├── .gitignore ├── LICENSE ├── README.md ├── assets ├── blender.png ├── blender_2.png ├── gazebo-1.png ├── gazebo-2.png ├── gazebo.png ├── line-following-1.png ├── line-following-2.png ├── line-following-3.png ├── line-following-4.png ├── line-following.png ├── navigation-slam.png ├── navigation.png ├── projects.png ├── rqt_1.png ├── rqt_2.png ├── rqt_graph_1.png ├── rqt_graph_2.png ├── rqt_graph_3.png ├── rqt_graph_4.png ├── rqt_graph_5.png ├── saving-images.png ├── slam.png ├── smaller-cnn.png ├── terminator.png ├── training-1.png ├── training-2.png ├── training.png ├── trajectory.png ├── turtlebot-1.png ├── turtlebot-2.png ├── turtlebot.png ├── turtlesim_1.png ├── windows-terminal.png ├── youtube-cnn-1.png ├── youtube-cnn.png └── youtube-line-following.png ├── turtlebot3_mogi ├── CMakeLists.txt ├── gazebo_models │ ├── dark_bg │ │ ├── meshes │ │ │ └── dark_bg.dae │ │ ├── model.config │ │ └── model.sdf │ ├── light_bg │ │ ├── meshes │ │ │ └── light_bg.dae │ │ ├── model.config │ │ └── model.sdf │ └── red_line │ │ ├── meshes │ │ └── red_line.dae │ │ ├── model.config │ │ └── model.sdf ├── launch │ ├── check_urdf.launch.py │ ├── robot_mapping.launch.py │ ├── robot_navigation.launch.py │ ├── robot_visualization.launch.py │ ├── simulation_bringup_line_follow.launch.py │ ├── simulation_bringup_navigation.launch.py │ ├── simulation_bringup_navigation_with_slam.launch.py │ └── simulation_bringup_slam.launch.py ├── maps │ ├── map.pgm │ └── map.yaml ├── meshes │ ├── dark_bg.blend │ └── light_bg.blend ├── package.xml ├── rviz │ ├── robot_basic.rviz │ ├── robot_mapping.rviz │ ├── robot_navigation.rviz │ ├── turtlebot3_line_follower.rviz │ ├── turtlebot3_navigation.rviz │ ├── turtlebot3_slam.rviz │ └── urdf.rviz └── worlds │ ├── dark_background.sdf │ ├── empty.sdf │ ├── light_background.sdf │ └── red_line.sdf └── turtlebot3_mogi_py ├── network_model ├── model.best.keras ├── model.keras └── model_training.png ├── package.xml ├── resource └── turtlebot3_mogi_py ├── saved_images └── .gitkeep ├── setup.cfg ├── setup.py ├── training_images ├── forward │ ├── 20221204-183750-995516.jpg │ ├── 20221204-183802-996068.jpg │ ├── 20221204-183813-431618.jpg │ ├── 20221204-184007-395501.jpg │ ├── 20221204-184012-510366.jpg │ ├── 20221204-184020-314395.jpg │ ├── 20221204-184024-479005.jpg │ ├── 20221204-184028-059968.jpg │ ├── 20221204-184031-818215.jpg │ ├── 20221204-184056-983742.jpg │ ├── 20221204-184100-669488.jpg │ ├── 20221204-184204-070375.jpg │ ├── 20221204-184237-037294.jpg │ ├── 20221204-184241-043609.jpg │ ├── 20221204-184251-617178.jpg │ ├── 20221204-184254-812782.jpg │ ├── 20221204-184258-707765.jpg │ ├── 20221209-171748-614598.jpg │ ├── 20221209-171758-437007.jpg │ ├── 20221209-171803-199537.jpg │ ├── 20221209-171809-075417.jpg │ ├── 20221209-171813-862138.jpg │ ├── 20221209-171821-093343.jpg │ ├── 20221209-171904-364374.jpg │ ├── 20221209-171908-292185.jpg │ ├── 20221209-171923-087897.jpg │ ├── 20221209-171935-047804.jpg │ ├── 20221209-172014-089097.jpg │ ├── 20250125-123153-540162.jpg │ ├── 20250125-123233-428502.jpg │ ├── 20250126-162734-708255.jpg │ ├── 20250126-162755-060814.jpg │ ├── 20250126-162857-096361.jpg │ ├── 20250126-162917-204826.jpg │ ├── 20250126-162951-136086.jpg │ ├── 20250126-163002-583964.jpg │ ├── 20250126-163013-953218.jpg │ ├── 20250126-163017-942411.jpg │ ├── 20250126-163031-047976.jpg │ ├── 20250126-163040-382816.jpg │ ├── 20250126-163043-659689.jpg │ ├── 20250126-163105-824605.jpg │ ├── 20250126-163109-790924.jpg │ ├── 20250126-163113-163378.jpg │ ├── 20250126-163116-375526.jpg │ ├── 20250126-163119-537874.jpg │ ├── 20250126-163139-055682.jpg │ ├── 20250126-163203-499789.jpg │ ├── 20250126-163214-833194.jpg │ ├── 20250126-163222-438155.jpg │ ├── 20250126-163236-163301.jpg │ ├── 20250126-163247-751518.jpg │ ├── 20250126-163251-283494.jpg │ ├── 20250126-163305-187776.jpg │ ├── 20250126-163332-172832.jpg │ ├── 20250126-163405-483657.jpg │ ├── 20250126-163409-940091.jpg │ ├── 20250126-163431-868335.jpg │ ├── 20250126-163456-134989.jpg │ ├── 20250126-163539-645172.jpg │ ├── 20250126-163604-944732.jpg │ ├── 20250126-163733-643890.jpg │ ├── 20250126-163747-779670.jpg │ ├── 20250126-163757-898446.jpg │ ├── 20250126-163826-953652.jpg │ ├── 20250126-163849-388670.jpg │ ├── 20250126-163852-616468.jpg │ ├── 20250126-163904-950743.jpg │ ├── 20250126-163923-188635.jpg │ ├── 20250126-163931-897043.jpg │ ├── 20250126-163941-879961.jpg │ ├── 20250126-163945-839168.jpg │ ├── 20250126-164003-715428.jpg │ ├── 20250126-164007-356858.jpg │ ├── 20250126-164023-348816.jpg │ ├── 20250126-164045-675570.jpg │ ├── 20250126-164050-558798.jpg │ ├── 20250126-164103-600986.jpg │ ├── 20250126-164126-313898.jpg │ ├── 20250126-164216-304609.jpg │ ├── 20250126-164225-285966.jpg │ ├── 20250126-164234-472187.jpg │ ├── 20250126-164303-824020.jpg │ ├── 20250126-164311-560634.jpg │ ├── 20250126-164315-710591.jpg │ ├── 20250126-164318-499711.jpg │ ├── 20250126-164326-407852.jpg │ ├── 20250126-164400-769104.jpg │ ├── 20250126-164427-335584.jpg │ ├── 20250126-164433-373893.jpg │ ├── 20250126-164436-696747.jpg │ ├── 20250126-164451-258970.jpg │ ├── 20250126-164510-112153.jpg │ ├── 20250126-164551-515458.jpg │ ├── 20250126-164603-121060.jpg │ ├── 20250126-164608-631136.jpg │ ├── 20250126-164616-812734.jpg │ ├── 20250126-164638-641371.jpg │ ├── 20250126-164643-373523.jpg │ ├── 20250126-164745-078188.jpg │ ├── 20250126-164808-967704.jpg │ ├── 20250126-164826-532084.jpg │ ├── 20250126-164845-386171.jpg │ ├── 20250126-164907-333042.jpg │ ├── 20250126-164915-101683.jpg │ ├── 20250126-164942-094694.jpg │ ├── 20250126-164946-056453.jpg │ ├── 20250126-164956-985913.jpg │ ├── 20250126-165008-976496.jpg │ ├── 20250126-165014-444298.jpg │ ├── 20250126-165040-583422.jpg │ ├── 20250126-165049-023380.jpg │ ├── 20250126-165116-228343.jpg │ ├── 20250126-165131-189767.jpg │ ├── 20250126-165135-398255.jpg │ ├── 20250126-165142-417594.jpg │ ├── 20250126-165149-350834.jpg │ ├── 20250126-165154-111639.jpg │ ├── 20250126-165157-390202.jpg │ ├── 20250126-165212-812640.jpg │ ├── 20250126-165221-050791.jpg │ ├── 20250126-165232-810588.jpg │ ├── 20250126-165238-463077.jpg │ ├── 20250126-165252-769554.jpg │ └── 20250126-165259-377491.jpg ├── left │ ├── 20221204-183808-441329.jpg │ ├── 20221204-184016-516796.jpg │ ├── 20221204-184104-538081.jpg │ ├── 20221204-184107-553588.jpg │ ├── 20221204-184110-747299.jpg │ ├── 20221204-184151-329475.jpg │ ├── 20221204-184156-683147.jpg │ ├── 20221204-184200-239159.jpg │ ├── 20221204-184244-651691.jpg │ ├── 20221204-184247-599971.jpg │ ├── 20221209-171824-250457.jpg │ ├── 20221209-171827-677393.jpg │ ├── 20221209-171839-110894.jpg │ ├── 20221209-171842-474084.jpg │ ├── 20221209-171911-649403.jpg │ ├── 20221209-171931-970647.jpg │ ├── 20221209-172004-001034.jpg │ ├── 20221209-172019-264854.jpg │ ├── 20250126-162806-182777.jpg │ ├── 20250126-162819-475083.jpg │ ├── 20250126-162901-906242.jpg │ ├── 20250126-162907-073177.jpg │ ├── 20250126-162912-240257.jpg │ ├── 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20250126-164837-068829.jpg │ ├── 20250126-164859-927809.jpg │ ├── 20250126-164911-611244.jpg │ ├── 20250126-164938-067635.jpg │ ├── 20250126-164952-904386.jpg │ ├── 20250126-165005-428912.jpg │ ├── 20250126-165052-067180.jpg │ ├── 20250126-165056-189385.jpg │ ├── 20250126-165108-383827.jpg │ ├── 20250126-165124-782007.jpg │ ├── 20250126-165127-848559.jpg │ ├── 20250126-165138-611839.jpg │ ├── 20250126-165202-121487.jpg │ ├── 20250126-165205-120654.jpg │ ├── 20250126-165209-426037.jpg │ └── 20250126-165249-440593.jpg ├── nothing │ ├── 20221204-184355-774342.jpg │ ├── 20221204-184405-437778.jpg │ ├── 20221204-184414-122363.jpg │ ├── 20221209-171951-381860.jpg │ ├── 20221209-171956-118222.jpg │ ├── 20221209-171959-480096.jpg │ ├── 20250126-162828-536922.jpg │ ├── 20250126-163420-408200.jpg │ ├── 20250126-163443-342645.jpg │ ├── 20250126-163448-876847.jpg │ ├── 20250126-163517-206823.jpg │ ├── 20250126-163521-406902.jpg │ ├── 20250126-163524-594870.jpg │ ├── 20250126-163615-573829.jpg │ ├── 20250126-163619-614755.jpg │ ├── 20250126-163623-531059.jpg │ ├── 20250126-163632-230797.jpg │ ├── 20250126-163812-389853.jpg │ ├── 20250126-163818-342953.jpg │ ├── 20250126-164404-654456.jpg │ ├── 20250126-164800-643345.jpg │ ├── 20250126-164804-481492.jpg │ └── 20250126-165059-911042.jpg └── right │ ├── 20221204-183817-134618.jpg │ ├── 20221204-183824-898557.jpg │ ├── 20221204-184034-900505.jpg │ ├── 20221204-184046-517831.jpg │ ├── 20221204-184052-837435.jpg │ ├── 20221204-184207-598547.jpg │ ├── 20221204-184210-806533.jpg │ ├── 20221204-184232-033481.jpg │ ├── 20221204-184235-290635.jpg │ ├── 20221209-171817-026109.jpg │ ├── 20221209-171848-183930.jpg │ ├── 20221209-171859-392431.jpg │ ├── 20221209-171927-666989.jpg │ ├── 20221209-172023-092717.jpg │ ├── 20250126-162800-912102.jpg │ ├── 20250126-162837-745737.jpg │ ├── 20250126-162844-345285.jpg │ ├── 20250126-162853-160707.jpg │ ├── 20250126-162922-448731.jpg │ ├── 20250126-162926-001518.jpg │ ├── 20250126-162936-068275.jpg │ 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20250126-163841-310364.jpg │ ├── 20250126-163846-244183.jpg │ ├── 20250126-163856-968163.jpg │ ├── 20250126-163909-636753.jpg │ ├── 20250126-163928-028589.jpg │ ├── 20250126-163950-895759.jpg │ ├── 20250126-164012-317910.jpg │ ├── 20250126-164026-866600.jpg │ ├── 20250126-164040-997613.jpg │ ├── 20250126-164054-151781.jpg │ ├── 20250126-164107-088293.jpg │ ├── 20250126-164121-586718.jpg │ ├── 20250126-164139-533604.jpg │ ├── 20250126-164142-744636.jpg │ ├── 20250126-164150-910604.jpg │ ├── 20250126-164200-760966.jpg │ ├── 20250126-164222-322257.jpg │ ├── 20250126-164245-761892.jpg │ ├── 20250126-164300-729610.jpg │ ├── 20250126-164331-135338.jpg │ ├── 20250126-164335-756575.jpg │ ├── 20250126-164410-922091.jpg │ ├── 20250126-164443-972077.jpg │ ├── 20250126-164446-858503.jpg │ ├── 20250126-164533-451302.jpg │ ├── 20250126-164538-704553.jpg │ ├── 20250126-164547-964235.jpg │ ├── 20250126-164632-941935.jpg │ ├── 20250126-164753-386668.jpg │ ├── 20250126-164757-156961.jpg │ ├── 20250126-164812-387846.jpg │ ├── 20250126-164816-036849.jpg │ ├── 20250126-164819-247540.jpg │ ├── 20250126-164841-629713.jpg │ ├── 20250126-164852-493817.jpg │ ├── 20250126-164856-152251.jpg │ ├── 20250126-164921-409444.jpg │ ├── 20250126-164924-746734.jpg │ ├── 20250126-164929-180953.jpg │ ├── 20250126-164932-830179.jpg │ ├── 20250126-165000-238983.jpg │ ├── 20250126-165017-816138.jpg │ ├── 20250126-165024-971314.jpg │ ├── 20250126-165035-028781.jpg │ ├── 20250126-165043-959071.jpg │ ├── 20250126-165104-221580.jpg │ ├── 20250126-165112-826487.jpg │ ├── 20250126-165121-027970.jpg │ ├── 20250126-165145-979353.jpg │ ├── 20250126-165217-790001.jpg │ ├── 20250126-165227-531633.jpg │ ├── 20250126-165242-648863.jpg │ ├── 20250126-165245-963824.jpg │ ├── 20250126-165255-995757.jpg │ └── 20250126-165306-782600.jpg └── turtlebot3_mogi_py ├── __init__.py ├── line_follower.py ├── line_follower_cnn.py ├── line_follower_cnn_robot.py ├── save_training_images.py └── train_network.py /.gitignore: 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set(ament_cmake_copyright_FOUND TRUE) 19 | # the following line skips cpplint (only works in a git repo) 20 | # comment the line when this package is in a git repo and when 21 | # a copyright and license is added to all source files 22 | set(ament_cmake_cpplint_FOUND TRUE) 23 | ament_lint_auto_find_test_dependencies() 24 | endif() 25 | 26 | install(DIRECTORY 27 | launch 28 | rviz 29 | maps 30 | worlds 31 | gazebo_models 32 | DESTINATION share/${PROJECT_NAME} 33 | ) 34 | 35 | ament_package() 36 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/dark_bg/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | dark_bg 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/dark_bg/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 1 7 | 8 | 0.166667 9 | 0 10 | 0 11 | 0.166667 12 | 0 13 | 0.166667 14 | 15 | 0 0 0 0 -0 0 16 | 17 | 0 0 0 0 -0 0 18 | 1 19 | 0 20 | 1 21 | 0 22 | 23 | 0 0 0 0 -0 0 24 | 25 | 26 | model://dark_bg/meshes/dark_bg.dae 27 | 1 1 1 28 | 29 | 30 | 0 31 | 1 32 | 33 | 34 | 0 35 | 10 36 | 0 0 0 0 -0 0 37 | 38 | 39 | model://dark_bg/meshes/dark_bg.dae 40 | 1 1 1 41 | 42 | 43 | 44 | 45 | 46 | 100 47 | 50 48 | 0 0 0 49 | 0 50 | 0 51 | 52 | 53 | 1 54 | 0 55 | 0 56 | 1 57 | 58 | 0 59 | 60 | 61 | 62 | 63 | 0 64 | 1e+06 65 | 66 | 67 | 0 68 | 1 69 | 1 70 | 71 | 0 72 | 0.2 73 | 1e+13 74 | 1 75 | 0.01 76 | 0 77 | 78 | 79 | 1 80 | -0.01 81 | 0 82 | 0.2 83 | 1e+13 84 | 1 85 | 86 | 87 | 88 | 89 | 90 | 0 91 | 1 92 | 93 | 94 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/light_bg/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | light_bg 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/light_bg/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 1 7 | 8 | 0.166667 9 | 0 10 | 0 11 | 0.166667 12 | 0 13 | 0.166667 14 | 15 | 0 0 0 0 -0 0 16 | 17 | 0 0 0 0 -0 0 18 | 1 19 | 0 20 | 1 21 | 0 22 | 23 | 0 0 0 0 -0 0 24 | 25 | 26 | model://light_bg/meshes/light_bg.dae 27 | 1 1 1 28 | 29 | 30 | 0 31 | 1 32 | 33 | 34 | 0 35 | 10 36 | 0 0 0 0 -0 0 37 | 38 | 39 | model://light_bg/meshes/light_bg.dae 40 | 1 1 1 41 | 42 | 43 | 44 | 45 | 46 | 100 47 | 50 48 | 0 0 0 49 | 0 50 | 0 51 | 52 | 53 | 1 54 | 0 55 | 0 56 | 1 57 | 58 | 0 59 | 60 | 61 | 62 | 63 | 0 64 | 1e+06 65 | 66 | 67 | 0 68 | 1 69 | 1 70 | 71 | 0 72 | 0.2 73 | 1e+13 74 | 1 75 | 0.01 76 | 0 77 | 78 | 79 | 1 80 | -0.01 81 | 0 82 | 0.2 83 | 1e+13 84 | 1 85 | 86 | 87 | 88 | 89 | 90 | 0 91 | 1 92 | 93 | 94 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/red_line/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | red_line 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /turtlebot3_mogi/gazebo_models/red_line/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 1 7 | 8 | 0.166667 9 | 0 10 | 0 11 | 0.166667 12 | 0 13 | 0.166667 14 | 15 | 0 0 0 0 -0 0 16 | 17 | 0 0 0 0 -0 0 18 | 1 19 | 0 20 | 1 21 | 0 22 | 23 | 0 0 0 0 -0 0 24 | 25 | 26 | model://red_line/meshes/red_line.dae 27 | 1 1 1 28 | 29 | 30 | 0 31 | 1 32 | 33 | 34 | 0 35 | 10 36 | 0 0 0 0 -0 0 37 | 38 | 39 | model://red_line/meshes/red_line.dae 40 | 1 1 1 41 | 42 | 43 | 44 | 45 | 46 | 100 47 | 50 48 | 0 0 0 49 | 0 50 | 0 51 | 52 | 53 | 1 54 | 0 55 | 0 56 | 1 57 | 58 | 0 59 | 60 | 61 | 62 | 63 | 0 64 | 1e+06 65 | 66 | 67 | 0 68 | 1 69 | 1 70 | 71 | 0 72 | 0.2 73 | 1e+13 74 | 1 75 | 0.01 76 | 0 77 | 78 | 79 | 1 80 | -0.01 81 | 0 82 | 0.2 83 | 1e+13 84 | 1 85 | 86 | 87 | 88 | 89 | 90 | 0 91 | 1 92 | 93 | 94 | -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/check_urdf.