Merge pull request #4 from Alpaca-zip/feature/turtlebot3_support

Feature/turtlebot3 support

.github/workflows/ci.yml

@@ -26,8 +26,8 @@ jobs:
         uses: 'ros-industrial/industrial_ci@master'
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          # UPSTREAM_WORKSPACE: dependencies.rosinstall
           BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
+          UPSTREAM_WORKSPACE: .rosinstall
           PYLINT_ARGS: '--errors-only'
           PYLINT_CHECK: true
 
@@ -40,8 +40,8 @@ jobs:
         uses: 'ros-industrial/industrial_ci@master'
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          # UPSTREAM_WORKSPACE: dependencies.rosinstall
           BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
+          UPSTREAM_WORKSPACE: .rosinstall
           CATKIN_LINT: true
 
   build_check:
@@ -53,12 +53,12 @@ jobs:
         env:
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: main
-            # UPSTREAM_WORKSPACE: dependencies.rosinstall
+            UPSTREAM_WORKSPACE: .rosinstall
             BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: testing
-            # UPSTREAM_WORKSPACE: dependencies.rosinstall
+            UPSTREAM_WORKSPACE: .rosinstall
             BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
 

.gitignore

@@ -52,3 +52,7 @@ CATKIN_IGNORE
 
 # vscode
 .vscode
+
+# debug
+/test/*
+!/test/.gitkeep

.rosinstall

@@ -0,0 +1,12 @@
+- git:
+    local-name: turtlebot3_simulations
+    uri: https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+    version: noetic-devel
+- git:
+    local-name: turtlebot3_msgs
+    uri: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
+    version: noetic-devel
+- git:
+    local-name: turtlebot3
+    uri: https://github.com/ROBOTIS-GIT/turtlebot3.git
+    version: noetic-devel

CMakeLists.txt

@@ -4,10 +4,18 @@ project(vgraph_planner)
 set(CMAKE_CXX_STANDARD 14)
 
 # find dependencies
-find_package(catkin REQUIRED COMPONENTS rospy)
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  rospy
+)
 
 # Declare a catkin package
-catkin_package(CATKIN_DEPENDS rospy)
+catkin_package(CATKIN_DEPENDS 
+  geometry_msgs
+  nav_msgs
+  rospy
+)
 
 # Install Python executables
 install(PROGRAMS scripts/vgraph_planner.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

launch/include/turtlebot3_amcl.launch

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="scan_topic" default="/scan"/>
+  <arg name="initial_x_pos" default="0.0"/>
+  <arg name="initial_y_pos" default="0.0"/>
+  <arg name="initial_yaw_pos" default="0.0"/>
+
+  <node name="amcl" pkg="amcl" type="amcl">
+    <remap from="scan" to="$(arg scan_topic)"/>
+    <param name="initial_pose_x" value="$(arg initial_x_pos)"/>
+    <param name="initial_pose_y" value="$(arg initial_y_pos)"/>
+    <param name="initial_pose_a" value="$(arg initial_yaw_pos)"/>
+    <param name="min_particles" value="500"/>
+    <param name="max_particles" value="3000"/>
+    <param name="kld_err" value="0.02"/>
+    <param name="update_min_d" value="0.20"/>
+    <param name="update_min_a" value="0.20"/>
+    <param name="resample_interval" value="1"/>
+    <param name="transform_tolerance" value="0.5"/>
+    <param name="recovery_alpha_slow" value="0.00"/>
+    <param name="recovery_alpha_fast" value="0.00"/>
+    <param name="gui_publish_rate" value="50.0"/>
+    <param name="laser_max_range" value="3.5"/>
+    <param name="laser_max_beams" value="180"/>
+    <param name="laser_z_hit" value="0.5"/>
+    <param name="laser_z_short" value="0.05"/>
+    <param name="laser_z_max" value="0.05"/>
+    <param name="laser_z_rand" value="0.5"/>
+    <param name="laser_sigma_hit" value="0.2"/>
+    <param name="laser_lambda_short" value="0.1"/>
+    <param name="laser_likelihood_max_dist" value="2.0"/>
+    <param name="laser_model_type" value="likelihood_field"/>
+    <param name="odom_model_type" value="diff"/>
+    <param name="odom_alpha1" value="0.1"/>
+    <param name="odom_alpha2" value="0.1"/>
+    <param name="odom_alpha3" value="0.1"/>
+    <param name="odom_alpha4" value="0.1"/>
+    <param name="odom_frame_id"  value="odom"/>
+    <param name="base_frame_id"  value="base_footprint"/>
+  </node>
+</launch>

