Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Lidar Safety Node Advanced #62

Open
wants to merge 15 commits into
base: master
Choose a base branch
from
Open

Lidar Safety Node Advanced #62

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
15 commits
Select commit Hold shift + click to select a range
42181d6
added LidarCodeAdvanced
nathanestill Sep 22, 2018
3e48899
testing1
nathanestill Sep 22, 2018
74cb6ca
testing2
nathanestill Sep 22, 2018
bdf08f7
Making changes for Connor for pull request
nathanestill Sep 26, 2018
b1ef72c
add/modify launch files for lidar
nathanestill Sep 26, 2018
f2507e2
starting to add Down Lidar Stuff
nathanestill Sep 27, 2018
078a55c
modifying LIDarCode
nathanestill Sep 29, 2018
cdd20b9
made front lidar better, made visualization pretty
nathanestill Oct 3, 2018
e26a660
updating Lidar Code
nathanestill Oct 6, 2018
68072de
added Lidar Visualizer launch file and circle testing code
nathanestill Oct 10, 2018
fd7d3b5
added more updates to code
nathanestill Oct 13, 2018
9a8fb4c
adding test ackermann script, it creates a node that turns the wheels…
nathanestill Oct 24, 2018
2a4cace
merged safe-lidar to master
nathanestill Nov 3, 2018
068219c
Merge branch 'master' of https://github.com/olinrobotics/gravl into s…
nathanestill Nov 14, 2018
4baa7cc
Merge branch 'master' of https://github.com/olinrobotics/gravl into s…
nathanestill Sep 24, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions launch/downlidar.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
<launch>
<node name="hokuyo" pkg="urg_node" type="urg_node" ns="down">
<param name="ip_address" value="192.168.0.4" />
</node>
</launch>
5 changes: 5 additions & 0 deletions launch/frontlidar.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
<launch>
<node name="hokuyo" pkg="urg_node" type="urg_node" ns="front">
<param name="ip_address" value="192.168.1.10" />
</node>
</launch>
7 changes: 3 additions & 4 deletions launch/lidar.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
<launch>
<node name="hokuyo" pkg="urg_node" type="urg_node">
<param name="ip_address" value="192.168.1.10" />
</node>
</launch>
<include file="$(find gravl)/launch/frontlidar.launch"/>
<include file="$(find gravl)/launch/downlidar.launch"/>
</launch>
9 changes: 9 additions & 0 deletions launch/lidarvis.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
<launch>
<arg name="senseRange" default="5.0" />
<arg name="mode" default="circle"
<node name="LidarCodeAdvanced" pkg="gravl" type="LidarCodeAdvanced.py" args="_senseRange:=$(arg senseRange) _mode:=$(arg mode)" />
<arg name="vis" default="False" />
<group if="$(arg vis)">
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find gravl)/rviz/lidarvis.rviz" />
</group>
</launch>
21 changes: 10 additions & 11 deletions launch/localization.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,12 @@
<launch>
<!-- rosrun tf view_frames -->
<node pkg="robot_localization" type="ekf_localization_node" name="tractor_groundtruth">
<rosparam command="load" file="$(find gravl)/config/tractor_groundtruth.yaml"/>
</node>
<node name="world_frame_transform" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 /earth /base_link" />
<node name="gps_tf" pkg="tf" type="static_transform_publisher" args="0.03 0 2.21 0 0 0 /base_link /gps 2" />
<!-- <node name="laser_to_base" pkg="tf" type="static_transform_publisher" args="2.02 0 1.19 0.157 0 0 /base_link /laser 50" /> -->
<!-- <node name="camera_to_base" pkg="tf" type="static_transform_publisher" args="2.08 0 1.04 0 0 0 /base_link /image_raw 50" /> -->
<!-- <node name="hemisphere_tf" pkg="tf" type="static_transform_publisher" args="1.94 0 1.49 0 0 0 50" /> -->
<node name="laser2_to_base" pkg="tf" type="static_transform_publisher" args="2.20 0 1.30 0 1.571 0 /base_link /laser 50" />
<node name="imu_to_base" pkg="tf" type="static_transform_publisher" args = "0 0 0 0 1.571 1.571 /base_link /base_imu 100"/>
<!-- rosrun tf view_frames -->
<!-- <node pkg="robot_localization" type="ekf_localization_node" name="tractor_groundtruth"> -->
<!-- <rosparam command="load" file="$(find gravl)/config/tractor_groundtruth.yaml"/> -->
<!-- </node> -->
<node name="world_frame_transform" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 /earth /base_link" />
<node name="gps_tf" pkg="tf" type="static_transform_publisher" args="0.03 0 2.21 0 0 0 /base_link /gps 2" />
<!-- <node name="laser_to_base" pkg="tf" type="static_transform_publisher" args="2.02 0 1.19 0.157 0 0 /base_link /laser 50" /> -->
<!-- <node name="camera_to_base" pkg="tf" type="static_transform_publisher" args="2.08 0 1.04 0 0 0 /base_link /image_raw 50" /> -->
<!-- <node name="hemisphere_tf" pkg="tf" type="static_transform_publisher" args="1.94 0 1.49 0 0 0 50" /> -->
<node name="laser2_to_base" pkg="tf" type="static_transform_publisher" args="2.20 0 1.30 0 1.571 0 /base_link /laser 50" />
</launch>
137 changes: 137 additions & 0 deletions rviz/lidarvis.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,137 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 712
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /LidarFront_pt
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /TractorLine_pt
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /LidarLineDown_pt
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: laser
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
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: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.630398154
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.14539981
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 993
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000357fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000357000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000357fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000357000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004fb0000035700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 24
Loading