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution 5 | from launch_ros.substitutions import FindPackageShare 6 | 7 | 8 | def generate_launch_description(): 9 | 10 | pkg_turtlebot3_gazebo = FindPackageShare('turtlebot3_gazebo') 11 | pkg_turtlebot3_mogi = FindPackageShare('turtlebot3_mogi') 12 | default_rviz_config_path = PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', 'urdf.rviz']) 13 | 14 | # Show joint state publisher GUI for joints 15 | gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'], 16 | description='Flag to enable joint_state_publisher_gui') 17 | 18 | # RViz config file path 19 | rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path, 20 | description='Absolute path to rviz config file') 21 | 22 | 23 | # URDF model path within the bme_ros2_navigation package 24 | model_arg = DeclareLaunchArgument( 25 | 'model', default_value='turtlebot3_burger.urdf', 26 | description='Name of the URDF description to load' 27 | ) 28 | 29 | # Use built-in ROS2 URDF launch package with our own arguments 30 | urdf = IncludeLaunchDescription( 31 | PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']), 32 | launch_arguments={ 33 | 'urdf_package': 'turtlebot3_gazebo', 34 | 'urdf_package_path': PathJoinSubstitution(['urdf', LaunchConfiguration('model')]), 35 | 'rviz_config': LaunchConfiguration('rvizconfig'), 36 | 'jsp_gui': LaunchConfiguration('gui')}.items() 37 | ) 38 | 39 | launchDescriptionObject = LaunchDescription() 40 | 41 | launchDescriptionObject.add_action(gui_arg) 42 | launchDescriptionObject.add_action(rviz_arg) 43 | launchDescriptionObject.add_action(model_arg) 44 | launchDescriptionObject.add_action(urdf) 45 | 46 | return launchDescriptionObject 47 | -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/robot_mapping.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_description = get_package_share_directory('turtlebot3_description') 14 | pkg_turtlebot3_cartographer = get_package_share_directory('turtlebot3_cartographer') 15 | pkg_turtlebot3_slam_toolbox = get_package_share_directory('turtlebot3_slam_toolbox') 16 | 17 | gazebo_models_path, ignore_last_dir = os.path.split(pkg_turtlebot3_description) 18 | os.environ["GZ_SIM_RESOURCE_PATH"] += os.pathsep + gazebo_models_path 19 | 20 | rviz_launch_arg = DeclareLaunchArgument( 21 | 'rviz', default_value='true', 22 | description='Open RViz' 23 | ) 24 | 25 | rviz_config_arg = DeclareLaunchArgument( 26 | 'rviz_config', default_value='robot_mapping.rviz', 27 | description='RViz config file' 28 | ) 29 | 30 | sim_time_arg = DeclareLaunchArgument( 31 | 'use_sim_time', default_value='False', 32 | description='Flag to enable use_sim_time' 33 | ) 34 | 35 | # Generate path to config file 36 | interactive_marker_config_file_path = os.path.join( 37 | get_package_share_directory('interactive_marker_twist_server'), 38 | 'config', 39 | 'linear.yaml' 40 | ) 41 | 42 | # Launch rviz 43 | rviz_node = Node( 44 | package='rviz2', 45 | executable='rviz2', 46 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 47 | condition=IfCondition(LaunchConfiguration('rviz')), 48 | parameters=[ 49 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 50 | ] 51 | ) 52 | 53 | interactive_marker_twist_server_node = Node( 54 | package='interactive_marker_twist_server', 55 | executable='marker_server', 56 | name='twist_server_node', 57 | parameters=[interactive_marker_config_file_path], 58 | output='screen', 59 | ) 60 | 61 | trajectory_node = Node( 62 | package='mogi_trajectory_server', 63 | executable='mogi_trajectory_server', 64 | name='mogi_trajectory_server', 65 | parameters=[{'reference_frame_id': 'map'}] 66 | ) 67 | 68 | # Relay node to republish camera_info to image_raw/camera_info 69 | relay_camera_info_node = Node( 70 | package='topic_tools', 71 | executable='relay', 72 | name='relay_camera_info', 73 | output='screen', 74 | arguments=['camera_info', 'image_raw/camera_info'], 75 | parameters=[ 76 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 77 | ] 78 | ) 79 | 80 | cartographer_launch = IncludeLaunchDescription( 81 | PythonLaunchDescriptionSource( 82 | os.path.join(pkg_turtlebot3_cartographer, 'launch', 'cartographer.launch.py'), 83 | ), 84 | launch_arguments={ 85 | 'start_rviz': 'false', 86 | 'use_sim': 'false' 87 | }.items() 88 | ) 89 | 90 | slam_toolbox_launch = IncludeLaunchDescription( 91 | PythonLaunchDescriptionSource( 92 | os.path.join(pkg_turtlebot3_slam_toolbox, 'launch', 'slam_toolbox.launch.py'), 93 | ), 94 | launch_arguments={ 95 | 'start_rviz': 'false', 96 | 'use_sim': 'false' 97 | }.items() 98 | ) 99 | 100 | launchDescriptionObject = LaunchDescription() 101 | 102 | launchDescriptionObject.add_action(rviz_launch_arg) 103 | launchDescriptionObject.add_action(rviz_config_arg) 104 | launchDescriptionObject.add_action(sim_time_arg) 105 | launchDescriptionObject.add_action(rviz_node) 106 | launchDescriptionObject.add_action(interactive_marker_twist_server_node) 107 | launchDescriptionObject.add_action(trajectory_node) 108 | launchDescriptionObject.add_action(relay_camera_info_node) 109 | #launchDescriptionObject.add_action(cartographer_launch) 110 | launchDescriptionObject.add_action(slam_toolbox_launch) 111 | 112 | return launchDescriptionObject -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/robot_navigation.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_description = get_package_share_directory('turtlebot3_description') 14 | pkg_turtlebot3_cartographer = get_package_share_directory('turtlebot3_cartographer') 15 | pkg_turtlebot3_slam_toolbox = get_package_share_directory('turtlebot3_slam_toolbox') 16 | 17 | gazebo_models_path, ignore_last_dir = os.path.split(pkg_turtlebot3_description) 18 | os.environ["GZ_SIM_RESOURCE_PATH"] += os.pathsep + gazebo_models_path 19 | 20 | rviz_launch_arg = DeclareLaunchArgument( 21 | 'rviz', default_value='true', 22 | description='Open RViz' 23 | ) 24 | 25 | rviz_config_arg = DeclareLaunchArgument( 26 | 'rviz_config', default_value='robot_navigation.rviz', 27 | description='RViz config file' 28 | ) 29 | 30 | sim_time_arg = DeclareLaunchArgument( 31 | 'use_sim_time', default_value='False', 32 | description='Flag to enable use_sim_time' 33 | ) 34 | 35 | # Generate path to config file 36 | interactive_marker_config_file_path = os.path.join( 37 | get_package_share_directory('interactive_marker_twist_server'), 38 | 'config', 39 | 'linear.yaml' 40 | ) 41 | 42 | nav2_navigation_launch_path = os.path.join( 43 | get_package_share_directory('nav2_bringup'), 44 | 'launch', 45 | 'navigation_launch.py' 46 | ) 47 | 48 | navigation_params_path = os.path.join( 49 | get_package_share_directory('turtlebot3_navigation2'), 50 | 'param', 51 | os.environ['TURTLEBOT3_MODEL'] + '.yaml' 52 | ) 53 | 54 | # Launch rviz 55 | rviz_node = Node( 56 | package='rviz2', 57 | executable='rviz2', 58 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 59 | condition=IfCondition(LaunchConfiguration('rviz')), 60 | parameters=[ 61 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 62 | ] 63 | ) 64 | 65 | interactive_marker_twist_server_node = Node( 66 | package='interactive_marker_twist_server', 67 | executable='marker_server', 68 | name='twist_server_node', 69 | parameters=[interactive_marker_config_file_path], 70 | output='screen', 71 | ) 72 | 73 | trajectory_node = Node( 74 | package='mogi_trajectory_server', 75 | executable='mogi_trajectory_server', 