: ['ucsd_robocar_path2_pkg', 'tube_follower_launch.launch.py'] +# curve_localizer_launch: ['ucsd_robocar_path2_pkg', 'curve_localizer_launch.launch.py'] + +urdf: ['basestation_launch', 'urdf_publisher_launch.launch.py'] + +pointcloud_to_laserscan: ['sensors', 'pointcloud_to_laserscan_launch.py'] + +# scan_correction: ['team_7_external', 'scan_correction.launch.py'] diff --git a/src/launch/basestation_launch/param/pkg_locations.yaml b/src/launch/basestation_launch/param/pkg_locations.yaml new file mode 100644 index 00000000..26a5605e --- /dev/null +++ b/src/launch/basestation_launch/param/pkg_locations.yaml @@ -0,0 +1,30 @@ +# +# param: ['package', 'launch_file', 'sensor_type', 'topics_published'] # Currently, it cannot remmap new topic names +# + +# Lidars +# sick : ['ucsd_robocar_sensor2_pkg', 'lidar_sicktim.launch.py','lidar', '/scan'] +livox : ['sensors','custom_msg_MID360_launch.py','lidar', '/scan'] +# bpearl : ['ucsd_robocar_sensor2_pkg','lidar_bpearl.launch.py','lidar', '/scan'] +# rp_lidar : ['ucsd_robocar_sensor2_pkg', 'lidar_rp.launch.py','lidar', '/scan'] +# ld06 : ['ucsd_robocar_sensor2_pkg','lidar_ld06.launch.py','lidar', '/scan'] + +# IMU +# artemis: ['ucsd_robocar_sensor2_pkg', 'imu_artemis.launch.py', 'imu', '/imu_topic'] + +# GPS +# ublox: ['ucsd_robocar_sensor2_pkg', 'gps_ublox.launch.py', 'gps','/gps_topic_name'] + +# Cameras +# webcam: ['ucsd_robocar_sensor2_pkg', 'camera_webcam.launch.py', 'camera', '/camera/color/image_raw'] +# intel: ['ucsd_robocar_sensor2_pkg', 'camera_intel.launch.py', 'camera', '/camera/color/image_raw'] +# oakd: ['ucsd_robocar_sensor2_pkg', 'camera_oakd.launch.py', 'camera', '/camera/color/image_raw'] + +# Odometry +vesc_with_odom: ['vesc_odom', 'vesc_odom.launch.py','motor', '/ego_racecar/drive'] + +# Actuator +# vesc_without_odom: ['ucsd_robocar_actuator2_pkg', 'vesc_twist.launch.py','motor', '/cmd_vel'] +# adafruit: ['ucsd_robocar_actuator2_pkg', 'adafruit_twist.launch.py','motor', '/cmd_vel'] +# adafruit_servo: ['ucsd_robocar_actuator2_pkg', 'adafruit_servo.launch.py','motor', '/servo'] +# adafruit_continuous_servo: ['ucsd_robocar_actuator2_pkg', 'adafruit_continuous_servo.launch.py','motor', '/continuous_servo'] diff --git a/src/launch/basestation_launch/param/sim.yaml b/src/launch/basestation_launch/param/sim.yaml new file mode 100644 index 00000000..5d074499 --- /dev/null +++ b/src/launch/basestation_launch/param/sim.yaml @@ -0,0 +1,54 @@ +bridge: + ros__parameters: + launch_rviz: True + ego_urdf_pub: False + opp_urdf_pub: False + + # topics and namespaces + ego_namespace: 'ego_racecar' + ego_scan_topic: 'scan' + ego_odom_topic: 'odom' + ego_opp_odom_topic: 'opp_odom' + ego_drive_topic: 'drive' + opp_namespace: 'opp_racecar' + opp_scan_topic: 'opp_scan' + opp_odom_topic: 'odom' + opp_ego_odom_topic: 'opp_odom' + opp_drive_topic: 'opp_drive' + + # for publishing transforms properly, + # it'd be consider same format for both agents' namespaces. + base_frame: 'base_footprint' + front_left_hinge_link_name: 'hinge_FL' + front_left_wheel_link_name: 'wheel_FL' + front_right_hinge_link_name: 'hinge_FR' + front_right_wheel_link_name: 'wheel_FR' + lidar_link_name: 'lidar_link' + laser_frame_name: 'laser' + + # transform related + scan_distance_to_lidar_link: 0.0 + + # laserscan parameters + scan_fov: 4.7 + scan_beams: 1080 + + # map parameters + map_path: '/home/projects/f1tenth_ws/src/external/f1tenth_sim/f1tenth_gym_ros/maps/levine' + map_img_ext: '.png' + + # opponent parameters + num_agent: 1 + + # ego starting pose on map + sx: 0.0 + sy: 0.0 + stheta: 0.0 + + # opp starting pose on map + sx1: 2.0 + sy1: 0.5 + stheta1: 0.0 + + # teleop + kb_teleop: True \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/frames/frames.gv b/src/launch/basestation_launch/ros_data/frames/frames.gv new file mode 100644 index 00000000..37917059 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/frames/frames.gv @@ -0,0 +1,16 @@ +digraph G { +"odom" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 80.231\nBuffer length: 5.16\nMost recent transform: 1716421068.335021\nOldest transform: 1716421063.174936\n"]; +"lidar_link" -> "livox_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "lidar_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"livox_frame" -> "slice_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_footprint" -> "base_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "wheel_FL"[label=" Broadcaster: default_authority\nAverage rate: 10.201\nBuffer length: 5.0\nMost recent transform: 1716421068.24395\nOldest transform: 1716421063.2442\n"]; +"base_link" -> "wheel_FR"[label=" Broadcaster: default_authority\nAverage rate: 10.201\nBuffer length: 5.0\nMost recent transform: 1716421068.24395\nOldest transform: 1716421063.2442\n"]; +"base_link" -> "wheel_RL"[label=" Broadcaster: default_authority\nAverage rate: 10.201\nBuffer length: 5.0\nMost recent transform: 1716421068.24395\nOldest transform: 1716421063.2442\n"]; +"base_link" -> "wheel_RR"[label=" Broadcaster: default_authority\nAverage rate: 10.201\nBuffer length: 5.0\nMost recent transform: 1716421068.24395\nOldest transform: 1716421063.2442\n"]; +edge [style=invis]; + subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; +"Recorded at time: 1716421068.3908603"[ shape=plaintext ] ; +}->"odom"; +} \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/frames/frames.pdf b/src/launch/basestation_launch/ros_data/frames/frames.pdf new file mode 100644 index 00000000..ad536586 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/frames/frames.pdf differ diff --git a/src/launch/basestation_launch/ros_data/maps/README.md b/src/launch/basestation_launch/ros_data/maps/README.md new file mode 100644 index 00000000..4e5c888c --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/README.md @@ -0,0 +1,19 @@ +## Map Saving Directory + +Welcome to __Map Saving Directory__, where we save our map data. + +#### Rules: +- Create a new folder under `${WORKSPACE}/src/launch/basestation_launch/ros_data/maps/${CATEGORY}/`, named it `${your_map_name}_${MMDD}/` + +- `${WORKSPACE}` is the absolute directory of your workspace. `${CATEGORY}` could be either `custom`,`icra`,`iros`,`lab_test`, or `self_test` (whose subfolders should be in `.gitignore`). Do not create a new CATEGORY! + +- name your map in this format `${your_map_name}_${MMDD}`, eg: `lab_halway_0505`. + +- put your map data (`*.pgm`/`*.png`and `*.yaml`) under the map folder you created + +- `self_test` is a category for you to store your own map data if you wish not to push back to the remote repository. + +## Note: `(IMPORTANT)` +You should not modify the `basestation_launch` pkg on any branch without any permission. + +If you really need to modify anything in the pkg and push it back to branch, please contact the maintainer and create a Pull Request. \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.pgm b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.pgm new file mode 100644 index 00000000..98ab7161 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.png b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.png new file mode 100644 index 00000000..41fe5db3 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.png differ diff --git a/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.yaml b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.yaml new file mode 100644 index 00000000..0b3e0b45 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/custom/flat_oval.yaml @@ -0,0 +1,6 @@ +image: flat_oval.pgm +resolution: 0.050000 +origin: [-11.606540, -27.320793, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/launch/basestation_launch/ros_data/maps/custom/oval.pgm b/src/launch/basestation_launch/ros_data/maps/custom/oval.pgm new file mode 100644 index 00000000..0f6906c0 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/custom/oval.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/custom/oval.png b/src/launch/basestation_launch/ros_data/maps/custom/oval.png new file mode 100644 index 00000000..3908b9b0 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/custom/oval.png differ diff --git a/src/launch/basestation_launch/ros_data/maps/custom/oval.yaml b/src/launch/basestation_launch/ros_data/maps/custom/oval.yaml new file mode 100644 index 00000000..595c7265 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/custom/oval.yaml @@ -0,0 +1,6 @@ +image: oval.pgm +resolution: 0.050000 +origin: [-11.606540, -27.320793, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.pgm b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.pgm new file mode 100644 index 00000000..98df0ca8 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.png b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.png new file mode 100644 index 00000000..dadcb6db Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.png differ diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.yaml b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.yaml new file mode 100644 index 00000000..4f2e9165 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/icra/final/icra_bw.yaml @@ -0,0 +1,7 @@ +image: icra_bw.pgm +resolution: 0.05 +origin: [-8.06, -2.72, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 + diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.pgm b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.pgm new file mode 100644 index 00000000..676b3567 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.pgm @@ -0,0 +1,7 @@ +P5 +# Created by GIMP version 2.10.30 PNM plug-in +# +566 502 +255 +s F+g g s F&͗Z  F `  F&g ͳ ͺ: 3 ͺ: : : : :ͺ:3::Mͺ::KQ :: :ͺ: FFgF Fg gF  FFF@F@@F-F& M&-ͪ M @ mM-Z͍ͧ&FZiͩp &̍ͺ: & ͺ3:-:ͺ::3:&3&  :  ! F- (:ͦ, 'M* F%͠ ' ͭ&F2ͭ- + -͌  ͭ &ͭ  ͭ 4©j©& ͭ͠+:::ͺ:Ϳ -Zg -Z`: zs ͭښgggggggggggggggggggggggggg -2& : -@ ͍F z  M z z: :ͺ: ::3 : : :::ͳ:: :3ͳ:  z z ͧ ͚ z z z͍3: ͭ3  z͇: ͳͳ= ͚=h : d= z͚ z: h ͳ:͚̀ z2 z͇ ͧ&:͚ zͳm͠ͺ:m͚ ͺ:͚͚͚ͧ- -  zͳ ͳ Ӈͳ \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.png b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.png new file mode 100644 index 00000000..2a1a7ad6 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.png differ diff --git a/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.yaml b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.yaml new file mode 100644 index 00000000..e6ef6563 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/icra/final/race_fix.yaml @@ -0,0 +1,7 @@ +image: race_fix.pgm +mode: trinary +resolution: 0.05 +origin: [-8.06, -2.72, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.pgm b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.pgm new file mode 100644 index 00000000..bcf047e0 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.yaml b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.yaml new file mode 100644 index 00000000..904dcdfd --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_0525/lab_0525.yaml @@ -0,0 +1,7 @@ +image: lab_0525.pgm +mode: trinary +resolution: 0.05 +origin: [-4.01, -0.969, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.pgm b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.pgm new file mode 100644 index 00000000..d3004e36 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.yaml b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.yaml new file mode 100644 index 00000000..d8aeaa99 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508.yaml @@ -0,0 +1,7 @@ +image: lab_corner_0508.pgm +mode: trinary +resolution: 0.05 +origin: [-0.942, -0.554, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_corner_0508/lab_corner_0508_serial.data 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b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505.pgm differ diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505.yaml b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505.yaml new file mode 100755 index 