Merge pull request #14 from abizovnuralem/dev

Fix slam with nav2

README.md

@@ -185,7 +185,7 @@ sudo snap install foxglove-studio
 ## SLAM
 
 <p align="center">
-<img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/30c6c38e-68ae-4edc-8c6b-861e47738054" alt='Slam'>
+<img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/59f33599-a54c-4cff-8ac2-6859a05ccb8a" alt='Slam'>
 </p>
 
 ## Development

go2_robot_sdk/config/nav2_params.yaml

@@ -0,0 +1,370 @@
+amcl:
+ ros__parameters:
+ use_sim_time: False
+ alpha1: 0.2
+ alpha2: 0.2
+ alpha3: 0.2
+ alpha4: 0.2
+ alpha5: 0.2
+ base_frame_id: "base_link"
+ beam_skip_distance: 0.5
+ beam_skip_error_threshold: 0.9
+ beam_skip_threshold: 0.3
+ do_beamskip: false
+ global_frame_id: "odom"
+ lambda_short: 0.1
+ laser_likelihood_max_dist: 2.0
+ laser_max_range: 100.0
+ laser_min_range: -1.0
+ laser_model_type: "likelihood_field"
+ max_beams: 60
+ max_particles: 2000
+ min_particles: 500
+ odom_frame_id: "odom"
+ pf_err: 0.05
+ pf_z: 0.99
+ recovery_alpha_fast: 0.0
+ recovery_alpha_slow: 0.0
+ resample_interval: 1
+ robot_model_type: "nav2_amcl::OmniMotionModel"
+ save_pose_rate: 0.5
+ sigma_hit: 0.2
+ tf_broadcast: true
+ transform_tolerance: 1.0
+ update_min_a: 0.2
+ update_min_d: 0.25
+ z_hit: 0.5
+ z_max: 0.05
+ z_rand: 0.5
+ z_short: 0.05
+ scan_topic: scan
+
+bt_navigator:
+ ros__parameters:
+ use_sim_time: False
+ global_frame: odom
+ robot_base_frame: base_link
+ odom_topic: /odom
+ bt_loop_duration: 10
+ default_server_timeout: 20
+ # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+ # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+ # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+ # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+ plugin_lib_names:
+ - nav2_compute_path_to_pose_action_bt_node
+ - nav2_compute_path_through_poses_action_bt_node
+ - nav2_smooth_path_action_bt_node
+ - nav2_follow_path_action_bt_node
+ - nav2_spin_action_bt_node
+ - nav2_wait_action_bt_node
+ - nav2_assisted_teleop_action_bt_node
+ - nav2_back_up_action_bt_node
+ - nav2_drive_on_heading_bt_node
+ - 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
+ - nav2_is_path_valid_condition_bt_node
+ - 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
+ - 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
+ - nav2_distance_traveled_condition_bt_node
+ - nav2_single_trigger_bt_node
+ - nav2_goal_updated_controller_bt_node
+ - nav2_is_battery_low_condition_bt_node
+ - nav2_navigate_through_poses_action_bt_node
+ - nav2_navigate_to_pose_action_bt_node
+ - nav2_remove_passed_goals_action_bt_node
+ - nav2_planner_selector_bt_node
+ - nav2_controller_selector_bt_node
+ - nav2_goal_checker_selector_bt_node
+ - nav2_controller_cancel_bt_node
+ - nav2_path_longer_on_approach_bt_node
+ - nav2_wait_cancel_bt_node
+ - nav2_spin_cancel_bt_node
+ - nav2_back_up_cancel_bt_node
+ - nav2_assisted_teleop_cancel_bt_node
+ - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+ ros__parameters:
+ use_sim_time: False
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+ ros__parameters:
+ use_sim_time: False
+
+controller_server:
+ ros__parameters:
+ use_sim_time: False
+ controller_frequency: 20.0
+ min_x_velocity_threshold: 0.001
+ min_y_velocity_threshold: 0.001
+ min_theta_velocity_threshold: 0.001