76 | name='mogi_trajectory_server', 77 | parameters=[{'reference_frame_id': 'map'}] 78 | ) 79 | 80 | # Relay node to republish camera_info to image_raw/camera_info 81 | relay_camera_info_node = Node( 82 | package='topic_tools', 83 | executable='relay', 84 | name='relay_camera_info', 85 | output='screen', 86 | arguments=['camera_info', 'image_raw/camera_info'], 87 | parameters=[ 88 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 89 | ] 90 | ) 91 | 92 | cartographer_launch = IncludeLaunchDescription( 93 | PythonLaunchDescriptionSource( 94 | os.path.join(pkg_turtlebot3_cartographer, 'launch', 'cartographer.launch.py'), 95 | ), 96 | launch_arguments={ 97 | 'start_rviz': 'false', 98 | 'use_sim': 'false' 99 | }.items() 100 | ) 101 | 102 | slam_toolbox_launch = IncludeLaunchDescription( 103 | PythonLaunchDescriptionSource( 104 | os.path.join(pkg_turtlebot3_slam_toolbox, 'launch', 'slam_toolbox.launch.py'), 105 | ), 106 | launch_arguments={ 107 | 'start_rviz': 'false', 108 | 'use_sim': 'false' 109 | }.items() 110 | ) 111 | 112 | navigation_launch = IncludeLaunchDescription( 113 | PythonLaunchDescriptionSource(nav2_navigation_launch_path), 114 | launch_arguments={ 115 | 'use_sim_time': LaunchConfiguration('use_sim_time'), 116 | 'params_file': navigation_params_path, 117 | }.items() 118 | ) 119 | 120 | launchDescriptionObject = LaunchDescription() 121 | 122 | launchDescriptionObject.add_action(rviz_launch_arg) 123 | launchDescriptionObject.add_action(rviz_config_arg) 124 | launchDescriptionObject.add_action(sim_time_arg) 125 | launchDescriptionObject.add_action(rviz_node) 126 | launchDescriptionObject.add_action(interactive_marker_twist_server_node) 127 | launchDescriptionObject.add_action(trajectory_node) 128 | launchDescriptionObject.add_action(relay_camera_info_node) 129 | #launchDescriptionObject.add_action(cartographer_launch) 130 | launchDescriptionObject.add_action(slam_toolbox_launch) 131 | launchDescriptionObject.add_action(navigation_launch) 132 | 133 | return launchDescriptionObject -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/robot_visualization.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_description = get_package_share_directory('turtlebot3_description') 14 | 15 | gazebo_models_path, ignore_last_dir = os.path.split(pkg_turtlebot3_description) 16 | os.environ["GZ_SIM_RESOURCE_PATH"] += os.pathsep + gazebo_models_path 17 | 18 | rviz_launch_arg = DeclareLaunchArgument( 19 | 'rviz', default_value='true', 20 | description='Open RViz' 21 | ) 22 | 23 | rviz_config_arg = DeclareLaunchArgument( 24 | 'rviz_config', default_value='robot_basic.rviz', 25 | description='RViz config file' 26 | ) 27 | 28 | sim_time_arg = DeclareLaunchArgument( 29 | 'use_sim_time', default_value='False', 30 | description='Flag to enable use_sim_time' 31 | ) 32 | 33 | # Generate path to config file 34 | interactive_marker_config_file_path = os.path.join( 35 | get_package_share_directory('interactive_marker_twist_server'), 36 | 'config', 37 | 'linear.yaml' 38 | ) 39 | 40 | # Launch rviz 41 | rviz_node = Node( 42 | package='rviz2', 43 | executable='rviz2', 44 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 45 | condition=IfCondition(LaunchConfiguration('rviz')), 46 | parameters=[ 47 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 48 | ] 49 | ) 50 | 51 | interactive_marker_twist_server_node = Node( 52 | package='interactive_marker_twist_server', 53 | executable='marker_server', 54 | name='twist_server_node', 55 | parameters=[interactive_marker_config_file_path], 56 | output='screen', 57 | ) 58 | 59 | trajectory_node = Node( 60 | package='mogi_trajectory_server', 61 | executable='mogi_trajectory_server', 62 | name='mogi_trajectory_server', 63 | ) 64 | 65 | # Relay node to republish camera_info to image_raw/camera_info 66 | relay_camera_info_node = Node( 67 | package='topic_tools', 68 | executable='relay', 69 | name='relay_camera_info', 70 | output='screen', 71 | arguments=['camera_info', 'image_raw/camera_info'], 72 | parameters=[ 73 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 74 | ] 75 | ) 76 | 77 | launchDescriptionObject = LaunchDescription() 78 | 79 | launchDescriptionObject.add_action(rviz_launch_arg) 80 | launchDescriptionObject.add_action(rviz_config_arg) 81 | launchDescriptionObject.add_action(sim_time_arg) 82 | launchDescriptionObject.add_action(rviz_node) 83 | launchDescriptionObject.add_action(interactive_marker_twist_server_node) 84 | launchDescriptionObject.add_action(trajectory_node) 85 | launchDescriptionObject.add_action(relay_camera_info_node) 86 | 87 | return launchDescriptionObject -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/simulation_bringup_line_follow.launch.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # 3 | # Copyright 2019 ROBOTIS CO., LTD. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # Authors: Joep Tool 18 | 19 | import os 20 | 21 | from ament_index_python.packages import get_package_share_directory 22 | from launch import LaunchDescription 23 | from launch.conditions import IfCondition 24 | from launch.actions import AppendEnvironmentVariable 25 | from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument 26 | from launch_ros.actions import Node 27 | from launch.launch_description_sources import PythonLaunchDescriptionSource 28 | from launch.substitutions import LaunchConfiguration, TextSubstitution, PathJoinSubstitution 29 | 30 | 31 | def generate_launch_description(): 32 | launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') 33 | ros_gz_sim = get_package_share_directory('ros_gz_sim') 34 | 35 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 36 | 37 | os.environ["GZ_SIM_RESOURCE_PATH"] += os.pathsep + pkg_turtlebot3_mogi + "/gazebo_models" 38 | 39 | sim_time_arg = DeclareLaunchArgument( 40 | 'use_sim_time', default_value='True', 41 | description='Flag to enable use_sim_time' 42 | ) 43 | 44 | x_pose_arg = DeclareLaunchArgument( 45 | 'x_pose', default_value='0.0', 46 | description='x coordinate of spawned robot' 47 | ) 48 | 49 | y_pose_arg = DeclareLaunchArgument( 50 | 'y_pose', default_value='0.0', 51 | description='y coordinate of spawned robot' 52 | ) 53 | 54 | z_pose_arg = DeclareLaunchArgument( 55 | 'z_pose', default_value='0.3', 56 | description='z coordinate of spawned robot' 57 | ) 58 | 59 | yaw_angle_arg = DeclareLaunchArgument( 60 | 'yaw_angle', default_value='0.0', 61 | description='yaw angle of spawned robot' 62 | ) 63 | 64 | world_arg = DeclareLaunchArgument( 65 | 'world', default_value='light_background.sdf', 66 | description='Name of the Gazebo world file to load' 67 | ) 68 | 69 | rviz_launch_arg = DeclareLaunchArgument( 70 | 'rviz', default_value='true', 71 | description='Open RViz' 72 | ) 73 | 74 | rviz_config_arg = DeclareLaunchArgument( 75 | 'rviz_config', default_value='turtlebot3_line_follower.rviz', 76 | description='RViz config file' 77 | ) 78 | 79 | set_env_vars_resources = AppendEnvironmentVariable( 80 | 'GZ_SIM_RESOURCE_PATH', 81 | os.path.join(get_package_share_directory('turtlebot3_gazebo'), 82 | 'models')) 83 | 84 | gazebo_cmd = IncludeLaunchDescription( 85 | PythonLaunchDescriptionSource( 86 | os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') 87 | ), 88 | launch_arguments={'gz_args': [PathJoinSubstitution([ 89 | pkg_turtlebot3_mogi, 90 | 