00000000..e6328640 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505.yaml @@ -0,0 +1,7 @@ +image: lab_hallway_0505.pgm +mode: trinary +resolution: 0.05 +origin: [-1.03, -0.843, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505_serial.data b/src/launch/basestation_launch/ros_data/maps/lab_test/lab_hallway_0505/lab_hallway_0505_serial.data new file mode 100644 index 00000000..4661eb1a Binary files /dev/null and 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0, "pose": {"position": {"x": -0.17286516726016998, "y": 1.1000001192092892, "z": 0.0}, "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0}}, "scale": {"x": 0.05, "y": 0.05, "z": 0.05}, "color": {"r": 0.5, "g": 1.0, "b": 0.0, "a": 1.0}, "lifetime": {"sec": 0, "nanosec": 0}, "frame_locked": false, "points": [], "colors": [], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": false}]}} \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.png b/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.png new file mode 100644 index 00000000..2b595bc2 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.png differ diff --git a/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.yaml b/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.yaml new file mode 100644 index 00000000..16cb1b59 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/lab_test/test_planning/test_planning.yaml @@ -0,0 +1,9 @@ +free_thresh: 0.196 +image: hangar_1905_v0.png +negate: 0 +occupied_thresh: 0.65 +origin: +- -8.772865295410156 +- -6.9 +- 0 +resolution: 0.05000000074505806 diff --git a/src/launch/basestation_launch/ros_data/maps/self_test/README.md b/src/launch/basestation_launch/ros_data/maps/self_test/README.md new file mode 100644 index 00000000..63e13be3 --- /dev/null +++ b/src/launch/basestation_launch/ros_data/maps/self_test/README.md @@ -0,0 +1 @@ +## This is where you save your own testing map data in the local repository. \ No newline at end of file diff --git a/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/icra_curve_0.db3 b/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/icra_curve_0.db3 new file mode 100644 index 00000000..63eb5a62 Binary files /dev/null and b/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/icra_curve_0.db3 differ diff --git a/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/metadata.yaml b/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/metadata.yaml new file mode 100644 index 00000000..1b3f2aea --- /dev/null +++ b/src/launch/basestation_launch/ros_data/rosbags/icra/day1/icra_curve/metadata.yaml @@ -0,0 +1,169 @@ +rosbag2_bagfile_information: + version: 4 + storage_identifier: sqlite3 + relative_file_paths: + - icra_curve_0.db3 + duration: + nanoseconds: 105573165515 + starting_time: + nanoseconds_since_epoch: 1653345189251712269 + message_count: 36963 + topics_with_message_count: + - topic_metadata: + name: /lqg_controller_test + type: ackermann_msgs/msg/AckermannDriveStamped + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /path_curvature + type: std_msgs/msg/Float32MultiArray + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /Shrey_fucked_up + type: std_msgs/msg/Float32MultiArray + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 1016 + - topic_metadata: + name: /sensors/servo_position_command + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 2005 + - topic_metadata: + name: /sensors/imu/raw + type: sensor_msgs/msg/Imu + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 5273 + - topic_metadata: + name: /sensors/core + type: vesc_msgs/msg/VescStateStamped + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 5274 + - topic_metadata: + name: /odom + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 5258 + - topic_metadata: + name: /commands/motor/brake + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /commands/motor/current + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /imu_topic + type: sensor_msgs/msg/Imu + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /teleop + type: ackermann_msgs/msg/AckermannDriveStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2005 + - topic_metadata: + name: /error + type: std_msgs/msg/Float32MultiArray + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 759 + - topic_metadata: + name: /scan + type: sensor_msgs/msg/LaserScan + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 1038 + - topic_metadata: + name: /sensors/imu + type: vesc_msgs/msg/VescImuStamped + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 5275 + - topic_metadata: + name: /commands/servo/position + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 2005 + - topic_metadata: + name: /joy + type: sensor_msgs/msg/Joy + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 2012 + - topic_metadata: + name: /drive + type: ackermann_msgs/msg/AckermannDriveStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /parameter_events + type: rcl_interfaces/msg/ParameterEvent + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 21 + - topic_metadata: + name: /rosout + type: rcl_interfaces/msg/Log + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 806 + - topic_metadata: + name: /diagnostics + type: diagnostic_msgs/msg/DiagnosticArray + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 206 + - topic_metadata: + name: /joy/set_feedback + type: sensor_msgs/msg/JoyFeedback + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /ackermann_cmd + type: ackermann_msgs/msg/AckermannDriveStamped + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 2005 + - topic_metadata: + name: /dev/null + type: std_msgs/msg/Int8 + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /commands/motor/position + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + - topic_metadata: + name: /commands/motor/speed + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 2147483647\n nsec: 4294967295\n lifespan:\n sec: 2147483647\n nsec: 4294967295\n liveliness: 1\n liveliness_lease_duration:\n sec: 2147483647\n nsec: 4294967295\n avoid_ros_namespace_conventions: false" + message_count: 2005 + - topic_metadata: + name: /commands/motor/duty_cycle + type: std_msgs/msg/Float64 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 0 + compression_format: "" + compression_mode: "" \ No newline at end of file diff --git a/src/launch/basestation_launch/rviz/sensor_visualization.rviz b/src/launch/basestation_launch/rviz/sensor_visualization.rviz new file mode 100644 index 00000000..1f9c9636 --- /dev/null +++ b/src/launch/basestation_launch/rviz/sensor_visualization.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 434 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.10000000149011612 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /trajectory + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /slam_out_pose + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + ego_racecar/base_footprint: + Value: true + ego_racecar/base_link: + Value: true + ego_racecar/camera_link: + Value: true + ego_racecar/hinge_FL: + Value: true + ego_racecar/hinge_FR: + Value: true + ego_racecar/lidar_link: + Value: true + ego_racecar/wheel_FL: + Value: true + ego_racecar/wheel_FR: + Value: true + ego_racecar/wheel_RL: + Value: true + ego_racecar/wheel_RR: + Value: true + livox_frame: + Value: true + map: + Value: true + odom: + Value: true + slice_frame: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + ego_racecar/base_footprint: + ego_racecar/base_link: + ego_racecar/camera_link: + {} + ego_racecar/hinge_FL: + ego_racecar/wheel_FL: + {} + ego_racecar/hinge_FR: + ego_racecar/wheel_FR: + {} + ego_racecar/lidar_link: + livox_frame: + slice_frame: + {} + ego_racecar/wheel_RL: + {} + ego_racecar/wheel_RR: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /ego_racecar/robot_description + 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 + ego_racecar/base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + ego_racecar/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/hinge_FL: + Alpha: 1 + Show Axes: false + Show Trail: false + ego_racecar/hinge_FR: + Alpha: 1 + Show Axes: false + Show Trail: false + ego_racecar/lidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/wheel_FL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/wheel_FR: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/wheel_RL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ego_racecar/wheel_RR: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/color/image_raw + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 246 + Min Color: 0; 0; 0 + Min Intensity: 19 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /ego_racecar/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 179 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /livox/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Acceleration properties: + Acc. vector alpha: 0.5 + Acc. vector color: 255; 255; 0 + Acc. vector scale: 0.5 + Derotate acceleration: true + Enable acceleration: true + Axes properties: + Axes scale: 0.10000000149011612 + Enable axes: false + Box properties: + Box alpha: 1 + Box color: 255; 0; 0 + Enable box: false + x_scale: 1 + y_scale: 1 + z_scale: 1 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: Imu + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /livox/imu + Value: true + fixed_frame_orientation: false + Enabled: false + Name: Sensors + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Arrow Length: 0.05000000074505806 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particlecloud + Value: true + Enabled: false + Name: AMCL Particle Cloud + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/Pose + Color: 255; 10; 255 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: GoalPose + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 215; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: PlannedPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: ReceivedGlobalPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /received_global_plan + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: GlobalFootprint + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: true + Enabled: true + Name: Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.6000000238418579 + Min Value: 0.20000000298023224 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: STVL_local + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/voxel_grid + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: PurePursuitPointStamped + Radius: 0.20000000298023224 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lookahead_point + Value: true + Enabled: true + Name: Controller + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Track Centerline + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /centerline_waypoints/markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Track Bounds + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /trackbounds/markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Global Waypoints + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_waypoints/markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Shortest Path Waypoints + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_waypoints/shortest_path/markers + Value: true + Enabled: false + Name: Global Race Path + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 16.38848114013672 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5647963285446167 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.143580675125122 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 657 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001990000023bfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000023b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001e5000000910000002800ffffff000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000361000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003610000023b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1280 + X: 72 + Y: 31 diff --git a/src/launch/basestation_launch/urdf/autodrive_racecar.xacro b/src/launch/basestation_launch/urdf/autodrive_racecar.xacro new file mode 100644 index 00000000..722001a1 --- /dev/null +++ b/src/launch/basestation_launch/urdf/autodrive_racecar.xacro @@ -0,0 +1,292 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + 10.0 + 10.0 + Gazebo/Grey + + + + + + 15.0 + + + 0 0 0 0 0 0 + + 1.3962634 + + 400 + 400 + R8G8B8 + + + 0.01 + 100 + + + gaussian + 0.007 + + + + true + 0.0 + my_robot/camera1 + image_raw + camera_info + ${car_name}/camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + true + 30 + 0 0 0 0 0 0 + true + + + + 811 + 1 + -2.35 + 2.35 + + + + 0.02 + 30.0 + 0.01 + + + + /ego_racecar/scan + ${car_name}/lidar_link + + + + + diff --git a/src/launch/basestation_launch/urdf/ucsd_racecar.xacro b/src/launch/basestation_launch/urdf/ucsd_racecar.xacro new file mode 100644 index 00000000..13b4c8ed --- /dev/null +++ b/src/launch/basestation_launch/urdf/ucsd_racecar.