+ failure_tolerance: 0.3
+ progress_checker_plugin: "progress_checker"
+ goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+ controller_plugins: ["FollowPath"]
+
+ # Progress checker parameters
+ progress_checker:
+ plugin: "nav2_controller::SimpleProgressChecker"
+ required_movement_radius: 0.5
+ movement_time_allowance: 10.0
+ # Goal checker parameters
+ #precise_goal_checker:
+ # plugin: "nav2_controller::SimpleGoalChecker"
+ # xy_goal_tolerance: 0.25
+ # yaw_goal_tolerance: 0.25
+ # stateful: True
+ general_goal_checker:
+ stateful: True
+ plugin: "nav2_controller::SimpleGoalChecker"
+ xy_goal_tolerance: 0.25
+ yaw_goal_tolerance: 0.25
+ # DWB parameters
+ FollowPath:
+ plugin: "dwb_core::DWBLocalPlanner"
+ debug_trajectory_details: True
+ min_vel_x: 0.0
+ min_vel_y: 0.0
+ max_vel_x: 0.25 #0.15
+ max_vel_y: 0.0
+ max_vel_theta: 0.5
+ min_speed_xy: 0.0
+ max_speed_xy: 0.26
+ min_speed_theta: 0.0
+ # Add high threshold velocity for turtlebot 3 issue.
+ # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+ acc_lim_x: 2.5
+ acc_lim_y: 2.5
+ acc_lim_theta: 3.2
+ decel_lim_x: -2.5
+ decel_lim_y: -2.5
+ decel_lim_theta: -3.2
+ vx_samples: 20
+ vy_samples: 20
+ vtheta_samples: 20
+ sim_time: 1.7
+ linear_granularity: 0.05
+ angular_granularity: 0.025
+ transform_tolerance: 0.2
+ xy_goal_tolerance: 0.25
+ trans_stopped_velocity: 0.25
+ short_circuit_trajectory_evaluation: True
+ stateful: True
+ critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+ BaseObstacle.scale: 0.02
+ PathAlign.scale: 32.0
+ PathAlign.forward_point_distance: 0.1
+ GoalAlign.scale: 24.0
+ GoalAlign.forward_point_distance: 0.1
+ PathDist.scale: 32.0
+ GoalDist.scale: 24.0
+ RotateToGoal.scale: 32.0
+ RotateToGoal.slowing_factor: 5.0
+ RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+ local_costmap:
+ ros__parameters:
+ update_frequency: 5.0
+ publish_frequency: 2.0
+ global_frame: odom
+ robot_base_frame: base_link
+ use_sim_time: False
+ rolling_window: true
+ width: 3
+ height: 3
+ resolution: 0.05
+ footprint: "[ [0.360, 0.500], [0.360, -0.200], [-0.800, -0.200], [-0.800, 0.500] ]"
+ plugins: ["voxel_layer", "inflation_layer"]
+ inflation_layer:
+ plugin: "nav2_costmap_2d::InflationLayer"
+ cost_scaling_factor: 3.0
+ inflation_radius: 0.2
+ voxel_layer:
+ plugin: "nav2_costmap_2d::VoxelLayer"
+ enabled: True
+ publish_voxel_map: True
+ origin_z: 0.0
+ z_resolution: 0.05
+ z_voxels: 16
+ max_obstacle_height: 2.0
+ mark_threshold: 0
+ observation_sources: scan3d
+ scan:
+ topic: /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
+ scan3d:
+ topic: /point_cloud2
+ max_obstacle_height: 10.0
+ min_obstacle_height: 0.2
+ clearing: True
+ marking: True
+ data_type: "PointCloud2"
+ raytrace_max_range: 3.0
+ raytrace_min_range: 0.0
+ obstacle_max_range: 2.5
+ obstacle_min_range: 0.0
+ static_layer:
+ plugin: "nav2_costmap_2d::StaticLayer"
+ map_subscribe_transient_local: True
+ always_send_full_costmap: True
+
+global_costmap:
+ global_costmap:
+ ros__parameters:
+ update_frequency: 1.0
+ publish_frequency: 1.0
+ global_frame: odom
+ robot_base_frame: base_link
+ use_sim_time: False
+ footprint: "[ [0.360, 0.200], [0.360, -0.200], [-0.360, -0.200], [-0.360, 0.200] ]"
+ resolution: 0.05
+ track_unknown_space: true
+ plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+ obstacle_layer:
+ plugin: "nav2_costmap_2d::ObstacleLayer"
+ enabled: True
+ observation_sources: scan3d
+ scan:
+ topic: /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
+ scan3d:
+ topic: /point_cloud2
+ max_obstacle_height: 5.0
+ min_obstacle_height: 0.2
+ clearing: True
+ marking: True
+ data_type: "PointCloud2"
+ raytrace_max_range: 3.0
+ raytrace_min_range: 0.0
+ obstacle_max_range: 2.5
+ obstacle_min_range: 0.0
+ static_layer:
+ plugin: "nav2_costmap_2d::StaticLayer"
+ map_subscribe_transient_local: True
+ inflation_layer:
+ plugin: "nav2_costmap_2d::InflationLayer"
+ cost_scaling_factor: 3.0
+ inflation_radius: 0.2
+ always_send_full_costmap: True
+
+map_server:
+ ros__parameters:
+ use_sim_time: False
+ # Overridden in launch by the "map" launch configuration or provided default value.
+ # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+ yaml_filename: ""
+
+map_saver:
+ ros__parameters:
+ use_sim_time: False
+ save_map_timeout: 5.0
+ free_thresh_default: 0.25
+ occupied_thresh_default: 0.65
+ map_subscribe_transient_local: True
+
+planner_server:
+ ros__parameters:
+ expected_planner_frequency: 20.0
+ use_sim_time: False
+ planner_plugins: ["GridBased"]
+ GridBased:
+ plugin: "nav2_navfn_planner/NavfnPlanner"
+ tolerance: 0.5
+ use_astar: false
+ allow_unknown: true
+
+smoother_server:
+ ros__parameters:
+ use_sim_time: False
+ smoother_plugins: ["simple_smoother"]
+ simple_smoother:
+ plugin: "nav2_smoother::SimpleSmoother"
+ tolerance: 1.0e-10
+ max_its: 1000
+ do_refinement: True
+
+behavior_server:
+ ros__parameters:
+ costmap_topic: local_costmap/costmap_raw
+ footprint_topic: local_costmap/published_footprint
+ cycle_frequency: 10.0
+ behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+ spin:
+ plugin: "nav2_behaviors/Spin"
+ backup:
+ plugin: "nav2_behaviors/BackUp"
+ drive_on_heading:
+ plugin: "nav2_behaviors/DriveOnHeading"
+ wait:
+ plugin: "nav2_behaviors/Wait"
+ assisted_teleop:
+ plugin: "nav2_behaviors/AssistedTeleop"
+ global_frame: odom
+ robot_base_frame: base_link
+ transform_tolerance: 0.1
+ use_sim_time: true
+ simulate_ahead_time: 2.0
+ max_rotational_vel: 1.0
+ min_rotational_vel: 0.4
+ rotational_acc_lim: 3.2
+
+robot_state_publisher:
+ ros__parameters:
+ use_sim_time: False
+
+waypoint_follower:
+ ros__parameters:
+ use_sim_time: False
+ loop_rate: 20
+ stop_on_failure: false
+ waypoint_task_executor_plugin: "wait_at_waypoint"
+ wait_at_waypoint:
+ plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+ enabled: True
+ waypoint_pause_duration: 200
+
+velocity_smoother:
+ ros__parameters:
+ use_sim_time: False
+ smoothing_frequency: 20.0
+ scale_velocities: False
+ feedback: "OPEN_LOOP"
+ max_velocity: [0.25, 0.0, 0.5]
+ min_velocity: [0.0, 0.0, -0.5]
+ max_accel: [2.5, 2.5, 3.2]
+ max_decel: [-2.5, -2.5, -3.2]
+ odom_topic: "odom"
+ odom_duration: 0.1
+ deadband_velocity: [0.0, 0.0, 0.0]
+ velocity_timeout: 1.0

go2_robot_sdk/go2_robot_sdk/go2_driver_node.py

@@ -105,7 +105,8 @@ def cmd_vel_cb(self, msg):
  x = msg.linear.x
  y = msg.linear.y
  z = msg.angular.z
- self.robot_cmd_vel = gen_mov_command(x, y, z)
+ if x > 0.0 or y > 0.0 or z > 0.0:
+ self.robot_cmd_vel = gen_mov_command(x, y, z)
 
  def joy_cb(self, msg):
  self.joy_state = msg