'worlds', 91 | LaunchConfiguration('world') 92 | ]), 93 | #TextSubstitution(text=' -r -v -v1 --render-engine ogre --render-engine-gui-api-backend opengl')], 94 | TextSubstitution(text=' -r -v -v1')], 95 | 'on_exit_shutdown': 'true'}.items() 96 | ) 97 | 98 | robot_state_publisher_cmd = IncludeLaunchDescription( 99 | PythonLaunchDescriptionSource( 100 | os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') 101 | ), 102 | launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items() 103 | ) 104 | 105 | spawn_turtlebot_cmd = IncludeLaunchDescription( 106 | PythonLaunchDescriptionSource( 107 | os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') 108 | ), 109 | launch_arguments={ 110 | 'x_pose': LaunchConfiguration('x_pose'), 111 | 'y_pose': LaunchConfiguration('y_pose'), 112 | 'z_pose': LaunchConfiguration('z_pose'), 113 | 'yaw_angle': LaunchConfiguration('yaw_angle'), 114 | }.items() 115 | ) 116 | 117 | # Launch rviz 118 | rviz_node = Node( 119 | package='rviz2', 120 | executable='rviz2', 121 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 122 | condition=IfCondition(LaunchConfiguration('rviz')), 123 | parameters=[ 124 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 125 | ] 126 | ) 127 | 128 | trajectory_node = Node( 129 | package='mogi_trajectory_server', 130 | executable='mogi_trajectory_server', 131 | name='mogi_trajectory_server', 132 | ) 133 | 134 | ld = LaunchDescription() 135 | 136 | # Add the commands to the launch description 137 | ld.add_action(sim_time_arg) 138 | ld.add_action(x_pose_arg) 139 | ld.add_action(y_pose_arg) 140 | ld.add_action(z_pose_arg) 141 | ld.add_action(yaw_angle_arg) 142 | ld.add_action(world_arg) 143 | ld.add_action(rviz_launch_arg) 144 | ld.add_action(rviz_config_arg) 145 | ld.add_action(set_env_vars_resources) 146 | ld.add_action(gazebo_cmd) 147 | ld.add_action(robot_state_publisher_cmd) 148 | ld.add_action(spawn_turtlebot_cmd) 149 | ld.add_action(rviz_node) 150 | ld.add_action(trajectory_node) 151 | 152 | return ld 153 | -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/simulation_bringup_navigation.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_gazebo = get_package_share_directory('turtlebot3_gazebo') 14 | 15 | rviz_launch_arg = DeclareLaunchArgument( 16 | 'rviz', default_value='true', 17 | description='Open RViz' 18 | ) 19 | 20 | rviz_config_arg = DeclareLaunchArgument( 21 | 'rviz_config', default_value='turtlebot3_navigation.rviz', 22 | description='RViz config file' 23 | ) 24 | 25 | x_arg = DeclareLaunchArgument( 26 | 'x', default_value='-2.0', 27 | description='x coordinate of spawned robot' 28 | ) 29 | 30 | y_arg = DeclareLaunchArgument( 31 | 'y', default_value='1.0', 32 | description='y coordinate of spawned robot' 33 | ) 34 | 35 | yaw_arg = DeclareLaunchArgument( 36 | 'yaw', default_value='0.0', 37 | description='yaw angle of spawned robot' 38 | ) 39 | 40 | sim_time_arg = DeclareLaunchArgument( 41 | 'use_sim_time', default_value='True', 42 | description='Flag to enable use_sim_time' 43 | ) 44 | 45 | # Path to the Slam Toolbox launch file 46 | nav2_localization_launch_path = os.path.join( 47 | get_package_share_directory('nav2_bringup'), 48 | 'launch', 49 | 'localization_launch.py' 50 | ) 51 | 52 | nav2_navigation_launch_path = os.path.join( 53 | get_package_share_directory('nav2_bringup'), 54 | 'launch', 55 | 'navigation_launch.py' 56 | ) 57 | 58 | navigation_params_path = os.path.join( 59 | get_package_share_directory('turtlebot3_navigation2'), 60 | 'param', 61 | os.environ['TURTLEBOT3_MODEL'] + '_use_sim_time.yaml' 62 | ) 63 | 64 | map_file_path = os.path.join( 65 | get_package_share_directory('turtlebot3_mogi'), 66 | 'maps', 67 | 'map.yaml' 68 | ) 69 | 70 | gazebo_launch = IncludeLaunchDescription( 71 | PythonLaunchDescriptionSource( 72 | os.path.join(pkg_turtlebot3_gazebo, 'launch', 'turtlebot3_house.launch.py'), 73 | ), 74 | launch_arguments={ 75 | 'x_pose': LaunchConfiguration('x'), 76 | 'y_pose': LaunchConfiguration('y'), 77 | 'yaw_angle': LaunchConfiguration('yaw'), 78 | }.items() 79 | ) 80 | 81 | # Launch rviz 82 | rviz_node = Node( 83 | package='rviz2', 84 | executable='rviz2', 85 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 86 | condition=IfCondition(LaunchConfiguration('rviz')), 87 | parameters=[ 88 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 89 | ] 90 | ) 91 | 92 | trajectory_node = Node( 93 | package='mogi_trajectory_server', 94 | executable='mogi_trajectory_server', 95 | name='mogi_trajectory_server', 96 | parameters=[{'reference_frame_id': 'map'}] 97 | ) 98 | 99 | localization_launch = IncludeLaunchDescription( 100 | PythonLaunchDescriptionSource(nav2_localization_launch_path), 101 | launch_arguments={ 102 | 'use_sim_time': LaunchConfiguration('use_sim_time'), 103 | 'params_file': navigation_params_path, 104 | 'map': map_file_path, 105 | }.items() 106 | ) 107 | 108 | navigation_launch = IncludeLaunchDescription( 109 | PythonLaunchDescriptionSource(nav2_navigation_launch_path), 110 | launch_arguments={ 111 | 'use_sim_time': LaunchConfiguration('use_sim_time'), 112 | 'params_file': navigation_params_path, 113 | }.items() 114 | ) 115 | 116 | 117 | launchDescriptionObject = LaunchDescription() 118 | 119 | launchDescriptionObject.add_action(rviz_launch_arg) 120 | launchDescriptionObject.add_action(rviz_config_arg) 121 | launchDescriptionObject.add_action(x_arg) 122 | launchDescriptionObject.add_action(y_arg) 123 | launchDescriptionObject.add_action(yaw_arg) 124 | launchDescriptionObject.add_action(sim_time_arg) 125 | launchDescriptionObject.add_action(gazebo_launch) 126 | launchDescriptionObject.add_action(rviz_node) 127 | launchDescriptionObject.add_action(trajectory_node) 128 | launchDescriptionObject.add_action(localization_launch) 129 | launchDescriptionObject.add_action(navigation_launch) 130 | 131 | return launchDescriptionObject 132 | -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/simulation_bringup_navigation_with_slam.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_gazebo = get_package_share_directory('turtlebot3_gazebo') 14 | pkg_turtlebot3_slam_toolbox = get_package_share_directory('turtlebot3_slam_toolbox') 15 | 16 | rviz_launch_arg = DeclareLaunchArgument( 17 | 'rviz', default_value='true', 18 | description='Open RViz' 19 | ) 20 | 21 | rviz_config_arg = DeclareLaunchArgument( 22 | 'rviz_config', default_value='turtlebot3_navigation.rviz', 23 | description='RViz config file' 24 | ) 25 | 26 | x_arg = DeclareLaunchArgument( 27 | 'x', default_value='-2.0', 28 | description='x coordinate of spawned robot' 29 | ) 30 | 31 | y_arg = DeclareLaunchArgument( 32 | 'y', default_value='1.0', 33 | description='y coordinate of spawned robot' 34 | ) 35 | 36 | yaw_arg = DeclareLaunchArgument( 37 | 'yaw', default_value='0.0', 38 | description='yaw angle of spawned robot' 39 | ) 40 | 41 | sim_time_arg = DeclareLaunchArgument( 42 | 'use_sim_time', default_value='True', 43 | description='Flag to enable use_sim_time' 44 | ) 45 | 46 | nav2_navigation_launch_path = os.path.join( 47 | get_package_share_directory('nav2_bringup'), 48 | 'launch', 49 | 'navigation_launch.py' 50 | ) 51 | 52 | navigation_params_path = os.path.join( 53 | get_package_share_directory('turtlebot3_navigation2'), 54 | 'param', 55 | os.environ['TURTLEBOT3_MODEL'] + '_use_sim_time.yaml' 56 | ) 57 | 