Improves andino_navigation package. (#224)

Signed-off-by: Franco Cipollone <[email protected]>

README.md

@@ -166,20 +166,19 @@ ros2 launch andino_bringup rviz.launch.py
 
 For starting `rviz2` visualization with a provided configuration.
 
-## :computer: Simulation
-
-The [`andino_gz_classic`](./andino_gz_classic/README.MD) package provides a Gazebo simulation fo the Andino robot.
-
-<img src="./andino_gz_classic/docs/andino_gz_classic.png" width=400/>
-
 ## :compass: Navigation
 
 The [`andino_navigation`](./andino_navigation/README.md) package provides a navigation stack based on the great [Nav2](https://github.com/ros-planning/navigation2) package.
 
 https://github.com/Ekumen-OS/andino/assets/53065142/29951e74-e604-4a6e-80fc-421c0c6d8fee
 
-_Important!: At the moment this package is only working with the simulation. The support for the real robot is forthcoming._
+Follow the [`andino_navigation`'s README](./andino_navigation/README.md) instructions for bringing up the Navigation stack in the real robot or in the simulation.
 
+## :computer: Simulation
+
+The [`andino_gz_classic`](./andino_gz_classic/README.MD) package provides a Gazebo simulation for the Andino robot.
+
+<img src="./andino_gz_classic/docs/andino_gz_classic.png" width=400/>
 
 ## :selfie: Media
 

andino_navigation/README.md

@@ -1,39 +1,39 @@
-# Nav2 with Andino robot
-*Note*: Nav2 is only configured to work with the simulation for the moment.
- Support to real robot is forthcoming.
+# Andino Navigation
 
-## Build
+We rely on [Nav2](https://github.com/ros-planning/navigation2) stack in order to navigate Andino.
 
-Install package dependencies:
+# Usage
 
-```
-rosdep install --from-paths src -i -y
-```
+## Real Robot
 
-Build the package:
+### Prerequisites
 
-```
-colcon build
-```
+1. Andino robot needs to be up and running:
+  ```sh
+  ros2 launch andino_bringup andino_robot.launch.py
+  ```
 
-Note: `--symlink-install` can be added if needed.
+2. We need a previously recorded map in order to navigate on.
+   Refer to [andino_slam](../andino_slam/README.md) to learn how to record a map with Andino.
 
-Finally, source the install folder
-```
-. install/setup.bash
-```
+### Run nav stack
 
-# Usage 
+```sh
+ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file>
+```
 
-This package has the next option to be executed.
+By default, [config file](params/nav2_params.yaml) is used. For using a custom param file use:
+```sh
+ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file> params_file:=<path-to-my-param-file>
+```
 
-## Andino with nav2 in Gazebo Simulation
+## Simulation
 
-This launch file use the [turtlebot3_world](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/master) like world example which has an Apache 2 license.
+A launch file for running the andino_gz_classic simulation and the nav2 stack is provided.
+It uses the [turtlebot3_world](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/master) world (_Apache 2 license_) by default.
 
 ```
- . /usr/share/gazebo/setup.bash
- ros2 launch andino_navigation andino_simulation_navigation.launch.py 
+ ros2 launch andino_navigation andino_simulation_navigation.launch.py
 ```
 
 To test the navigation inside rviz:

andino_navigation/params/nav2_params.yaml

@@ -37,7 +37,7 @@ amcl:
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     max_beams: 60
-    max_particles: 2000
+    max_particles: 3000
     min_particles: 500
     odom_frame_id: "odom"
     pf_err: 0.05
@@ -130,7 +130,7 @@ bt_navigator_navigate_to_pose_rclcpp_node:
 controller_server:
   ros__parameters:
     use_sim_time: True
-    controller_frequency: 20.0
+    controller_frequency: 10.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -212,8 +212,8 @@ local_costmap:
       plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        cost_scaling_factor: 2.0
+        inflation_radius: 0.2
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -270,8 +270,8 @@ global_costmap:
         map_subscribe_transient_local: True
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        cost_scaling_factor: 2.0
+        inflation_radius: 0.2
       always_send_full_costmap: True
 
 map_server:
@@ -291,13 +291,13 @@ map_saver:
 
 planner_server:
   ros__parameters:
-    expected_planner_frequency: 20.0
+    expected_planner_frequency: 10.0
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner/NavfnPlanner"
       tolerance: 0.5
-      use_astar: false
+      use_astar: true
       allow_unknown: true
 
 smoother_server:
@@ -342,7 +342,7 @@ robot_state_publisher:
 waypoint_follower:
   ros__parameters:
     use_sim_time: True
-    loop_rate: 20
+    loop_rate: 10
     stop_on_failure: false
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
@@ -353,14 +353,14 @@ waypoint_follower:
 velocity_smoother:
   ros__parameters:
     use_sim_time: True
-    smoothing_frequency: 20.0
+    smoothing_frequency: 10.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [0.26, 0.0, 1.0]
-    min_velocity: [-0.26, 0.0, -1.0]
+    max_velocity: [0.15, 0.0, 1.0]
+    min_velocity: [-0.15, 0.0, -1.0]
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
-    odom_topic: "odom"
+    odom_topic: "/odom"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0

andino_slam/README.md

@@ -17,3 +17,22 @@ Several configuration can be forwarded to the `slam_toolbox_node`. By default, t
 ```
 ros2 launch andino_slam slam_toolbox_online_async.launch.py slams_param_file:=<my_path>
 ```
+
+For saving the map you can use `map_saver_cli` node provided by Nav2.
+```sh
+ros2 run nav2_map_server map_saver_cli -f <my-map-name>
+```
+
+You can modify the threshold for free space (0.25) and occupied space (0.65) by using
+`--free` and `--occ` arguments.
+
+```sh
+ros2 run nav2_map_server map_saver_cli --free 0.15 -f <my-map-name>
+```
+More information at:
+ - https://navigation.ros.org/configuration/packages/configuring-map-server.html
+ - https://github.com/ros-planning/navigation2/tree/main/nav2_map_server
+
+
+Once you have the map saved, you can navigate on it!
+Go to [`andino_navigation`](../andino_navigation/README.md) to learn how.