launch/include/turtlebot3_world.launch

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="0.0"/>
+  <arg name="y_pos" default="0.0"/>
+  <arg name="yaw_pos" default="0.0"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro"/>
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -Y $(arg yaw_pos) -param robot_description"/>
+</launch>

launch/vgraph_planner.launch → launch/include/vgraph_planner.launch

@@ -2,15 +2,13 @@
 <launch>
   <arg name="map_file" default="$(find vgraph_planner)/map/map.yaml"/>
   <arg name="test_folder" default="$(find vgraph_planner)/test"/>
-  <arg name="down_scale_factor" default="0.2"/>
-  <arg name="clearance" default="0.3"/>
-  <arg name="use_origin" default="true"/>
+  <arg name="down_scale_factor" default="0.1"/>
+  <arg name="clearance" default="0.1"/>
 
   <node name="vgraph_planner_node" pkg="vgraph_planner" type="vgraph_planner.py" output="screen">
     <param name="~map_file" value="$(arg map_file)"/>
     <param name="~test_folder" value="$(arg test_folder)"/>
     <param name="~down_scale_factor" value="$(arg down_scale_factor)"/>
     <param name="~clearance" value="$(arg clearance)"/>
-    <param name="~use_origin" value="$(arg use_origin)"/>
   </node>
 </launch>

launch/turtlebot3_vgraph_navigation.launch

@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="-2.0"/>
+  <arg name="y_pos" default="0.0"/>
+  <arg name="yaw_pos" default="0.0"/>
+  <arg name="scan_topic" default="/scan"/>
+  <arg name="map_file" default="$(find vgraph_planner)/maps/map.yaml"/>
+  <arg name="test_folder" default="$(find vgraph_planner)/test"/>
+  <arg name="down_scale_factor" default="0.3"/>
+  <arg name="clearance" default="0.1"/>
+  <arg name="open_rviz" default="true"/>
+
+  <include file="$(find vgraph_planner)/launch/include/turtlebot3_world.launch">
+    <arg name="model" value="$(arg model)"/>
+    <arg name="x_pos" value="$(arg x_pos)"/>
+    <arg name="y_pos" value="$(arg y_pos)"/>
+    <arg name="yaw_pos" value="$(arg yaw_pos)"/>
+  </include>
+
+  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
+    <arg name="model" value="$(arg model)" />
+  </include>
+
+  <include file="$(find vgraph_planner)/launch/include/turtlebot3_amcl.launch">
+    <arg name="scan_topic" value="$(arg scan_topic)"/>
+    <arg name="initial_x_pos" value="$(arg x_pos)"/>
+    <arg name="initial_y_pos" value="$(arg y_pos)"/>
+    <arg name="initial_yaw_pos" value="$(arg yaw_pos)"/>
+  </include>
+
+  <include file="$(find vgraph_planner)/launch/include/vgraph_planner.launch">
+    <arg name="map_file" value="$(arg map_file)"/>
+    <arg name="test_folder" value="$(arg test_folder)"/>
+    <arg name="down_scale_factor" value="$(arg down_scale_factor)"/>
+    <arg name="clearance" value="$(arg clearance)"/>
+  </include>
+
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>
+
+  <node if="$(arg open_rviz)" name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find vgraph_planner)/rviz/turtlebot3_navigation.rviz"/>
+</launch>

maps/map.yaml

@@ -0,0 +1,6 @@
+image: ./map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

package.xml

@@ -5,12 +5,16 @@
   <description>The vgraph_planner package</description>
   <maintainer email="[email protected]">Alpaca-zip</maintainer>
   <license>Apache 2.0</license>
-
   <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>rospy</build_depend>
-
-  <build_export_depend>rospy</build_export_depend>
-
-  <exec_depend>rospy</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rospy</depend>
+  <exec_depend>amcl</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>map_server</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>turtlebot3_bringup</exec_depend>
+  <exec_depend>turtlebot3_description</exec_depend>
+  <exec_depend>turtlebot3_gazebo</exec_depend>
+  <exec_depend>xacro</exec_depend>
 </package>