58 | map_file_path = os.path.join( 59 | get_package_share_directory('turtlebot3_mogi'), 60 | 'maps', 61 | 'map.yaml' 62 | ) 63 | 64 | gazebo_launch = IncludeLaunchDescription( 65 | PythonLaunchDescriptionSource( 66 | os.path.join(pkg_turtlebot3_gazebo, 'launch', 'turtlebot3_house.launch.py'), 67 | ), 68 | launch_arguments={ 69 | 'x_pose': LaunchConfiguration('x'), 70 | 'y_pose': LaunchConfiguration('y'), 71 | 'yaw_angle': LaunchConfiguration('yaw'), 72 | }.items() 73 | ) 74 | 75 | # Launch rviz 76 | rviz_node = Node( 77 | package='rviz2', 78 | executable='rviz2', 79 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 80 | condition=IfCondition(LaunchConfiguration('rviz')), 81 | parameters=[ 82 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 83 | ] 84 | ) 85 | 86 | trajectory_node = Node( 87 | package='mogi_trajectory_server', 88 | executable='mogi_trajectory_server', 89 | name='mogi_trajectory_server', 90 | parameters=[{'reference_frame_id': 'map'}] 91 | ) 92 | 93 | slam_toolbox_launch = IncludeLaunchDescription( 94 | PythonLaunchDescriptionSource( 95 | os.path.join(pkg_turtlebot3_slam_toolbox, 'launch', 'slam_toolbox.launch.py'), 96 | ), 97 | launch_arguments={ 98 | 'start_rviz': 'false', 99 | 'use_sim': 'true' 100 | }.items() 101 | ) 102 | 103 | navigation_launch = IncludeLaunchDescription( 104 | PythonLaunchDescriptionSource(nav2_navigation_launch_path), 105 | launch_arguments={ 106 | 'use_sim_time': LaunchConfiguration('use_sim_time'), 107 | 'params_file': navigation_params_path, 108 | }.items() 109 | ) 110 | 111 | 112 | launchDescriptionObject = LaunchDescription() 113 | 114 | launchDescriptionObject.add_action(rviz_launch_arg) 115 | launchDescriptionObject.add_action(rviz_config_arg) 116 | launchDescriptionObject.add_action(x_arg) 117 | launchDescriptionObject.add_action(y_arg) 118 | launchDescriptionObject.add_action(yaw_arg) 119 | launchDescriptionObject.add_action(sim_time_arg) 120 | launchDescriptionObject.add_action(gazebo_launch) 121 | launchDescriptionObject.add_action(rviz_node) 122 | launchDescriptionObject.add_action(trajectory_node) 123 | launchDescriptionObject.add_action(slam_toolbox_launch) 124 | launchDescriptionObject.add_action(navigation_launch) 125 | 126 | return launchDescriptionObject 127 | -------------------------------------------------------------------------------- /turtlebot3_mogi/launch/simulation_bringup_slam.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from launch import LaunchDescription 3 | from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription 4 | from launch.conditions import IfCondition 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource 6 | from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command 7 | from launch_ros.actions import Node 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | def generate_launch_description(): 11 | 12 | pkg_turtlebot3_mogi = get_package_share_directory('turtlebot3_mogi') 13 | pkg_turtlebot3_gazebo = get_package_share_directory('turtlebot3_gazebo') 14 | pkg_turtlebot3_cartographer = get_package_share_directory('turtlebot3_cartographer') 15 | pkg_turtlebot3_slam_toolbox = get_package_share_directory('turtlebot3_slam_toolbox') 16 | 17 | rviz_launch_arg = DeclareLaunchArgument( 18 | 'rviz', default_value='true', 19 | description='Open RViz' 20 | ) 21 | 22 | rviz_config_arg = DeclareLaunchArgument( 23 | 'rviz_config', default_value='turtlebot3_slam.rviz', 24 | description='RViz config file' 25 | ) 26 | 27 | x_arg = DeclareLaunchArgument( 28 | 'x', default_value='-2.0', 29 | description='x coordinate of spawned robot' 30 | ) 31 | 32 | y_arg = DeclareLaunchArgument( 33 | 'y', default_value='1.0', 34 | description='y coordinate of spawned robot' 35 | ) 36 | 37 | yaw_arg = DeclareLaunchArgument( 38 | 'yaw', default_value='0.0', 39 | description='yaw angle of spawned robot' 40 | ) 41 | 42 | sim_time_arg = DeclareLaunchArgument( 43 | 'use_sim_time', default_value='True', 44 | description='Flag to enable use_sim_time' 45 | ) 46 | 47 | # Generate path to config file 48 | interactive_marker_config_file_path = os.path.join( 49 | get_package_share_directory('interactive_marker_twist_server'), 50 | 'config', 51 | 'linear.yaml' 52 | ) 53 | 54 | gazebo_launch = IncludeLaunchDescription( 55 | PythonLaunchDescriptionSource( 56 | os.path.join(pkg_turtlebot3_gazebo, 'launch', 'turtlebot3_house.launch.py'), 57 | ), 58 | launch_arguments={ 59 | 'x_pose': LaunchConfiguration('x'), 60 | 'y_pose': LaunchConfiguration('y'), 61 | 'yaw_angle': LaunchConfiguration('yaw'), 62 | }.items() 63 | ) 64 | 65 | # Launch rviz 66 | rviz_node = Node( 67 | package='rviz2', 68 | executable='rviz2', 69 | arguments=['-d', PathJoinSubstitution([pkg_turtlebot3_mogi, 'rviz', LaunchConfiguration('rviz_config')])], 70 | condition=IfCondition(LaunchConfiguration('rviz')), 71 | parameters=[ 72 | {'use_sim_time': LaunchConfiguration('use_sim_time')}, 73 | ] 74 | ) 75 | 76 | trajectory_node = Node( 77 | package='mogi_trajectory_server', 78 | executable='mogi_trajectory_server', 79 | name='mogi_trajectory_server', 80 | parameters=[{'reference_frame_id': 'map'}] 81 | ) 82 | 83 | interactive_marker_twist_server_node = Node( 84 | package='interactive_marker_twist_server', 85 | executable='marker_server', 86 | name='twist_server_node', 87 | parameters=[interactive_marker_config_file_path], 88 | output='screen', 89 | ) 90 | 91 | cartographer_launch = IncludeLaunchDescription( 92 | PythonLaunchDescriptionSource( 93 | os.path.join(pkg_turtlebot3_cartographer, 'launch', 'cartographer.launch.py'), 94 | ), 95 | launch_arguments={ 96 | 'start_rviz': 'false', 97 | 'use_sim': 'true' 98 | }.items() 99 | ) 100 | 101 | slam_toolbox_launch = IncludeLaunchDescription( 102 | PythonLaunchDescriptionSource( 103 | os.path.join(pkg_turtlebot3_slam_toolbox, 'launch', 'slam_toolbox.launch.py'), 104 | ), 105 | launch_arguments={ 106 | 'start_rviz': 'false', 107 | 'use_sim': 'true' 108 | }.items() 109 | ) 110 | 111 | 112 | launchDescriptionObject = LaunchDescription() 113 | 114 | launchDescriptionObject.add_action(rviz_launch_arg) 115 | launchDescriptionObject.add_action(rviz_config_arg) 116 | launchDescriptionObject.add_action(x_arg) 117 | launchDescriptionObject.add_action(y_arg) 118 | launchDescriptionObject.add_action(yaw_arg) 119 | launchDescriptionObject.add_action(sim_time_arg) 120 | launchDescriptionObject.add_action(gazebo_launch) 121 | launchDescriptionObject.add_action(rviz_node) 122 | launchDescriptionObject.add_action(trajectory_node) 123 | #launchDescriptionObject.add_action(interactive_marker_twist_server_node) 124 | #launchDescriptionObject.add_action(cartographer_launch) 125 | launchDescriptionObject.add_action(slam_toolbox_launch) 126 | 127 | return launchDescriptionObject 128 | -------------------------------------------------------------------------------- /turtlebot3_mogi/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi/maps/map.pgm -------------------------------------------------------------------------------- /turtlebot3_mogi/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | mode: trinary 3 | resolution: 0.05 4 | origin: [-5.75, -6.44, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 -------------------------------------------------------------------------------- /turtlebot3_mogi/meshes/dark_bg.