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Commit bb38ae9

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author
Cesar Lopez
committedJul 15, 2020
Update files for tutorial
1 parent d1ff1d7 commit bb38ae9

6 files changed

+56
-24
lines changed
 

‎maps/grid.png

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‎maps/grid.yaml

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image: grid.png
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resolution: 0.05
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origin: [-2.5, -2.5, 0.0]
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origin: [-5, -5, 0.0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196

‎test/full_coverage_path_planner/param/planners.yaml

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@@ -1,7 +1,3 @@
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planners:
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- name: 'SpiralSTC'
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type: 'full_coverage_path_planner/SpiralSTC'
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planner:
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allow_unknown: true
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default_tolerance: 0.0
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visualize_potential: true

‎test/full_coverage_path_planner/test_full_coverage_path_planner.launch

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@@ -1,19 +1,17 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="map" default="$(find full_coverage_path_planner)/maps/basement.yaml"/>
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<arg name="map" default="$(find full_coverage_path_planner)/maps/grid.yaml"/>
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<arg name="target_x_vel" default="0.5"/>
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<arg name="target_yaw_vel" default="0.4"/>
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<arg name="robot_radius" default="0.5"/>
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<arg name="tool_radius" default="0.5"/>
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<arg name="robot_radius" default="0.3"/>
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<arg name="tool_radius" default="0.3"/>
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<!--Move base flex, using the full_coverage_path_planner-->
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<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
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<param name="tf_timeout" value="1.5"/>
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<param name="planner_max_retries" value="3"/>
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
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<param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
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<param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
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<param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
@@ -26,7 +24,7 @@
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<!-- Move Base backwards compatibility -->
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<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
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<!--Rather than running Gazebo to simulate a robot, just use cmd_vel to calculate odom and TF-->
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<!-- Mobile robot simulator -->
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<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
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<param name="publish_map_transform" value="true"/>
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<param name="publish_rate" value="10.0"/>
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</node>
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<!-- Launch coverage progress tracking -->
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<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="3 -0.25 0 1.57 0 0 map coverage_map 100" />
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<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="-2.5 -2.5 0 0.0 0 0 map coverage_map 100" />
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<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
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<param name="~target_area/x" value="3.0" /> <!--20-->
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<param name="~target_area/y" value="5" /> <!--30-->
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<param name="~target_area/x" value="10" />
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<param name="~target_area/y" value="10" />
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<param name="~coverage_radius" value="$(arg tool_radius)" />
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<remap from="reset" to="coverage_progress/reset" />
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<param name="~map_frame" value="/coverage_map"/>
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</node>
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<!--Tracking_pid can be paused and it must be actively unpaused-->
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<node name="publish_enable" pkg="rostopic" type="rostopic" args="pub --latch /enable_control std_msgs/Bool 'data: true'"/>
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<!-- Trigger planner by publishing a move_base goal -->
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<node name="publish_simple_goal" pkg="rostopic" type="rostopic" launch-prefix="bash -c 'sleep 1.0; $0 $@' "
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args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
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<!-- rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
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</launch>

‎test/full_coverage_path_planner/test_full_coverage_path_planner.test

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@@ -11,7 +11,6 @@
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<!--Move base flex, using the full_coverage_path_planner-->
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<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
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<param name="tf_timeout" value="1.5"/>
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<param name="planner_max_retries" value="3"/>
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
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<!-- Move Base backwards compatibility -->
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<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
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<!--Rather than running Gazebo to simulate a robot, just use cmd_vel to calculate odom and TF-->
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<!-- Mobile robot simulator -->
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<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
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<param name="publish_map_transform" value="true"/>
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<param name="publish_rate" value="10.0"/>
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<!-- Launch coverage progress tracking -->
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<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="3 -0.25 0 1.57 0 0 map coverage_map 100" />
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<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
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<param name="~target_area/x" value="3.0" /> <!--20-->
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<param name="~target_area/y" value="5" /> <!--30-->
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<param name="~target_area/x" value="3.0" />
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<param name="~target_area/y" value="5" />
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<param name="~coverage_radius" value="$(arg tool_radius)" />
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<remap from="reset" to="coverage_progress/reset" />
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<param name="~map_frame" value="/coverage_map"/>
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</node>
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<!--Tracking_pid can be paused and it must be actively unpaused-->
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<node name="publish_enable" pkg="rostopic" type="rostopic" args="pub --latch /enable_control std_msgs/Bool 'data: true'"/>
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<!-- Trigger planner by publishing a move_base goal -->
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<node name="publish_simple_goal" pkg="rostopic" type="rostopic" launch-prefix="bash -c 'sleep 1.0; $0 $@' "
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args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
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<test test-name="rostest_full_coverage_path_planner_node" pkg="full_coverage_path_planner" type="test_full_coverage_path_planner_system.py" time-limit="300.0" />
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<!-- rviz -->
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<node if="$(eval launch_rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
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</launch>

‎test/full_coverage_path_planner/test_full_coverage_path_planner_plugin.launch

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@@ -0,0 +1,41 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="map" default="$(find full_coverage_path_planner)/maps/grid.yaml"/>
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<arg name="robot_radius" default="0.3"/>
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<arg name="tool_radius" default="0.2"/>
7+
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<!--Move base flex, using the full_coverage_path_planner-->
9+
<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
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<param name="tf_timeout" value="1.5"/>
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
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14+
<param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
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<param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
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<param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
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<remap from="odom" to="/odom"/>
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<remap from="scan" to="/scan"/>
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<remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
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<remap from="/move_base_flex/tracking_pid/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/>
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</node>
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<!-- Move Base backwards compatibility -->
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<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
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<!--We need a map to fully cover-->
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<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
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<param name="frame_id" value="/map"/>
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</node>
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<!-- Mobile robot simulator -->
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<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
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<param name="publish_map_transform" value="true"/>
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<param name="publish_rate" value="10.0"/>
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<param name="velocity_topic" value="/move_base/cmd_vel"/>
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<param name="odometry_topic" value="/odom"/>
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</node>
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<!-- rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
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</launch>

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