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + 10.0 + 10.0 + Gazebo/Grey + + + + + + 15.0 + + + 0 0 0 0 0 0 + + 1.3962634 + + 400 + 400 + R8G8B8 + + + 0.01 + 100 + + + gaussian + 0.007 + + + + true + 0.0 + my_robot/camera1 + image_raw + camera_info + ${car_name}/camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + true + 30 + 0 0 0 0 0 0 + true + + + + 811 + 1 + -2.35 + 2.35 + + + + 0.02 + 30.0 + 0.01 + + + + /ego_racecar/scan + ${car_name}/lidar_link + + + + + diff --git a/src/launch/basestation_launch/urdf/urdf_related_param.yaml b/src/launch/basestation_launch/urdf/urdf_related_param.yaml new file mode 100644 index 00000000..f319b417 --- /dev/null +++ b/src/launch/basestation_launch/urdf/urdf_related_param.yaml @@ -0,0 +1,11 @@ +## tf2 - lidar_link to laser frame +x: 0.0 +y: 0.0 +z: 0.0 + +yaw: 1.571 +pitch: 0.0 +roll: 0.0 + +frame_id: 'ego_racecar/lidar_link' +child_frame_id: 'livox_frame' diff --git a/src/planner/launch/global_path_publisher.launch.py b/src/planner/launch/global_path_publisher.launch.py new file mode 100644 index 00000000..62c52fa1 --- /dev/null +++ b/src/planner/launch/global_path_publisher.launch.py @@ -0,0 +1,66 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + pkg_name = 'global_planner' + + map_save_path_pkg = 'basestation_launch' + map_select_file = 'map_select.yaml' + + map_select_yaml_path = os.path.join( + get_package_share_directory(map_save_path_pkg), + 'param', + map_select_file + ) + + map_info_num, map_info_str = yaml_decode(map_select_yaml_path) + # print('map_info_num', '\n', 'map_info_str') + + map_file_dir = os.path.join( + map_info_str['absolute_path_prefix'], + map_info_str['default_path_prefix'], + map_info_str['custom_prefix'] + ) + + map_dir_launch_arg = DeclareLaunchArgument('map_dir', default_value=map_file_dir) + + map_arguments = [map_dir_launch_arg] + + override_params = { + 'map_path': LaunchConfiguration('map_dir'), + } + + global_republisher = Node( + package='global_planner', + executable='global_trajectory_publisher', + name='global_republisher', + output='screen', + parameters=[override_params] + ) + + ld = LaunchDescription([]) + for arg in map_arguments: + ld.add_entity(arg) + ld.add_action(global_republisher) + + return ld \ No newline at end of file diff --git a/src/planner/launch/global_planner.launch.py b/src/planner/launch/global_planner.launch.py new file mode 100644 index 00000000..469def13 --- /dev/null +++ b/src/planner/launch/global_planner.launch.py @@ -0,0 +1,89 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + main_stack_pkg = 'basestation_launch' + pkg_name = 'global_planner' + desc_dir = get_package_share_directory(main_stack_pkg) + + params_yaml = os.path.join(desc_dir, 'param', 'global_planner', 'global_planner_params.yaml') + + map_save_path_pkg = 'basestation_launch' + map_select_file = 'map_select.yaml' + + map_select_yaml_path = os.path.join( + get_package_share_directory(map_save_path_pkg), + 'param', + map_select_file + ) + + map_info_num, map_info_str = yaml_decode(map_select_yaml_path) + # print('map_info_num', '\n', 'map_info_str') + + map_file_dir = os.path.join( + map_info_str['absolute_path_prefix'], + map_info_str['default_path_prefix'], + map_info_str['custom_prefix'] + ) + + map_name = map_info_str['map_yaml_file'][:map_info_str['map_yaml_file'].index('.')] + + map_yaml_info_num, map_yaml_info_str = yaml_decode(os.path.join(map_file_dir, map_info_str['map_yaml_file'])) + map_type = map_yaml_info_str['image'][map_yaml_info_str['image'].index('.')+1:] + + map_name_launch_arg = DeclareLaunchArgument('map_name', default_value=map_name) + map_dir_launch_arg = DeclareLaunchArgument('map_dir', default_value=map_file_dir) + map_type_launch_arg = DeclareLaunchArgument('map_type', default_value=map_type) + + map_arguments = [map_name_launch_arg, map_dir_launch_arg, map_type_launch_arg] + + override_params = { + 'map_name': LaunchConfiguration('map_name'), + 'map_dir': LaunchConfiguration('map_dir'), + 'map_type': LaunchConfiguration('map_type') + } + + global_planner = Node( + package='global_planner', + executable='global_planner', + # namespace='/', + name='global_planner', + output='screen', + parameters=[params_yaml, override_params] + ) + + global_republisher = Node( + package='global_planner', + executable='global_trajectory_publisher', + name='global_republisher', + output='screen', + parameters=[] + ) + + ld = LaunchDescription([]) + for arg in map_arguments: + ld.add_entity(arg) + ld.add_action(global_planner) + ld.add_action(global_republisher) + + return ld \ No newline at end of file diff --git a/src/planner/launch/global_waypoints_detection.launch.py b/src/planner/launch/global_waypoints_detection.launch.py new file mode 100644 index 00000000..82fa5aff --- /dev/null +++ b/src/planner/launch/global_waypoints_detection.launch.py @@ -0,0 +1,27 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + pkg_name = 'planner' + desc_dir = get_package_share_directory(pkg_name) + config_file = 'global_wpnts_detection.yaml' + config_file_yaml = os.path.join(desc_dir, 'param', config_file) + + waypoint_detection = Node( + package=pkg_name, + executable='waypoint_detection', + name='waypoint_follower', + output='screen', + parameters=[config_file_yaml], + arguments=['--ros-args', '--disable-stdout-logs'], + ) + + ld = LaunchDescription([]) + ld.add_action(waypoint_detection) + + return ld \ No newline at end of file diff --git a/src/planner/launch/pathplanner.launch.py b/src/planner/launch/pathplanner.launch.py new file mode 100644 index 00000000..ddd80c24 --- /dev/null +++ b/src/planner/launch/pathplanner.launch.py @@ -0,0 +1,85 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + pkg_name = 'planner' + desc_dir = get_package_share_directory(pkg_name) + + controller_yaml = os.path.join(desc_dir, 'param', 'controller_server.yaml') + bt_navigator_yaml = os.path.join(desc_dir, 'param', 'bt_navigator.yaml') + planner_yaml = os.path.join(desc_dir, 'param', 'planner_server.yaml') + recovery_yaml = os.path.join(desc_dir, 'param', 'recovery_server.yaml') + + controller_server = Node( + package='nav2_controller', + executable='controller_server', + name='controller_server', + output='screen', + parameters=[controller_yaml] + ) + + planner_server = Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + parameters=[planner_yaml] + ) + + # recoveries_server is in nav2_recoveries in ros2 foxy + recovery_server = Node( + package='nav2_recoveries', # nav2_behavior (for newer distro of ROS 2) + executable='recoveries_server', # behavior_server (for newer distro of ROS 2) + name='recoveries_server', + output='screen', + parameters=[recovery_yaml] + ) + + bt_nav_server = Node( + package='nav2_bt_navigator', + executable='bt_navigator', + name='bt_navigator', + output='screen', + parameters=[bt_navigator_yaml] + ) + + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_pathplanner', + output='screen', + parameters=[{'autostart': True}, + {'node_names': ['planner_server', + 'controller_server', + 'recoveries_server', + 'bt_navigator']}] + ) + + ld = LaunchDescription([]) + ld.add_action(controller_server) + ld.add_action(planner_server) + ld.add_action(recovery_server) + ld.add_action(bt_nav_server) + ld.add_action(lifecycle_manager_node) + + return ld \ No newline at end of file diff --git a/src/planner/launch/waypoint_follower.launch.py b/src/planner/launch/waypoint_follower.launch.py new file mode 100644 index 00000000..5c170d93 --- /dev/null +++ b/src/planner/launch/waypoint_follower.launch.py @@ -0,0 +1,36 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + pkg_name = 'planner' + desc_dir = get_package_share_directory(pkg_name) + + waypoint_follower_yaml = os.path.join(desc_dir, 'param', 'waypoint_follower.yaml') + + waypoint_follower = Node( + package='nav2_waypoint_follower', + executable='waypoint_follower', + name='waypoint_follower', + output='screen', + parameters=[waypoint_follower_yaml] + ) + + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_pathplanner', + output='screen', + parameters=[{'autostart': True}, + {'node_names': ['waypoint_follower']}] + ) + + ld = LaunchDescription([]) + ld.add_action(waypoint_follower) + ld.add_action(lifecycle_manager_node) + + return ld \ No newline at end of file diff --git a/src/planner/package.xml b/src/planner/package.xml new file mode 100644 index 00000000..0385a2a3 --- /dev/null +++ b/src/planner/package.xml @@ -0,0 +1,30 @@ + + + + planner + 0.1.0 + TODO: Package description + root + TODO: License declaration + + rclpy + tf2_ros_py + + python3-numpy + std_msgs + geometry_msgs + ackermann_msgs + f110_msgs + + rviz + robot_localization + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/planner/param/behavior_trees/dynamic_follow_behavior.xml b/src/planner/param/behavior_trees/dynamic_follow_behavior.xml new file mode 100644 index 00000000..4fdc030f --- /dev/null +++ b/src/planner/param/behavior_trees/dynamic_follow_behavior.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/planner/param/behavior_trees/static_follow_behavior.xml b/src/planner/param/behavior_trees/static_follow_behavior.xml new file mode 100644 index 00000000..1c436d67 --- /dev/null +++ b/src/planner/param/behavior_trees/static_follow_behavior.