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi/meshes/dark_bg.blend -------------------------------------------------------------------------------- /turtlebot3_mogi/meshes/light_bg.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi/meshes/light_bg.blend -------------------------------------------------------------------------------- /turtlebot3_mogi/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtlebot3_mogi 5 | 1.0.0 6 | 7 | BME MOGI ROS course related extensions 8 | to the official Turtlebot 3 packages 9 | 10 | David Dudas 11 | Apache License 2.0 12 | 13 | ament_cmake 14 | 15 | ament_lint_auto 16 | ament_lint_common 17 | 18 | 19 | ament_cmake 20 | 21 | 22 | -------------------------------------------------------------------------------- /turtlebot3_mogi/rviz/urdf.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 70 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: ~ 7 | Splitter Ratio: 0.5 8 | Tree Height: 289 9 | - Class: rviz_common/Views 10 | Expanded: 11 | - /Current View1 12 | Name: Views 13 | Splitter Ratio: 0.5 14 | Visualization Manager: 15 | Class: "" 16 | Displays: 17 | - Alpha: 0.5 18 | Cell Size: 1 19 | Class: rviz_default_plugins/Grid 20 | Color: 160; 160; 164 21 | Enabled: true 22 | Line Style: 23 | Line Width: 0.029999999329447746 24 | Value: Lines 25 | Name: Grid 26 | Normal Cell Count: 0 27 | Offset: 28 | X: 0 29 | Y: 0 30 | Z: 0 31 | Plane: XY 32 | Plane Cell Count: 10 33 | Reference Frame: 34 | Value: true 35 | - Alpha: 0.800000011920929 36 | Class: rviz_default_plugins/RobotModel 37 | Collision Enabled: false 38 | Description File: "" 39 | Description Source: Topic 40 | Description Topic: 41 | Depth: 5 42 | Durability Policy: Volatile 43 | History Policy: Keep Last 44 | Reliability Policy: Reliable 45 | Value: /robot_description 46 | Enabled: true 47 | Links: 48 | All Links Enabled: true 49 | Expand Joint Details: false 50 | Expand Link Details: false 51 | Expand Tree: false 52 | Link Tree Style: Links in Alphabetic Order 53 | base_footprint: 54 | Alpha: 1 55 | Show Axes: false 56 | Show Trail: false 57 | base_link: 58 | Alpha: 1 59 | Show Axes: false 60 | Show Trail: false 61 | Value: true 62 | left_wheel: 63 | Alpha: 1 64 | Show Axes: false 65 | Show Trail: false 66 | Value: true 67 | right_wheel: 68 | Alpha: 1 69 | Show Axes: false 70 | Show Trail: false 71 | Value: true 72 | Mass Properties: 73 | Inertia: false 74 | Mass: false 75 | Name: RobotModel 76 | TF Prefix: "" 77 | Update Interval: 0 78 | Value: true 79 | Visual Enabled: true 80 | - Class: rviz_default_plugins/TF 81 | Enabled: true 82 | Filter (blacklist): "" 83 | Filter (whitelist): "" 84 | Frame Timeout: 15 85 | Frames: 86 | All Enabled: true 87 | base_footprint: 88 | Value: true 89 | base_link: 90 | Value: true 91 | left_wheel: 92 | Value: true 93 | right_wheel: 94 | Value: true 95 | Marker Scale: 1 96 | Name: TF 97 | Show Arrows: true 98 | Show Axes: true 99 | Show Names: false 100 | Tree: 101 | base_footprint: 102 | base_link: 103 | left_wheel: 104 | {} 105 | right_wheel: 106 | {} 107 | Update Interval: 0 108 | Value: true 109 | Enabled: true 110 | Global Options: 111 | Background Color: 48; 48; 48 112 | Fixed Frame: base_link 113 | Frame Rate: 30 114 | Name: root 115 | Tools: 116 | - Class: rviz_default_plugins/MoveCamera 117 | Transformation: 118 | Current: 119 | Class: rviz_default_plugins/TF 120 | Value: true 121 | Views: 122 | Current: 123 | Class: rviz_default_plugins/Orbit 124 | Distance: 1.7000000476837158 125 | Enable Stereo Rendering: 126 | Stereo Eye Separation: 0.05999999865889549 127 | Stereo Focal Distance: 1 128 | Swap Stereo Eyes: false 129 | Value: false 130 | Focal Point: 131 | X: 0 132 | Y: 0 133 | Z: 0 134 | Focal Shape Fixed Size: true 135 | Focal Shape Size: 0.05000000074505806 136 | Invert Z Axis: false 137 | Name: Current View 138 | Near Clip Distance: 0.009999999776482582 139 | Pitch: 0.33000001311302185 140 | Target Frame: 141 | Value: Orbit (rviz) 142 | Yaw: 5.5 143 | Saved: ~ 144 | Window Geometry: 145 | Displays: 146 | collapsed: false 147 | Height: 800 148 | Hide Left Dock: false 149 | Hide Right Dock: false 150 | QMainWindow State: 000000ff00000000fd0000000100000000000001c9000002c2fc0200000002fb000000100044006900730070006c006100790073010000003f000001a7000000cc00fffffffb0000000a0056006900650077007301000001ec00000115000000a900ffffff000002e1000002c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 151 | Views: 152 | collapsed: false 153 | Width: 1200 154 | X: 234 155 | Y: 260 156 | -------------------------------------------------------------------------------- /turtlebot3_mogi/worlds/dark_background.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0.004 7 | 1 8 | 250 9 | 10 | 13 | 14 | 17 | 18 | 21 | 22 | 25 | 26 | 27 | 30 | ogre2 31 | 32 | 35 | 36 | 39 | 40 | 41 | 42 | EARTH_WGS84 43 | ENU 44 | 47.478950 45 | 19.057785 46 | 0 47 | 0 48 | 49 | 50 | 51 | true 52 | 0 0 10 0 0 0 53 | 0.8 0.8 0.8 1 54 | 0.2 0.2 0.2 1 55 | 56 | 1000 57 | 0.9 58 | 0.01 59 | 0.001 60 | 61 | -0.5 0.1 -0.9 62 | 63 | 64 | 0 0 -9.8000000000000007 65 | 5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05 66 | 67 | 68 | 0.400000006 0.400000006 0.400000006 1 69 | 0.699999988 0.699999988 0.699999988 1 70 | true 71 | 72 | 73 | 74 | true 75 | 76 | 77 | 78 | 79 | 0 0 1 80 | 100 100 81 | 82 | 83 | 84 | 85 | 86 | 50 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 0 0 1 97 | 100 100 98 | 99 | 100 | 101 | 0.8 0.8 0.8 1 102 | 0.8 0.8 0.8 1 103 | 0.8 0.8 0.8 1 104 | 105 | 106 | 107 | 108 | 109 | 110 | true 111 | 112 | 113 | 1 114 | 115 | 0.166667 116 | 0 117 | 0 118 | 0.166667 119 | 0 120 | 0.166667 121 | 122 | 0 0 0 0 -0 0 123 | 124 | 0 0 0 0 -0 0 125 | 1 126 | 0 127 | 1 128 | 0 129 | 130 | 0 0 0 0 -0 0 131 | 132 | 133 | model://dark_bg/meshes/dark_bg.dae 134 | 1 1 1 135 | 136 | 137 | 0 138 | 1 139 | 140 | 141 | 0 142 | 10 143 | 0 0 0 0 -0 0 144 | 145 | 146 | model://dark_bg/meshes/dark_bg.dae 147 | 1 1 1 148 | 149 | 150 | 151 | 152 | 153 | 100 154 | 50 155 | 0 0 0 156 | 0 157 | 0 158 | 159 | 160 | 1 161 | 0 162 | 0 163 | 1 164 | 165 | 0 166 | 167 | 168 | 169 | 170 | 0 171 | 1e+06 172 | 173 | 174 | 0 175 | 1 176 | 1 177 | 178 | 0 179 | 0.2 180 | 1e+13 181 | 1 182 | 0.01 183 | 0 184 | 185 | 186 | 1 187 | -0.01 188 | 0 189 | 0.2 190 | 1e+13 191 | 1 192 | 193 | 194 | 195 | 196 | 197 | 1 198 | -0.475237 -0.09932 0 0 -0 0 199 | 200 | 201 | 202 | 203 | -------------------------------------------------------------------------------- /turtlebot3_mogi/worlds/empty.