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HarleA 2020-09-16 10:05:14 +02:00
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16
Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/planner_parameters.yaml Normal file
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planning_dimension : "2D" # available dimension (2D,3D)
planner_name : "CForest" # available planners (CForest, RRTstar)
solving_time : 5.0 # available computation time to attempt to solve the query
#Configuration Space (C-Space) boundaries
planning_bounds_x : [-15, 15]
planning_bounds_y : [-15, 15]
planning_bounds_z : [0, 15]
planning_depth_limit : 1
#Collision Mask
collision_mask_x : 0.5
collision_mask_y : 0.5
collision_mask_z_2D : 0.2
collision_mask_z_3D : 0.5

510
Source Files/mapping_planning_tutorial/control_turtlebot/launch/config/robot.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 81
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Tree1
- /TF2/Frames1
Splitter Ratio: 0.5
Tree Height: 409
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
- 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: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: odom
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
caster_back_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cliff_sensor_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
gyro_link:
Alpha: 1
Show Axes: false
Show Trail: false
plate_bottom_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_middle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_top_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.2972
Min Value: 0.2972
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Squares
Topic: /scan
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Value: true
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 3.286
Min Value: 0.683
Value: true
Axis: X
Channel Name: intensity
Class: rviz/DepthCloud
Color: 255; 255; 255
Color Image Topic: ""
Color Transformer: AxisColor
Color Transport Hint: raw
Decay Time: 0
Depth Map Topic: /camera/depth/image_raw
Depth Map Transport Hint: raw
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: DepthCloud
Occlusion Compensation:
Occlusion Time-Out: 30
Value: false
Position Transformer: XYZ
Queue Size: 5
Selectable: true
Size (Pixels): 3
Style: Points
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Value: true
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/DepthCloud
Color: 255; 255; 255
Color Image Topic: /camera/rgb/image_color
Color Transformer: RGB8
Color Transport Hint: raw
Decay Time: 0
Depth Map Topic: /camera/depth_registered/image_raw
Depth Map Transport Hint: raw
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Registered DepthCloud
Occlusion Compensation:
Occlusion Time-Out: 30
Value: false
Position Transformer: XYZ
Queue Size: 5
Selectable: true
Size (Pixels): 3
Style: Points
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/rgb/image_color
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 3.286
Min Value: 0.681
Value: true
Axis: X
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /camera/depth/points
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.632
Min Value: 0.65
Value: true
Axis: X
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Registered PointCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /camera/depth_registered/points
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: false
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: /turtlebot_marker_server/update
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /occupied_cells_vis_array
Name: Octomap
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /controller_turtlebot/solution_path
Name: Planning Solution
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 7.04007
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.102786
Y: -0.0889391
Z: 0.112978
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.584798
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.2554
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 625
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001950000022bfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022b000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1215
X: 58
Y: 24

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Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_control.launch Normal file
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<launch>
<arg name="enable_octomap" value="true"/>
<arg name="enable_goto_controller" value="false"/>
<group if="$(arg enable_octomap)">
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args=" " cwd="node" output="screen">
<param name="frame_id" value="/odom" />
<remap from="/cloud_in" to="/camera/depth/points" /> <!-- simulator -->
<!--remap from="/cloud_in" to="/camera/depth_registered/points" /--> <!-- real turtlebot -->
</node>
</group>
<group if="$(arg enable_goto_controller)">
<node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" />
</group>
</launch>

35
Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_mapping_planning_control.launch Normal file
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<launch>
<arg name="enable_octomap" value="true"/>
<arg name="enable_controller" value="true"/>
<arg name="enable_plannerV2" value="true"/>
<group if="$(arg enable_octomap)">
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args=" " cwd="node" output="screen">
<param name="frame_id" value="/odom" />
<!--remap from="/cloud_in" to="/pc_from_scan" /--> <!-- simulator -->
<param name="resolution" value="0.05" />
<param name="latch" value="True" />
<param name="sensor_model/max_range" value="-1" /> <!-- -1 : unlimited -->
<param name="sensor_model/hit" value="0.7" /> <!-- default value :0.7 -->
<param name="sensor_model/miss" value="0.4" /> <!-- default value :0.4 -->
<param name="ground_filter/distance" value="0.04" /> <!-- default value :0.04 -->
<param name="ground_filter/plane_distance" value="0.07" /> <!-- default value :0.07 -->
<remap from="/cloud_in" to="/camera/depth/points" /> <!-- real turtlebot -->
</node>
</group>
<node pkg="control_turtlebot" type="laserscan_to_pointcloud" name="laserscan_to_pointcloud" respawn="true" output="screen" />
<group if="$(arg enable_controller)">
<node pkg="control_turtlebot" type="controller_turtlebot.py" name="controller_turtlebot" respawn="true" output="screen" />
</group>
<group if="$(arg enable_plannerV2)">
<!-- OMPL planner -->
<rosparam command="load" file="$(find control_turtlebot)/launch/config/planner_parameters.yaml" />
<node pkg="control_turtlebot" type="Planning_Node" name="Planning_Node" output="screen" />
</group>
</launch>

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Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_modules.launch Normal file
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<launch>
<arg name="enable_turtlebot_simulation" value="true"/>
<arg name="enable_keyboard_teleoperation" value="true"/>
<arg name="enable_rviz" value="true"/>
<group if="$(arg enable_turtlebot_simulation)">
<include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch"/> <!-- other ROS distributions -->
<!--include file="$(find turtlebot_gazebo)/launch/turtlebot_playground.launch"/--> <!-- ROS hydro -->
<group if="$(arg enable_rviz)">
<include file="$(find control_turtlebot)/launch/view_robot.launch"/>
</group>
</group>
<group unless="$(arg enable_turtlebot_simulation)">
<include file="$(find turtlebot_bringup)/launch/minimal.launch"/>
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
</group>
<group if="$(arg enable_keyboard_teleoperation)">
<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch">
</include>
</group>
</launch>

7
Source Files/mapping_planning_tutorial/control_turtlebot/launch/start_turtlebot_willowgarage.launch Normal file
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<launch>
<include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch">
<arg name="world_file" value="$(find control_turtlebot)/worlds/willowgarage.world"/>
</include>
<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find control_turtlebot)/launch/config/robot.rviz"/>
</launch>

6
Source Files/mapping_planning_tutorial/control_turtlebot/launch/test_planning.launch Normal file
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<launch>
<!-- Offline planner ompl -->
<rosparam command="load" file="$(find control_turtlebot)/launch/config/tests_blocks.yaml" />
<node pkg="control_turtlebot" type="tutorial_offline_planner_R2" name="tutorial_offline_planner_R2" output="screen" />
</launch>

8
Source Files/mapping_planning_tutorial/control_turtlebot/launch/view_robot.launch Normal file
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<!--
Used for visualising turtlebot in action.
It requires minimal.launch and optionally 3dsensor.launch to already be up and running.
-->
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find control_turtlebot)/launch/config/robot.rviz" />
</launch>