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/planner/param/bt_navigator.yaml b/src/planner/param/bt_navigator.yaml new file mode 100644 index 00000000..f8f4f14b --- /dev/null +++ b/src/planner/param/bt_navigator.yaml @@ -0,0 +1,60 @@ +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: ego_racecar/base_link + odom_topic: /odom + + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + + bt_loop_duration: 10 + default_server_timeout: 20 + # default_nav_to_pose_bt_xml: "/home/jetson/projects/robocar/src/path_planning/planner/param/behavior_trees/behavior.xml" # "/home/projects/ros2_ws/src/robocar/src/path_planning/planner/param/behavior.xml" + default_bt_xml_filename: "/home/jetson/projects/robocar/src/path_planning/planner/param/behavior_trees/dynamic_follow_behavior.xml" + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + # - nav2_compute_path_through_poses_action_bt_node # does not exist in foxy-devel + # - nav2_smooth_path_action_bt_node # does not exist in foxy-devel + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + # - nav2_drive_on_heading_bt_node # does not exist in foxy-devel + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + # - nav2_globally_updated_goal_condition_bt_node # does not exist in foxy-devel + # - nav2_is_path_valid_condition_bt_node # does not exist in foxy-devel + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + # - nav2_truncate_path_local_action_bt_node # does not exist in foxy-devel + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + # - nav2_path_expiring_timer_condition # does not exist in foxy-devel + - nav2_distance_traveled_condition_bt_node + # - nav2_single_trigger_bt_node # does not exist in foxy-devel + # - nav2_goal_updated_controller_bt_node # does not exist in foxy-devel + # - nav2_is_battery_low_condition_bt_node # does not exist in foxy-devel + # - nav2_navigate_through_poses_action_bt_node # does not exist in foxy-devel + # - nav2_navigate_to_pose_action_bt_node # does not exist in foxy-devel + # - nav2_remove_passed_goals_action_bt_node # does not exist in foxy-devel + # - nav2_planner_selector_bt_node # does not exist in foxy-devel + # - nav2_controller_selector_bt_node # does not exist in foxy-devel + # - nav2_goal_checker_selector_bt_node # does not exist in foxy-devel + # - nav2_controller_cancel_bt_node # does not exist in foxy-devel + # - nav2_path_longer_on_approach_bt_node # does not exist in foxy-devel + # - nav2_wait_cancel_bt_node # does not exist in foxy-devel + # - nav2_spin_cancel_bt_node # does not exist in foxy-devel + # - nav2_back_up_cancel_bt_node # does not exist in foxy-devel + # - nav2_drive_on_heading_cancel_bt_node # does not exist in foxy-devel \ No newline at end of file diff --git a/src/planner/param/controller_server.yaml b/src/planner/param/controller_server.yaml new file mode 100644 index 00000000..dc763c69 --- /dev/null +++ b/src/planner/param/controller_server.yaml @@ -0,0 +1,148 @@ +# Avalible Plugins for controller in ROS2 Foxy +# - DWB Controller (dwb_core::DWBLocalPlanner) +# - TEB Controller (teb_local_planner::TebLocalPlannerROS) +# - Regulated Pure Pursuit (nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController) +# + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.2 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.2 + movement_time_allowance: 10.0 + # Goal checker parameters + general_goal_checker: + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.20 + yaw_goal_tolerance: 0.20 + stateful: True + # Regulated Pure-Pursuit parameters + FollowPath: + plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" + desired_linear_vel: 1.0 + max_linear_accel: 4.0 + max_linear_decel: 4.0 + transform_tolerance: 0.1 + lookahead_dist: 0.6 + min_lookahead_dist: 0.2 + max_lookahead_dist: 0.9 + lookahead_time: 0.25 + + use_rotate_to_heading: false + rotate_to_heading_min_angle: 0.785 + rotate_to_heading_angular_vel: 1.8 + max_angular_accel: 3.2 + + use_velocity_scaled_lookahead_dist: true + min_approach_linear_velocity: 0.15 + approach_velocity_scaling_dist: 0.6 + + use_collision_detection: true + max_allowed_time_to_collision_up_to_carrot: 1.0 + use_fixed_curvature_lookahead: false + curvature_lookahead_dist: 0.25 + + use_regulated_linear_velocity_scaling: false + use_cost_regulated_linear_velocity_scaling: false + regulated_linear_scaling_min_radius: 0.9 + regulated_linear_scaling_min_speed: 0.25 + + allow_reversing: true + max_robot_pose_search_dist: 10.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: ego_racecar/base_footprint + use_sim_time: False + rolling_window: true + static_map: false + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.25 + plugins: ["stvl_layer", "inflation_layer"] # exclude "voxel_layer", costmap plugin are ordered!!! + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.02 + + # voxel_layer: + # plugin: "nav2_costmap_2d::VoxelLayer" + # enabled: True + # publish_voxel_map: True + # origin_z: 0.0 + # z_resolution: 0.05 + # z_voxels: 10 + # max_obstacle_height: 2.0 + # mark_threshold: 0 + # observation_sources: pointcloud + # pointcloud: # no frame set, uses frame from message + # topic: /livox/lidar + # max_obstacle_height: 2.0 + # min_obstacle_height: 0.22 + # obstacle_max_range: 0.5 + # obstacle_min_range: 0.0 + # raytrace_max_range: 3.0 + # raytrace_min_range: 0.0 + # clearing: True + # marking: True + # data_type: "PointCloud2" + + stvl_layer: + plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" + enabled: true + voxel_decay: 1.0 + decay_model: 0 + voxel_size: 0.05 + track_unknown_space: true + unknown_threshold: 15 + mark_threshold: 0 + update_footprint_enabled: true + combination_method: 1 + origin_z: 0.0 + publish_voxel_map: true + transform_tolerance: 0.2 + mapping_mode: false + map_save_duration: 60.0 + observation_sources: pointcloud + pointcloud: + data_type: PointCloud2 + topic: /livox/lidar + marking: true + clearing: true + obstacle_range: 3.0 + min_obstacle_height: 0.22 + max_obstacle_height: 2.0 + expected_update_rate: 0.0 + observation_persistence: 0.0 + inf_is_valid: false + filter: "voxel" + voxel_min_points: 0 + clear_after_reading: true + max_z: 7.0 + min_z: 0.1 + vertical_fov_angle: 0.8745 + horizontal_fov_angle: 1.048 + decay_acceleration: 15.0 + model_type: 1 + + # static_layer: + # map_subscribe_transient_local: True + always_send_full_costmap: True + \ No newline at end of file diff --git a/src/planner/param/global_wpnts_detection.yaml b/src/planner/param/global_wpnts_detection.yaml new file mode 100644 index 00000000..72fdea09 --- /dev/null +++ b/src/planner/param/global_wpnts_detection.yaml @@ -0,0 +1,11 @@ +# Waypoint Detection: the interface between global and local planner +/**: + ros__parameters: + map_frame: map + pose_topic: '/amcl_pose' + drive_topic: '/ego_racecar/drive' + goal_topic: 'goal_pose' + + lookahead_radius_m: 1.0 + shortest_path_enable: False + Ts: 1.0 \ No newline at end of file diff --git a/src/planner/param/planner_server.yaml b/src/planner/param/planner_server.yaml new file mode 100644 index 00000000..12afbf7b --- /dev/null +++ b/src/planner/param/planner_server.yaml @@ -0,0 +1,151 @@ +# Avalible Plugins for planner in ROS2 Foxy +# - NavFn Planner (nav2_navfn_planner/NavfnPlanner) +# - SmacPlanner (smac_planner/SmacPlanner) +# - SmacPlanner2D (smac_planner/SmacPlanner2D) +# + +planner_server: + ros__parameters: + expected_planner_frequency: 10.0 + use_sim_time: False + planner_plugins: ["GridBased"] # List of mapped plugin names for parameters and processing requests. Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace, in the following way: + # GridBased: + # plugin: "nav2_navfn_planner/NavfnPlanner" + # tolerance: 0.5 # Tolerance in meters between the goal pose and the end of the path. + # use_astar: false # Whether to use A*. If false, use Dijkstra’s expansion. + # allow_unknown: true # Whether to allow planning in an unknown space. + + # GridBased: + # plugin: "nav2_theta_star_planner::ThetaStarPlanner" # In Iron and older versions, "/" was used instead of "::" + # how_many_corners: 8 + # w_euc_cost: 1.0 + # w_traversal_cost: 2.0 + # w_heuristic_cost: 1.0 + GridBased: + plugin: "smac_planner/SmacPlanner" + tolerance: 0.5 # tolerance for planning if unable to reach exact pose, in meters, for 2D node + downsample_costmap: false # whether or not to downsample the map + downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) + allow_unknown: false # allow traveling in unknown space + max_iterations: -1 # maximum total iterations to search for before failing + max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance, 2D only + max_planning_time_ms: 2000.0 # max time in ms for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning. + smooth_path: false # Whether to smooth searched path + motion_model_for_search: "DUBIN" # 2D Moore, Von Neumann; SE2 Dubin, Redds-Shepp + angle_quantization_bins: 72 # For SE2 node: Number of angle bins for search, must be 1 for 2D node (no angle search) + minimum_turning_radius: 0.20 # For SE2 node & smoother: minimum turning radius in m of path / vehicle + reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 + change_penalty: 0.20 # For SE2 node: penalty to apply if motion is changing directions, must be >= 0 + non_straight_penalty: 1.05 # For SE2 node: penalty to apply if motion is non-straight, must be => 1 + cost_penalty: 1.3 # For SE2 node: penalty to apply to higher cost zones + + smoother: + smoother: + w_curve: 30.0 # weight to minimize curvature of path + w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight + w_smooth: 30000.0 # weight to maximize smoothness of path + w_cost: 0.025 # weight to steer robot away from collision and cost + cost_scaling_factor: 10.0 # this should match the inflation layer's parameter + + # I do not recommend users mess with this unless they're doing production tuning + optimizer: + max_time: 0.10 # maximum compute time for smoother + max_iterations: 500 # max iterations of smoother + debug_optimizer: false # print debug info + gradient_tol: 1.0e-10 + fn_tol: 1.0e-20 + param_tol: 1.0e-15 + advanced: + min_line_search_step_size: 1.0e-20 + max_num_line_search_step_size_iterations: 50 + line_search_sufficient_function_decrease: 1.0e-20 + max_num_line_search_direction_restarts: 10 + max_line_search_step_expansion: 50 + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: ego_racecar/base_footprint + use_sim_time: False + robot_radius: 0.25 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "NP_voxel_layer", "inflation_layer"] # exclude "obstacle_layer", costmap plugin are ordered!!! + + # Static Layer - Adds as obstacles to the Global Costmap any black dot that exists in the static map + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + enabled: True + map_subscribe_transient_local: True + + # Inflation Layer - Adds an inflation to any obstacle in the Global Costmap, as a safe distance to maintain + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + enabled: True + cost_scaling_factor: 3.0 # Exponential decay factor across the inflation radius. + inflation_radius: 0.10 + always_send_full_costmap: True + + # Obstacle Layer - Adds to the Global Costmap any object detected by a 2D sensor + # obstacle_layer: + # plugin: "nav2_costmap_2d::ObstacleLayer" + # enabled: True + # observation_sources: scan + # scan: + # topic: /ego_racecar/scan + # max_obstacle_height: 2.0 + # clearing: True + # marking: True + # data_type: "LaserScan" + # raytrace_max_range: 3.0 + # raytrace_min_range: 0.0 + # obstacle_max_range: 2.5 + # obstacle_min_range: 0.0 + # inf_is_valid: false + + # Voxel Layer - Adds to the Global Costmap 3D obstacles from PointCloud data + # voxel_layer: + # plugin: "nav2_costmap_2d::VoxelLayer" + # enabled: True + # publish_voxel_map: True + # origin_z: 0.0 + # z_resolution: 0.05 + # z_voxels: 10 + # max_obstacle_height: 2.0 + # mark_threshold: 0 + # observation_sources: pointcloud + # pointcloud: # no frame set, uses frame from message + # topic: /livox/lidar + # max_obstacle_height: 2.0 + # min_obstacle_height: 0.22 + # obstacle_max_range: 3.0 + # obstacle_min_range: 0.0 + # raytrace_max_range: 3.0 + # raytrace_min_range: 0.0 + # clearing: True + # marking: True + # data_type: "PointCloud2" + + NP_voxel_layer: + plugin: nav2_costmap_2d/NonPersistentVoxelLayer + enabled: true + track_unknown_space: true + max_obstacle_height: 2.0 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + obstacle_range: 3.0 # no effect + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 10 + publish_voxel_map: true + observation_sources: pointcloud + pointcloud: + data_type: PointCloud2 + topic: /livox/points + marking: true + min_obstacle_height: 0.22 + max_obstacle_height: 2.0 \ No newline at end of file diff --git a/src/planner/param/recovery_server.yaml b/src/planner/param/recovery_server.yaml new file mode 100644 index 00000000..8c8f02c1 --- /dev/null +++ b/src/planner/param/recovery_server.yaml @@ -0,0 +1,20 @@ +recoveries_server: # "behavior_server" for newer distro of ROS2 + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["backup", "wait"] # exclude "spin" + spin: + plugin: "nav2_recoveries/Spin" # "nav2_behaviors/Spin" + backup: + plugin: "nav2_recoveries/BackUp" # "nav2_behaviors/BackUp" + wait: + plugin: "nav2_recoveries/Wait" # "nav2_behaviors/Wait" + global_frame: odom + robot_base_frame: ego_racecar/base_link + transform_timeout: 0.1 + use_sim_time: false + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 \ No newline at end of file diff --git a/src/planner/param/waypoint_follower.yaml b/src/planner/param/waypoint_follower.yaml new file mode 100644 index 00000000..a9bc7ba4 --- /dev/null +++ b/src/planner/param/waypoint_follower.yaml @@ -0,0 +1,19 @@ +### +# The Waypoint Follower module implements a way of doing waypoint following +# using the NavigateToPose action server. It will take in a set of ordered +# waypoints to follow and then try to navigate to them in order. It also +# hosts a waypoint task executor plugin which can be used to perform +# custom behavior at a waypoint like waiting for user instruction, +# taking a picture, or picking up a box. If a waypoint is not achievable, +# the stop_on_failure parameter will determine whether to continue to the next point or stop. +### +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + # "waypoint_task_executor_plugin" does not exist on ros2 foxy + # waypoint_task_executor_plugin: "wait_at_waypoint" + # wait_at_waypoint: + # plugin: "nav2_waypoint_follower::WaitAtWaypoint" + # enabled: True + # waypoint_pause_duration: 0 \ No newline at end of file diff --git a/src/planner/planner/__init__.py b/src/planner/planner/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/src/planner/planner/nav_to_pose_action_client.py b/src/planner/planner/nav_to_pose_action_client.py new file mode 100644 index 00000000..d98c074e --- /dev/null +++ b/src/planner/planner/nav_to_pose_action_client.py @@ -0,0 +1,66 @@ +import rclpy +from nav2_msgs.action import NavigateToPose +from rclpy.action import ActionClient +from rclpy.node import Node +from geometry_msgs.msg import PointStamped + +class NavToPoseActionClient(Node): + + def __init__(self): + super().__init__('Nav_To_Pose_Action_Client') + self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose') + self.subscriber_ = self.create_subscription(PointStamped, 'clicked_point', self.callback, 1) + self.subscriber_ # prevent unused variable warning + + def callback(self, msg): + self.get_logger().info('Recieved Data:\n X : %f \n Y : %f \n Z : %f' % (msg.point.x, msg.point.y, msg.point.z)) + self.send_goal (msg.point.x, msg.point.y, 0.0) + + def send_goal(self, x ,y, theta): + self.get_logger().info('sending goal to action server') + goal_pose = NavigateToPose.Goal() + goal_pose.pose.header.frame_id = 'map' + goal_pose.pose.pose.position.x = x + goal_pose.pose.pose.position.y = y + goal_pose.pose.pose.position.z = theta + + self.get_logger().info('waiting for action server') + self._action_client.wait_for_server() + self.get_logger().info('action server detected') + + self._send_goal_future = self._action_client.send_goal_async( + goal_pose, + feedback_callback=self.feedback_callback) + self.get_logger().info('goal sent') + + self._send_goal_future.add_done_callback(self.goal_response_callback) + + def goal_response_callback(self, future): + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().info('Goal rejected :(') + return + self.get_logger().info('Goal accepted :)') + self._get_result_future = goal_handle.get_result_async() + + self._get_result_future.add_done_callback(self.get_result_callback) + + def get_result_callback(self, future): + result = future.result().result + self.get_logger().info('Result: {0}' + str(result)) + rclpy.shutdown() + + def feedback_callback(self, feedback_msg): + feedback = feedback_msg.feedback + self.get_logger().info('FEEDBACK:' + str(feedback) ) + +def main(args=None): + rclpy.init(args=args) + + action_client = NavToPoseActionClient() + + rclpy.spin(action_client) + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/planner/planner/waypoint_detection.py b/src/planner/planner/waypoint_detection.py new file mode 100644 index 00000000..848ad51b --- /dev/null +++ b/src/planner/planner/waypoint_detection.py @@ -0,0 +1,245 @@ +import rclpy +from nav2_msgs.action import NavigateToPose +from rclpy.action import ActionClient +from rclpy.node import Node + +from tf_transformations import euler_from_quaternion, quaternion_from_euler +import numpy as np + +from geometry_msgs.msg import Point, PoseStamped, PoseWithCovarianceStamped +from f110_msgs.msg import Wpnt, WpntArray + +def hypot(x, y): + return np.sqrt(x**2 + y**2) + +def circleSegmentIntersection(start, end, radius): + start_np = np.array([start.x, start.y]) + end_np = np.array([end.x, end.y]) + d = end_np - start_np + f = start_np + + a = np.dot(d, d) + b = 2 * np.dot(f, d) + c = np.dot(f, f) - radius**2 + + discriminant = b**2 - 4 * a * c + + if discriminant < 0: + return None + else: + discriminant = np.sqrt(discriminant) + t1 = (-b - discriminant) / (2 * a) + t2 = (-b + discriminant) / (2 * a) + + t = t1 if 0 <= t1 <= 1 else t2 + intersection = start_np + t * d + + intersection_point = Point() + intersection_point.x = intersection[0] + intersection_point.y = intersection[1] + return intersection_point + +class WaypointDetection(Node): + + def __init__(self): + super().__init__('Waypoint_Detection_Node', allow_undeclared_parameters=True) + self.declare_parameters( + namespace='', + parameters=[ + ('map_frame', 'map'), + ('lookahead_radius_m', 1.0), + ('pose_topic', '/amcl_pose'), + ('drive_topic', '/ego_racecar/drive'), + ('goal_topic', 'goal_pose'), + ('shortest_path_enable', False), + ('Ts', 1.0)] + ) + + # self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose') + + self.lookahead_radius = self.get_parameter('lookahead_radius_m').value + self.drive_topic = self.get_parameter('drive_topic').value + + self.track_bounds = None + self.glb_wpnts = WpntArray() + self.glb_wpnts_sub_ = self.create_subscription(WpntArray, '/global_waypoints', self.glb_wpnts_cb, 10) + self.glb_wpnts_sub_ + + self.glb_sp_wpnts = WpntArray() + self.glb_sp_wpnts_sub_ = self.create_subscription(WpntArray, '/global_waypoints/shortest_path', self.glb_sp_wpnts_cb, 10) + self.glb_sp_wpnts_sub_ + + self.pose = PoseWithCovarianceStamped() + self.pose_sub_ = self.create_subscription(PoseWithCovarianceStamped, self.get_parameter('pose_topic').value, self.pose_cb, 10) + self.pose_sub_ + + self.goal_update_pub_ = self.create_publisher(PoseStamped, self.get_parameter('goal_topic').value, 10) + + # Start a timer + self.Ts = self.get_parameter('Ts').value + self.timer = self.create_timer(self.Ts, self.periodic) + + def glb_wpnts_cb(self, msg): + self.glb_wpnts = msg + track_length = msg.wpnts[-1].s_m + gb_len = rclpy.Parameter('track_length', rclpy.Parameter.Type.DOUBLE, track_length) + self.set_parameters([gb_len]) + + def glb_sp_wpnts_cb(self, msg): + self.glb_sp_wpnts = msg + + def pose_cb(self, msg): + self.pose = msg + + def periodic(self): + # TODO: waypoint detection logic + car_pos = np.array((self.pose.pose.pose.position.x, self.pose.pose.pose.position.y)) + self.get_logger().info(f'Car Position: {car_pos}') + + if self.get_parameter('shortest_path_enable').value: + wpnts = self.glb_sp_wpnts.wpnts + else: + wpnts = self.glb_wpnts.wpnts + lookahead_wpnt = self.get_lookahead_point(car_pos, self.lookahead_radius, wpnts, interpolate_after_goal=True) + + # TODO: include velocity constraints logic + if lookahead_wpnt: + goal_id = lookahead_wpnt.id + goal_x = lookahead_wpnt.x_m + goal_y = lookahead_wpnt.y_m + goal_theta = lookahead_wpnt.psi_rad + self.get_logger().info('Recieved Data:\n ID: %d \n X : %f \n Y : %f \n Theta : %f' % (goal_id, goal_x, goal_y, goal_theta)) + self.send_goal(goal_x, goal_y, goal_theta) + + def send_goal(self, x ,y, theta): + self.get_logger().info('Sending goal to GoalUpdater') + goal_pose = PoseStamped() + goal_pose.header.frame_id = self.get_parameter('map_frame').value + goal_pose.header.stamp = self.get_clock().now().to_msg() + goal_pose.pose.position.x = x + goal_pose.pose.position.y = y + goal_pose.pose.position.z = 0.0 + + quat = quaternion_from_euler(0.0, 0.0, theta) + goal_pose.pose.orientation.x = quat[0] + goal_pose.pose.orientation.y = quat[1] + goal_pose.pose.orientation.z = quat[2] + goal_pose.pose.orientation.w = quat[3] + + self.goal_update_pub_.publish(goal_pose) + + self.get_logger().info('Goal sent') + + def transform_waypoints(self, car_pos_, wpnts): + closest_wpnt_index = np.argmin([hypot(wpnt.x_m - car_pos_[0], wpnt.y_m - car_pos_[1]) for wpnt in wpnts]) + transformed_wpnts = [] + for wpnt in wpnts[closest_wpnt_index:]: + transformed_wpnt = Wpnt() + transformed_wpnt.x_m = wpnt.x_m - car_pos_[0] + transformed_wpnt.y_m = wpnt.y_m - car_pos_[1] + transformed_wpnt.psi_rad = wpnt.psi_rad + transformed_wpnt.id = wpnt.id + transformed_wpnts.append(transformed_wpnt) + return transformed_wpnts + + def get_lookahead_point(self, car_pos_, lookahead_dist, global_wpnts, interpolate_after_goal): + self.get_logger().info(f'Looking for waypoint with lookahead distance: {lookahead_dist}') + transformed_path_wpnts = self.transform_waypoints(car_pos_, global_wpnts) + + goal_wpnt_it = next( + (wpnt for wpnt in transformed_path_wpnts if hypot(wpnt.x_m, wpnt.y_m) >= lookahead_dist), + None + ) + + if goal_wpnt_it is None: + self.get_logger().info('No waypoint found within lookahead distance') + if interpolate_after_goal: + last_wpnt_it = transformed_path_wpnts[-1] + prev_last_wpnt_it = transformed_path_wpnts[-2] + + end_path_orientation = np.arctan2( + last_wpnt_it.y_m - prev_last_wpnt_it.y_m, + last_wpnt_it.x_m - prev_last_wpnt_it.x_m + ) + + last_wpnt_position = Point() + last_wpnt_position.x = last_wpnt_it.x_m + last_wpnt_position.y = last_wpnt_it.y_m + + projected_position = Point() + projected_position.x = last_wpnt_position.x + np.cos(end_path_orientation) * lookahead_dist + projected_position.y = last_wpnt_position.y + np.sin(end_path_orientation) * lookahead_dist + + interpolated_position = circleSegmentIntersection( + last_wpnt_position, projected_position, lookahead_dist + ) + + if interpolated_position is None: + self.get_logger().warn('Interpolation failed, using last waypoint') + last_wpnt_it.x_m += car_pos_[0] + last_wpnt_it.y_m += car_pos_[1] + return last_wpnt_it + + interpolated_wpnt = Wpnt() + interpolated_wpnt.x_m = interpolated_position.x + car_pos_[0] + interpolated_wpnt.y_m = interpolated_position.y + car_pos_[1] + interpolated_wpnt.psi_rad = last_wpnt_it.psi_rad + interpolated_wpnt.id = last_wpnt_it.id + self.get_logger().info(f'Interpolated waypoint: {interpolated_wpnt.x_m}, {interpolated_wpnt.y_m}') + return interpolated_wpnt + else: + goal_wpnt_it = transformed_path_wpnts[-1] + else: + goal_wpnt_index = transformed_path_wpnts.index(goal_wpnt_it) + self.get_logger().info(f'Found waypoint within lookahead distance at index: {goal_wpnt_index}') + if goal_wpnt_index != 0: + prev_wpnt_it = transformed_path_wpnts[goal_wpnt_index - 1] + prev_wpnt_position = Point() + prev_wpnt_position.x = prev_wpnt_it.x_m + prev_wpnt_position.y = prev_wpnt_it.y_m + goal_wpnt_position = Point() + goal_wpnt_position.x = goal_wpnt_it.x_m + goal_wpnt_position.y = goal_wpnt_it.y_m + + point = circleSegmentIntersection( + prev_wpnt_position, goal_wpnt_position, lookahead_dist + ) + + if point is None: + self.get_logger().warn('Circle-segment intersection failed, using goal waypoint') + goal_wpnt_it.x_m += car_pos_[0] + goal_wpnt_it.y_m += car_pos_[1] + return goal_wpnt_it + + wpnt = Wpnt() + wpnt.x_m = point.x + car_pos_[0] + wpnt.y_m = point.y + car_pos_[1] + wpnt.psi_rad = goal_wpnt_it.psi_rad + wpnt.id = goal_wpnt_it.id + self.get_logger().info(f'Computed waypoint: {wpnt.x_m}, {wpnt.y_m}') + return wpnt + + goal_wpnt_it.x_m += car_pos_[0] + goal_wpnt_it.y_m += car_pos_[1] + self.get_logger().info(f'Goal waypoint: {goal_wpnt_it.x_m}, {goal_wpnt_it.y_m}') + return goal_wpnt_it + +def main(args=None): + rclpy.init(args=args) + + node = WaypointDetection() + + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/planner/resource/planner b/src/planner/resource/planner new file mode 100644 index 00000000..e69de29b diff --git a/src/planner/setup.cfg b/src/planner/setup.cfg new file mode 100644 index 00000000..8e0c524c --- /dev/null +++ b/src/planner/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/planner +[install] +install-scripts=$base/lib/planner diff --git a/src/planner/setup.py b/src/planner/setup.py new file mode 100644 index 00000000..d3811106 --- /dev/null +++ b/src/planner/setup.py @@ -0,0 +1,30 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'planner' + +setup( + name=package_name, + version='0.1.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*launch.py')), + (os.path.join('share', package_name, 'param'), glob('param/*.yaml')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='wisnton.h.chou@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'waypoint_detection = planner.waypoint_detection:main', + ], + }, +) diff --git a/src/planner/test/test_copyright.py b/src/planner/test/test_copyright.py new file mode 100644 index 00000000..cc8ff03f --- /dev/null +++ b/src/planner/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/planner/test/test_flake8.py b/src/planner/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/src/planner/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/planner/test/test_pep257.py b/src/planner/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/src/planner/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/sensors/launch/custom_msg_MID360_launch.py b/src/sensors/launch/custom_msg_MID360_launch.py new file mode 100644 index 00000000..09796cbb --- /dev/null +++ b/src/sensors/launch/custom_msg_MID360_launch.py @@ -0,0 +1,65 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 1 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../livox_config' +user_config_path = os.path.join(cur_config_path, 'MID360_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + livox_to_pointcloud2 = Node( + package='livox_to_pointcloud2', + executable='livox_to_pointcloud2_node', + name='livox_converter', + output='screen', + remappings=[ + ('/livox2/lidar', '/livox/lidar') + ] + ) + + return LaunchDescription([ + livox_driver, + livox_to_pointcloud2, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/sensors/launch/msg_MID360_launch.py b/src/sensors/launch/msg_MID360_launch.py new file mode 100644 index 00000000..2573f36e --- /dev/null +++ b/src/sensors/launch/msg_MID360_launch.py @@ -0,0 +1,54 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../livox_config' +user_config_path = os.path.join(cur_config_path, 'MID360_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + return LaunchDescription([ + livox_driver, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/sensors/launch/pointcloud_to_laserscan_launch.py b/src/sensors/launch/pointcloud_to_laserscan_launch.py new file mode 100644 index 00000000..4cd313aa --- /dev/null +++ b/src/sensors/launch/pointcloud_to_laserscan_launch.py @@ -0,0 +1,70 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +launch_file_path = os.path.split(os.path.realpath(__file__))[0] + '/' +slice_param_path = os.path.join(launch_file_path, '../param/slice_frame_info.yaml') + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + sensors_pkg = 'sensors' + + slice_info_num, slice_info_str = yaml_decode(slice_param_path) + # print(slice_info_num, '\n', slice_info_str) + + pcl_to_scan_config = os.path.join( + get_package_share_directory(sensors_pkg), + 'param', + 'pcl_to_scan.yaml' + ) + + return LaunchDescription([ + # DeclareLaunchArgument( + # name='scanner', default_value='scanner', + # description='Namespace for sample topics' + # ), + # Node( + # package='pointcloud_to_laserscan', executable='dummy_pointcloud_publisher', + # remappings=[('cloud', [LaunchConfiguration(variable_name='scanner'), '/cloud'])], + # parameters=[{'cloud_frame_id': 'cloud', 'cloud_extent': 2.0, 'cloud_size': 500}], + # name='cloud_publisher' + # ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher', + arguments=[str(slice_info_num['x']), + str(slice_info_num['y']), + str(slice_info_num['z']), + str(slice_info_num['yaw']), + str(slice_info_num['pitch']), + str(slice_info_num['roll']), + slice_info_str['frame_id'], + slice_info_str['child_frame_id']] + ), + Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', slice_info_str['pointcloud_topic']), + # ('scan', [LaunchConfiguration(variable_name='scanner'), slice_info_str['slice_scan_topic']]), + ('scan', slice_info_str['slice_scan_topic'])], + parameters=[pcl_to_scan_config], + name='pointcloud_to_laserscan' + ) + ]) diff --git a/src/sensors/livox_config/MID360_config.json b/src/sensors/livox_config/MID360_config.json new file mode 100644 index 00000000..c4b0c80d --- /dev/null +++ b/src/sensors/livox_config/MID360_config.json @@ -0,0 +1,42 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "MID360": { + "lidar_net_info" : { + "cmd_data_port": 56100, + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.5", + "push_msg_port": 56201, + "point_data_ip": "192.168.1.5", + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.5", + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.125", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} + diff --git a/src/sensors/package.xml b/src/sensors/package.xml new file mode 100644 index 00000000..000db300 --- /dev/null +++ b/src/sensors/package.xml @@ -0,0 +1,29 @@ + + + + sensors + 0.1.0 + TODO: Package description + root + TODO: License declaration + + rclpy + tf2_ros_py + + python3-numpy + std_msgs + geometry_msgs + ackermann_msgs + + rviz + robot_localization + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/sensors/param/pcl_to_scan.yaml b/src/sensors/param/pcl_to_scan.yaml new file mode 100644 index 00000000..d1f3dd47 --- /dev/null +++ b/src/sensors/param/pcl_to_scan.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + target_frame: 'slice_frame' + transform_tolerance: 0.01 + min_height: 0.0 + max_height: 0.1 + angle_min: -3.1416 # -M_PI/2 + angle_max: 3.1416 # M_PI/2 + angle_increment: 0.0087 # M_PI/360.0 + scan_time: 0.3333 + range_min: 0.075 + range_max': 5.0 + use_inf: True + inf_epsilon: 1.0 \ No newline at end of file diff --git a/src/sensors/param/slice_frame_info.yaml b/src/sensors/param/slice_frame_info.yaml new file mode 100644 index 00000000..958da8a7 --- /dev/null +++ b/src/sensors/param/slice_frame_info.yaml @@ -0,0 +1,15 @@ +## slice_frame_to_lidar_frame info +x: 0.0 +y: 0.0 +z: -0.1 + +yaw: 0.0 +pitch: 0.0 +roll: 0.0 + +frame_id: 'livox_frame' +child_frame_id: 'slice_frame' + +pointcloud_topic: '/livox/points' +slice_scan_topic: '/ego_racecar/scan' # type custom topic name here, + # eventually, it would be '/ego_racecar/${CUSTOM_TOPIC}' diff --git a/src/sensors/resource/sensors b/src/sensors/resource/sensors new file mode 100644 index 00000000..e69de29b diff --git a/src/sensors/sensors/__init__.py b/src/sensors/sensors/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/src/sensors/setup.cfg b/src/sensors/setup.cfg new file mode 100644 index 00000000..c806014f --- /dev/null +++ b/src/sensors/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/sensors +[install] +install-scripts=$base/lib/sensors diff --git a/src/sensors/setup.py b/src/sensors/setup.py new file mode 100644 index 00000000..38f3175e --- /dev/null +++ b/src/sensors/setup.py @@ -0,0 +1,30 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'sensors' + +setup( + name=package_name, + version='0.1.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*launch.py')), + (os.path.join('share', package_name, 'param'), glob('param/*.yaml')), + (os.path.join('share', package_name, 'livox_config'), glob('livox_config/*')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='wisnton.h.chou@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/src/sensors/test/test_copyright.py b/src/sensors/test/test_copyright.py new file mode 100644 index 00000000..cc8ff03f --- /dev/null +++ b/src/sensors/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/sensors/test/test_flake8.py b/src/sensors/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/src/sensors/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/sensors/test/test_pep257.py b/src/sensors/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/src/sensors/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/state_estimation/launch/cartographer.launch.py b/src/state_estimation/launch/cartographer.launch.py new file mode 100644 index 00000000..63564ca1 --- /dev/null +++ b/src/state_estimation/launch/cartographer.launch.py @@ -0,0 +1,43 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + pkg_name = 'state_estimation' + + desc_dir = get_package_share_directory(pkg_name) + cartographer_config_dir = os.path.join(desc_dir, 'param') + configuration_basename = 'cartographer.lua' + + cartographer_ros_node = Node( + package='cartographer_ros', + executable='cartographer_node', + name='cartographer_node', + output='screen', + parameters=[{'use_sim_time': False}], + arguments=['-configuration_directory', cartographer_config_dir, + '-configuration_basename', configuration_basename], + remappings=[ + ('/scan', '/ego_racecar/scan'), + ('/odom', '/odometry/filtered'), + ] + ) + + occupancy_grid_node =Node( + package='cartographer_ros', + executable='occupancy_grid_node', # 'cartographer_occupancy_grid_node' for ROS 2 Humble + output='screen', + name='occupancy_grid_node', + parameters=[{'use_sim_time': False}], + arguments=['-resolution', '0.05', '-publish_period_sec', '1.0'] + ) + + ld = LaunchDescription([]) + ld.add_action(cartographer_ros_node) + ld.add_action(occupancy_grid_node) + + return ld \ No newline at end of file diff --git a/src/state_estimation/launch/ekf.launch.py b/src/state_estimation/launch/ekf.launch.py new file mode 100644 index 00000000..993fdabc --- /dev/null +++ b/src/state_estimation/launch/ekf.launch.py @@ -0,0 +1,137 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +def read_yaml(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.SafeLoader) + return yaml_inputs + +def parse_select(select_file_path: str, kalman_filter_type: str): + """ + parse_select(select_file_path, kalman_filter_type) + - The function helps parse the select file + for `ekf_node` or `ukf_node` in `robot_localization` pkg. + - Please name your select yaml file as `ekf_select.yaml` or `ukf_select.yaml`. + - Specify `ekf_config` or `ukf_config` in the 1st line of your yaml file. + """ + select_prefix = kalman_filter_type + '_select' + override_prefix = 'override_' + kalman_filter_type + '_config' + select_yaml = read_yaml(select_file_path) + arguments_ = [] + override_params_ = dict() + if select_yaml[select_prefix][override_prefix]: + num_odoms = 0 + num_imus = 0 + odom_names = [] + imu_names = [] + for odom_arg, odom_dict in select_yaml[select_prefix]['odom'].items(): + if odom_dict['enable'] == 1: + odom_arg_num = 'odom' + str(num_odoms) + arguments_.append(DeclareLaunchArgument(str(odom_arg), + default_value=odom_dict['odom_topic'])) + override_params_[odom_arg_num] = LaunchConfiguration(str(odom_arg)) + + odom_arg_config = odom_arg_num + '_config' + arguments_.append(DeclareLaunchArgument(str(odom_arg + '_config'), + default_value= + str(odom_dict['odom_config']))) + override_params_[odom_arg_config] = LaunchConfiguration(str(odom_arg + '_config')) + + odom_arg_queue_size = odom_arg_num + '_queue_size' + arguments_.append(DeclareLaunchArgument(str(odom_arg + '_queue_size'), + default_value= + str(odom_dict['odom_queue_size']))) + override_params_[odom_arg_queue_size] = LaunchConfiguration(str(odom_arg + '_queue_size')) + + odom_arg_rel = odom_arg_num + '_relative' + arguments_.append(DeclareLaunchArgument(str(odom_arg + '_relative'), + default_value= + str(odom_dict['odom_relative']))) + override_params_[odom_arg_rel] = LaunchConfiguration(str(odom_arg + '_relative')) + + num_odoms += 1 + odom_names.append(str(odom_arg)) + + for imu_arg, imu_dict in select_yaml[select_prefix]['imu'].items(): + if imu_dict['enable'] == 1: + imu_arg_num = 'imu' + str(num_imus) + arguments_.append(DeclareLaunchArgument(str(imu_arg), + default_value=imu_dict['imu_topic'])) + override_params_[imu_arg_num] = LaunchConfiguration(str(imu_arg)) + + imu_arg_config = imu_arg_num + '_config' + arguments_.append(DeclareLaunchArgument(str(imu_arg + '_config'), + default_value= + str(imu_dict['imu_config']))) + override_params_[imu_arg_config] = LaunchConfiguration(str(imu_arg + '_config')) + + imu_arg_queue_size = imu_arg_num + '_queue_size' + arguments_.append(DeclareLaunchArgument(str(imu_arg + '_queue_size'), + default_value= + str(imu_dict['imu_queue_size']))) + override_params_[imu_arg_queue_size] = LaunchConfiguration(str(imu_arg + '_queue_size')) + + imu_arg_rel = imu_arg_num + '_relative' + arguments_.append(DeclareLaunchArgument(str(imu_arg + '_relative'), + default_value= + str(imu_dict['imu_relative']))) + override_params_[imu_arg_rel] = LaunchConfiguration(str(imu_arg + '_relative')) + + imu_arg_gravity = imu_arg_num + '_remove_gravitational_acceleration' + arguments_.append(DeclareLaunchArgument(str(imu_arg + '_gravity'), + default_value= + str(imu_dict['remove_gravitational_acceleration']))) + override_params_[imu_arg_gravity] = LaunchConfiguration(str(imu_arg + '_gravity')) + + num_imus += 1 + imu_names.append(str(imu_arg)) + + print('[Sensor Fusion]', 'Num of Odom:', num_odoms, ', Names of Odom:', odom_names) + print('[Sensor Fusion]', 'Num of IMU:', num_imus, ', Names of IMU:', imu_names) + return arguments_, override_params_ + +def generate_launch_description(): + pkg_name = 'state_estimation' + config_file = 'ekf_config.yaml' + select_file = 'ekf_select.yaml' + desc_dir = get_package_share_directory(pkg_name) + + config_file_path = os.path.join( + desc_dir, + 'param', + config_file + ) + + select_file_path = os.path.join( + desc_dir, + 'param', + select_file + ) + + ekf_arguments, override_params = parse_select(select_file_path, 'ekf') + + robot_localization_node = Node( + package='robot_localization', + executable='ekf_node', + name='ekf_filter_node', + output='screen', + parameters=[ + config_file_path, + {'use_sim_time': False}, + override_params + ] + ) + + ld = LaunchDescription() + for arg in ekf_arguments: + ld.add_entity(arg) + ld.add_action(robot_localization_node) + + return ld diff --git a/src/state_estimation/launch/fast_lio.launch.py b/src/state_estimation/launch/fast_lio.launch.py new file mode 100644 index 00000000..c0ed4ac7 --- /dev/null +++ b/src/state_estimation/launch/fast_lio.launch.py @@ -0,0 +1,96 @@ +""" +This script is adapted from the FAST_LIO repository. + +@adapted_from: HKU MARS Lab, "FAST_LIO," GitHub repository, + https://github.com/hku-mars/FAST_LIO, accessed: Oct. 12, 2024. +""" + +import os.path + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition + +from launch_ros.actions import Node + + +def generate_launch_description(): + state_est_pkg = get_package_share_directory('state_estimation') + package_path = get_package_share_directory('fast_lio') + # default_config_path = os.path.join(package_path, 'config') + custom_config_path = os.path.join(state_est_pkg, 'param') + + default_rviz_config_path = os.path.join( + package_path, 'rviz', 'fastlio.rviz') + + use_sim_time = LaunchConfiguration('use_sim_time') + config_path = LaunchConfiguration('config_path') + config_file = LaunchConfiguration('config_file') + rviz_use = LaunchConfiguration('rviz') + rviz_cfg = LaunchConfiguration('rviz_cfg') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', default_value='false', + description='Use simulation (Gazebo) clock if true' + ) + # declare_config_path_cmd = DeclareLaunchArgument( + # 'config_path', default_value=default_config_path, + # description='Yaml config file path' + # ) + declare_config_path_cmd = DeclareLaunchArgument( + 'config_path', default_value=custom_config_path, + description='Yaml config file path' + ) + decalre_config_file_cmd = DeclareLaunchArgument( + 'config_file', default_value='mid360.yaml', + description='Config file' + ) + declare_rviz_cmd = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Use RViz to monitor results' + ) + declare_rviz_config_path_cmd = DeclareLaunchArgument( + 'rviz_cfg', default_value=default_rviz_config_path, + description='RViz config file path' + ) + + fast_lio_node = Node( + package='fast_lio', + executable='fastlio_mapping', + parameters=[PathJoinSubstitution([config_path, config_file]), + {'use_sim_time': use_sim_time}], + output='screen', + remappings=[ + ('/Odometry', '/odom_FAST_LIO'), + ] + ) + rviz_node = Node( + package='rviz2', + executable='rviz2', + arguments=['-d', rviz_cfg], + condition=IfCondition(rviz_use) + ) + + # No need to launch MID360 lidar here + # custom_lidar_msg_execute = ExecuteProcess( + # name='execute_ros_bridge', + # cmd=['ros2', 'launch', 'sensors', 'custom_msg_MID360_launch.py'], + # output='screen', + # shell='True' + # ) + + ld = LaunchDescription() + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_config_path_cmd) + ld.add_action(decalre_config_file_cmd) + ld.add_action(declare_rviz_cmd) + ld.add_action(declare_rviz_config_path_cmd) + + ld.add_action(fast_lio_node) + ld.add_action(rviz_node) + # ld.add_action(custom_lidar_msg_execute) + + return ld diff --git a/src/state_estimation/launch/nav2_amcl_server.launch.py b/src/state_estimation/launch/nav2_amcl_server.launch.py new file mode 100644 index 00000000..241544df --- /dev/null +++ b/src/state_estimation/launch/nav2_amcl_server.launch.py @@ -0,0 +1,43 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + pkg_name = 'state_estimation' + desc_dir = get_package_share_directory(pkg_name) + + nav2_amcl_yaml = os.path.join( + desc_dir, + 'param', + 'amcl_config.yaml' + ) + + ## amcl_server + nav2_amcl_node = Node( + package='nav2_amcl', + executable='amcl', + name='amcl', + output='screen', + parameters=[nav2_amcl_yaml] + ) + + ## lifecycle_manager - brinup amcl_server lifecycle + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_mapper', + output='screen', + parameters=[{'use_sim_time': False}, + {'autostart': True}, + {'node_names': ['amcl']}] + ) + + ld = LaunchDescription([]) + ld.add_action(nav2_amcl_node) + ld.add_action(lifecycle_manager_node) + + return ld \ No newline at end of file diff --git a/src/state_estimation/launch/nav2_map_server.launch.py b/src/state_estimation/launch/nav2_map_server.launch.py new file mode 100644 index 00000000..a8669797 --- /dev/null +++ b/src/state_estimation/launch/nav2_map_server.launch.py @@ -0,0 +1,74 @@ +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +import yaml + +def yaml_decode(yaml_input_path): + with open(yaml_input_path, "r") as file: + yaml_inputs = yaml.load(file, Loader=yaml.FullLoader) + numeric_inputs = {} + string_inputs = {} + for key in yaml_inputs: + value = yaml_inputs[key] + if isinstance(value, float) or isinstance(value, int): + numeric_inputs[key] = value + elif isinstance(value, str): + string_inputs[key] = value + return numeric_inputs, string_inputs + +def generate_launch_description(): + pkg_name = 'state_estimation' + desc_dir = get_package_share_directory(pkg_name) + + map_save_path_pkg = 'basestation_launch' + map_select_file = 'map_select.yaml' + + map_select_yaml_path = os.path.join( + get_package_share_directory(map_save_path_pkg), + 'param', + map_select_file + ) + + map_info_num, map_info_str = yaml_decode(map_select_yaml_path) + # print('map_info_num', '\n', 'map_info_str') + + map_file = os.path.join( + get_package_share_directory(map_save_path_pkg), + map_info_str['default_path_prefix'], + map_info_str['custom_prefix'], + map_info_str['map_yaml_file'] # where your map *.yaml is + ) + + ## map_server + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'use_sim_time': False}, + {'topic_name': "map"}, + {'frame_id': "map"}, # make sure the frame exist to visualize the OccupancyGrid + {'yaml_filename':map_file}] + ) + + ## lifecycle_manager - brinup map_server lifecycle + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_mapper', + output='screen', + parameters=[{'use_sim_time': False}, + {'autostart': True}, + {'node_names': ['map_server']}] + ) + + ld = LaunchDescription([]) + ld.add_action(map_server_node) + ld.add_action(lifecycle_manager_node) + + return ld \ No newline at end of file diff --git a/src/state_estimation/launch/online_async_launch.py b/src/state_estimation/launch/online_async_launch.py new file mode 100644 index 00000000..6ac970f6 --- /dev/null +++ b/src/state_estimation/launch/online_async_launch.py @@ -0,0 +1,60 @@ +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, LogInfo +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from nav2_common.launch import HasNodeParams + + +def generate_launch_description(): + launch_pkg = "state_estimation" + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + default_params_file = os.path.join(get_package_share_directory(launch_pkg), + 'param', 'mapper_params_online_async.yaml') + + declare_use_sim_time_argument = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation/Gazebo clock') + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=default_params_file, + description='Full path to the ROS2 parameters file to use for the slam_toolbox node') + + # If the provided param file doesn't have slam_toolbox params, we must pass the + # default_params_file instead. This could happen due to automatic propagation of + # LaunchArguments. See: + # https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866 + has_node_params = HasNodeParams(source_file=params_file, + node_name='slam_toolbox') + + actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params, + ' else "', default_params_file, '"']) + + log_param_change = LogInfo(msg=['provided params_file ', params_file, + ' does not contain slam_toolbox parameters. Using default: ', + default_params_file], + condition=UnlessCondition(has_node_params)) + + start_async_slam_toolbox_node = Node( + parameters=[ + actual_params_file, + {'use_sim_time': use_sim_time} + ], + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen') + + ld = LaunchDescription() + + ld.add_action(declare_use_sim_time_argument) + ld.add_action(declare_params_file_cmd) + ld.add_action(log_param_change) + ld.add_action(start_async_slam_toolbox_node) + + return ld diff --git a/src/state_estimation/launch/rf2o.launch.py b/src/state_estimation/launch/rf2o.launch.py new file mode 100644 index 00000000..2ad96f4e --- /dev/null +++ b/src/state_estimation/launch/rf2o.launch.py @@ -0,0 +1,38 @@ +import os +from pathlib import Path +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch.actions import ExecuteProcess +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node + +def generate_launch_description(): + pkg_name = 'state_estimation' + config_file = 'rf2o_config.yaml' + desc_dir = get_package_share_directory(pkg_name) + + config_file_path = os.path.join( + desc_dir, + 'param', + config_file + ) + + rf2o_node = Node( + package='rf2o_laser_odometry', + executable='rf2o_laser_odometry_node', + name='rf2o_laser_odometry', + output='screen', + parameters=[config_file_path], + arguments=['--ros-args', '--disable-stdout-logs'], + ) + + ld = LaunchDescription() + ld.add_action(rf2o_node) + + return ld diff --git a/src/state_estimation/package.xml b/src/state_estimation/package.xml new file mode 100644 index 00000000..6e98464c --- /dev/null +++ b/src/state_estimation/package.xml @@ -0,0 +1,31 @@ + + + + state_estimation + 0.1.0 + TODO: Package description + root + TODO: License declaration + + rclpy + tf2_ros_py + + python3-numpy + std_msgs + geometry_msgs + ackermann_msgs + nav2_msgs + cartographer_ros_msgs + + rviz + robot_localization + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/state_estimation/param/amcl_config.yaml b/src/state_estimation/param/amcl_config.yaml new file mode 100644 index 00000000..59b8f64e --- /dev/null +++ b/src/state_estimation/param/amcl_config.yaml @@ -0,0 +1,66 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + + set_initial_pose: false + initial_pose: + x: 0.0 + y: 0.0 + yaw: 0.0 + + always_reset_initial_pose: false # Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize. + + global_frame_id: "map" + base_frame_id: "ego_racecar/base_footprint" + odom_frame_id: "odom" + + map_topic: "/map" + scan_topic: "/ego_racecar/scan" + + max_particles: 8000 + min_particles: 200 + + max_beams: 60 # How many evenly-spaced beams in each scan will be used when updating the filter. + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + + laser_likelihood_max_dist: 2.0 # Maximum distance to do obstacle inflation on a map, for use in likelihood_field model. + laser_max_range: 15.0 + laser_min_range: 0.05 + laser_model_type: "likelihood_field" # Which model to use, beam, likelihood_field, or likelihood_field_prob (same as likelihood_field but incorporates the beamskip feature, if enabled). + + pf_err: 0.05 + pf_z: 0.99 + + recovery_alpha_fast: 0.0 # The exponential decay rate for the fast average weight filter is used in deciding when to recover by adding random poses. A good value might be 0.1. + recovery_alpha_slow: 0.0 # The exponential decay rate for the slow average weight filter is used in deciding when to recover by adding random poses. A good value might be 0.001. + resample_interval: 1 + + # Which model to use, either "differential" (nav2_amcl::DifferentialMotionModel) + # or "omnidirectional" (nav2_amcl::OmniMotionModel). + # You should probably use omni models instead of differential drive models if you don't have a diff drive set of kinematics. Omni at least allows for anything, so ackermann is a subset of that (even if imperfect). Adding an ackermann motion model plugin is definitely something that could be done! + robot_model_type: "omnidirectional" + + # Maximum rate (Hz) at which to store the last estimated pose and covariance + # to the parameter server, in the variables ~initialpose and ~initialcov. + # This saved pose will be used on subsequent runs to initialize the filter (-1.0 to disable). + save_pose_rate: 0.5 + + tf_broadcast: true + transform_tolerance: 1.0 # Time with which to post-date the transform that is published, indicating that this transform is valid into the future. + update_min_a: 0.2 # Translational movement required before performing a filter update. + update_min_d: 0.25 # The rotational movement is required before performing a filter update. + + sigma_hit: 0.2 # The standard deviation for Gaussian model used in z_hit part of the model. + lambda_short: 0.1 # Exponential decay parameter for z_short part of the model. + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 \ No newline at end of file diff --git a/src/state_estimation/param/cartographer.lua b/src/state_estimation/param/cartographer.lua new file mode 100644 index 00000000..644a7bc0 --- /dev/null +++ b/src/state_estimation/param/cartographer.lua @@ -0,0 +1,49 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "ego_racecar/base_footprint", + published_frame = "odom", + odom_frame = "odom", + provide_odom_frame = false, + publish_frame_projected_to_2d = true, + use_odometry = true, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.12 +TRAJECTORY_BUILDER_2D.max_range = 3.5 +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) + +POSE_GRAPH.constraint_builder.min_score = 0.65 +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7 + +-- POSE_GRAPH.optimize_every_n_nodes = 0 + +return options \ No newline at end of file diff --git a/src/state_estimation/param/ekf_config.yaml b/src/state_estimation/param/ekf_config.yaml new file mode 100644 index 00000000..8f5a2b9d --- /dev/null +++ b/src/state_estimation/param/ekf_config.yaml @@ -0,0 +1,49 @@ +### ekf config file ### +ekf_filter_node: + ros__parameters: +# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin +# computation until it receives at least one message from one of theinputs. It will then run continuously at the +# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. + frequency: 30.0 + +# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is +# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar +# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected +# by, for example, an IMU. Defaults to false if unspecified. + two_d_mode: false + +# Whether to publish the acceleration state. Defaults to false if unspecified. + publish_acceleration: true + +# Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified. + publish_tf: true + +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set "world_frame" +# to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark +# observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state estimation node +# from robot_localization! However, that instance should *not* fuse the global data. + map_frame: map # Defaults to "map" if unspecified + odom_frame: odom # Defaults to "odom" if unspecified + base_link_frame: ego_racecar/base_footprint # Defaults to "base_link" if unspecified + world_frame: odom # Defaults to the value of odom_frame if unspecified + + odom0: /odom + odom0_config: [true, true, false, # [x_pos , y_pos , z_pos, + false, false, true, # roll , pitch , yaw, + false, false, false, # x_vel , y_vel , z_vel, + false, false, true, # roll_vel, pitch_vel, yaw_vel, + false, false, false] # x_accel , y_accel , z_accel] + + imu0: /lidar/imu + imu0_config: [false, false, false, # Ignore x linear acceleration, use y linear acceleration + true, true, true, # Use x and z angular velocity, ignore y angular velocity + false, false, false, # Use z orientation (quaternion), ignore others + false, false, false, # Ignore covariance elements + false, false, false] # Ignore other fields + + imu0_remove_gravitational_acceleration: false \ No newline at end of file diff --git a/src/state_estimation/param/ekf_select.yaml b/src/state_estimation/param/ekf_select.yaml new file mode 100644 index 00000000..db281acd --- /dev/null +++ b/src/state_estimation/param/ekf_select.yaml @@ -0,0 +1,48 @@ +ekf_select: # select which source to disable (0) or enable (1) + override_ekf_config: True # override default config in ekf_config.yaml + odom: + vesc_odom: + enable: 1 + odom_topic: /odom + odom_config: [true, true, false, # [x_pos , y_pos , z_pos, + false, false, false, # roll , pitch , yaw, + true, true, false, # x_vel , y_vel , z_vel, + false, false, false, # roll_vel, pitch_vel, yaw_vel, + false, false, false] # x_accel , y_accel , z_accel] + odom_queue_size: 1 + odom_relative: true + + rf2o: + enable: 0 + odom_topic: /rf2o/odom + odom_config: [true, true, false, # [x_pos , y_pos , z_pos, + false, false, true, # roll , pitch , yaw, + false, false, false, # x_vel , y_vel , z_vel, + false, false, true, # roll_vel, pitch_vel, yaw_vel, + false, false, false] # x_accel , y_accel , z_accel] + odom_queue_size: 1 + odom_relative: true + + FAST_LIO: + enable: 1 + odom_topic: /odom_FAST_LIO + odom_config: [true, true, false, # [x_pos , y_pos , z_pos, + true, true, true, # roll , pitch , yaw, + false, false, false, # x_vel , y_vel , z_vel, + false, false, true, # roll_vel, pitch_vel, yaw_vel, + false, false, false] # x_accel , y_accel , z_accel] + odom_queue_size: 1 + odom_relative: true + + imu: + livox_imu: + enable: 0 + imu_topic: /lidar/imu + imu_config: [false, false, false, # [x_pos , y_pos , z_pos, + true, true, true, # roll , pitch , yaw, + false, false, false, # x_vel , y_vel , z_vel, + false, false, false, # roll_vel, pitch_vel, yaw_vel, + false, false, false] # x_accel , y_accel , z_accel] + imu_queue_size: 5 + imu_relative: true + remove_gravitational_acceleration: false diff --git a/src/state_estimation/param/mapper_params_online_async.yaml b/src/state_estimation/param/mapper_params_online_async.yaml new file mode 100644 index 00000000..91519341 --- /dev/null +++ b/src/state_estimation/param/mapper_params_online_async.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: ego_racecar/base_footprint + scan_topic: /ego_racecar/scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: true + throttle_scans: 1 + transform_publish_period: 0.02 #if 0.0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 1.5 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 5.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/src/state_estimation/param/mid360.yaml b/src/state_estimation/param/mid360.yaml new file mode 100644 index 00000000..1dcbafd0 --- /dev/null +++ b/src/state_estimation/param/mid360.yaml @@ -0,0 +1,54 @@ +# This configuration file is adapted from the FAST_LIO repository. +# @adapted_from: HKU MARS Lab, "FAST_LIO," GitHub repository, +# https://github.com/hku-mars/FAST_LIO, accessed: Oct. 12, 2024. + +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/livox/lidar" # need to change according to lidar ip + imu_topic: "/livox/imu" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input + scan_line: 4 + blind: 0.5 + timestamp_unit: 3 + scan_rate: 10 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: true # true: publish Path + effect_map_en: false # true: publish Effects + map_en: true # true: publish Map cloud + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: false # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/state_estimation/param/rf2o_config.yaml b/src/state_estimation/param/rf2o_config.yaml new file mode 100644 index 00000000..405903b5 --- /dev/null +++ b/src/state_estimation/param/rf2o_config.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + freq : 20.0 + laser_scan_topic : '/ego_racecar/scan' + odom_topic : '/rf2o/odom' + odom_frame_id : 'odom' + base_frame_id : 'ego_racecar/base_footprint' + + # Enable if you want to let rf2o_node publish tf between odom_frame and base_frame + publish_tf : False + init_pose_from_topic : '' diff --git a/src/state_estimation/resource/state_estimation b/src/state_estimation/resource/state_estimation new file mode 100644 index 00000000..e69de29b diff --git a/src/state_estimation/setup.cfg b/src/state_estimation/setup.cfg new file mode 100644 index 00000000..79e45513 --- /dev/null +++ b/src/state_estimation/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/state_estimation +[install] +install-scripts=$base/lib/state_estimation diff --git a/src/state_estimation/setup.py b/src/state_estimation/setup.py new file mode 100644 index 00000000..64bacc48 --- /dev/null +++ b/src/state_estimation/setup.py @@ -0,0 +1,30 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'state_estimation' + +setup( + name=package_name, + version='0.1.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*launch.py')), + (os.path.join('share', package_name, 'param'), glob('param/*.yaml')), + (os.path.join('share', package_name, 'param'), glob('param/*.lua')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='wisnton.h.chou@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/src/state_estimation/state_estimation/__init__.py b/src/state_estimation/state_estimation/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/src/state_estimation/test/test_copyright.py b/src/state_estimation/test/test_copyright.py new file mode 100644 index 00000000..cc8ff03f --- /dev/null +++ b/src/state_estimation/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/state_estimation/test/test_flake8.py b/src/state_estimation/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/src/state_estimation/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/state_estimation/test/test_pep257.py b/src/state_estimation/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/src/state_estimation/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'