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0.004 7 | 1 8 | 250 9 | 10 | 13 | 14 | 17 | 18 | 21 | 22 | 25 | 26 | 27 | 30 | ogre2 31 | 32 | 35 | 36 | 39 | 40 | 41 | 42 | EARTH_WGS84 43 | ENU 44 | 47.478950 45 | 19.057785 46 | 0 47 | 0 48 | 49 | 50 | 51 | true 52 | 0 0 10 0 0 0 53 | 0.8 0.8 0.8 1 54 | 0.2 0.2 0.2 1 55 | 56 | 1000 57 | 0.9 58 | 0.01 59 | 0.001 60 | 61 | -0.5 0.1 -0.9 62 | 63 | 64 | 0 0 -9.8000000000000007 65 | 5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05 66 | 67 | 68 | 0.400000006 0.400000006 0.400000006 1 69 | 0.699999988 0.699999988 0.699999988 1 70 | true 71 | 72 | 73 | 74 | true 75 | 76 | 77 | 78 | 79 | 0 0 1 80 | 100 100 81 | 82 | 83 | 84 | 85 | 86 | 50 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 0 0 1 97 | 100 100 98 | 99 | 100 | 101 | 0.8 0.8 0.8 1 102 | 0.8 0.8 0.8 1 103 | 0.8 0.8 0.8 1 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | -------------------------------------------------------------------------------- /turtlebot3_mogi_py/network_model/model.best.keras: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi_py/network_model/model.best.keras -------------------------------------------------------------------------------- /turtlebot3_mogi_py/network_model/model.keras: 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| ament_copyright 14 | ament_flake8 15 | ament_pep257 16 | python3-pytest 17 | 18 | 19 | ament_python 20 | 21 | 22 | -------------------------------------------------------------------------------- /turtlebot3_mogi_py/resource/turtlebot3_mogi_py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi_py/resource/turtlebot3_mogi_py -------------------------------------------------------------------------------- /turtlebot3_mogi_py/saved_images/.gitkeep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi_py/saved_images/.gitkeep -------------------------------------------------------------------------------- /turtlebot3_mogi_py/setup.cfg: -------------------------------------------------------------------------------- 1 | [build_scripts] 2 | executable = /usr/bin/env python3 3 | [develop] 4 | script_dir=$base/lib/turtlebot3_mogi_py 5 | [install] 6 | install_scripts=$base/lib/turtlebot3_mogi_py 7 | -------------------------------------------------------------------------------- /turtlebot3_mogi_py/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages, setup 2 | from glob import glob 3 | 4 | package_name = 'turtlebot3_mogi_py' 5 | 6 | setup( 7 | name=package_name, 8 | version='1.0.0', 9 | packages=find_packages(exclude=['test']), 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', 12 | ['resource/' + package_name]), 13 | ('share/' + package_name, ['package.xml']), 14 | ('share/' + package_name + '/network_model', glob('network_model/*')), 15 | ], 16 | install_requires=['setuptools'], 17 | zip_safe=True, 18 | maintainer='David Dudas', 19 | maintainer_email='david.dudas@outlook.com', 20 | description='BME MOGI ROS course related python nodes to the official Turtlebot 3 packages', 21 | license='Apache License 2.0', 22 | tests_require=['pytest'], 23 | entry_points={ 24 | 'console_scripts': [ 25 | 'line_follower = turtlebot3_mogi_py.line_follower:main', 26 | 'save_training_images = turtlebot3_mogi_py.save_training_images:main', 27 | 'line_follower_cnn = turtlebot3_mogi_py.line_follower_cnn:main', 28 | 'line_follower_cnn_robot = turtlebot3_mogi_py.line_follower_cnn_robot:main', 29 | ], 30 | }, 31 | ) 32 | -------------------------------------------------------------------------------- /turtlebot3_mogi_py/training_images/forward/20221204-183750-995516.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOGI-ROS/Week-1-8-Cognitive-robotics/7a1e23535e2e8d482ee7fae4c37dbba167ad73bc/turtlebot3_mogi_py/training_images/forward/20221204-183750-995516.jpg 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-------------------------------------------------------------------------------- /turtlebot3_mogi_py/turtlebot3_mogi_py/save_training_images.py: -------------------------------------------------------------------------------- 1 | import rclpy 2 | from rclpy.node import Node 3 | from sensor_msgs.msg import CompressedImage, Image 4 | from cv_bridge import CvBridge 5 | from geometry_msgs.msg import Twist 6 | import cv2 7 | import numpy as np 8 | import threading 9 | from datetime import datetime 10 | 11 | class ImageSubscriber(Node): 12 | def __init__(self): 13 | super().__init__('image_subscriber') 14 | 15 | self.subscription = self.create_subscription( 16 | CompressedImage, 17 | 'image_raw/compressed', # Replace with your topic name 18 | self.image_callback, 19 | 1 # Queue size of 1 20 | ) 21 | 22 | self.save_path = "/home/david/ros2_ws/src/ROS2-lessons/Week-1-8-Cognitive-robotics/turtlebot3_mogi_py/saved_images/" 23 | 24 | # Initialize CvBridge 25 | self.bridge = CvBridge() 26 | 27 | # Variable to store the latest frame 28 | self.latest_frame = None 29 | self.frame_lock = threading.Lock() # Lock to ensure thread safety 30 | 31 | # Flag to control the display loop 32 | self.running = True 33 | 34 | # Start a separate thread for spinning (to ensure image_callback keeps receiving new frames) 35 | self.spin_thread = threading.Thread(target=self.spin_thread_func) 36 | self.spin_thread.start() 37 | 38 | def spin_thread_func(self): 39 | """Separate thread function for rclpy spinning.""" 40 | while rclpy.ok() and self.running: 41 | rclpy.spin_once(self, timeout_sec=0.05) 42 | 43 | def image_callback(self, msg): 44 | """Callback function to receive and store the latest frame.""" 45 | # Convert ROS Image message to OpenCV format and store it 46 | with self.frame_lock: 47 | #self.latest_frame = self.bridge.imgmsg_to_cv2(msg, "bgr8") 48 | self.latest_frame = self.bridge.compressed_imgmsg_to_cv2(msg, desired_encoding="bgr8") 49 | 50 | def display_image(self): 51 | 52 | # Create a single OpenCV window 53 | cv2.namedWindow("frame", cv2.WINDOW_NORMAL) 54 | cv2.resizeWindow("frame", 800,600) 55 | 56 | while rclpy.ok(): 57 | # Check if there is a new frame available 58 | if self.latest_frame is not None: 59 | 60 | # Process the current image 61 | resized_frame = self.process_image(self.latest_frame) 62 | 63 | # Show the latest frame 64 | cv2.imshow("frame", resized_frame) 65 | self.latest_frame = None # Clear the frame after displaying 66 | 67 | # Check for quit key 68 | key = cv2.waitKey(6) & 0xFF 69 | if key in [27, ord('q')]: # 27 = ESC 70 | self.running = False 71 | break 72 | elif key in [32, ord('s')]: # 32 = Space 73 | time_prefix = datetime.today().strftime('%Y%m%d-%H%M%S-%f') 74 | file_name = self.save_path + time_prefix + ".jpg" 75 | cv2.imwrite(file_name, resized_frame) 76 | print("File saved: %s" % file_name) 77 | 78 | # Close OpenCV window after quitting 79 | cv2.destroyAllWindows() 80 | self.running = False 81 | 82 | def process_image(self, img): 83 | 84 | height, width = img.shape[:2] 85 | 86 | if height != 240 or width != 320: 87 | dim = (320, 240) 88 | img = cv2.resize(img, dim, interpolation=cv2.INTER_AREA) 89 | 90 | return img 91 | 92 | def stop(self): 93 | """Stop the node and the spin thread.""" 94 | self.running = False 95 | self.spin_thread.join() 96 | 97 | def main(args=None): 98 | 99 | print("OpenCV version: %s" % cv2.__version__) 100 | 101 | rclpy.init(args=args) 102 | node = ImageSubscriber() 103 | 104 | try: 105 | node.display_image() # Run the display loop 106 | except KeyboardInterrupt: 107 | pass 108 | finally: 109 | node.stop() # Ensure the spin thread and node stop properly 110 | node.destroy_node() 111 | rclpy.shutdown() 112 | 113 | if __name__ == '__main__': 114 | main() -------------------------------------------------------------------------------- /turtlebot3_mogi_py/turtlebot3_mogi_py/train_network.py: -------------------------------------------------------------------------------- 1 | # import the necessary packages 2 | from tensorflow.keras.models import Sequential 3 | from tensorflow.keras.layers import Activation, Flatten, Dense, Conv2D, MaxPooling2D, Input, Dropout 4 | from tensorflow.keras.preprocessing.image import img_to_array 5 | from tensorflow.keras.optimizers import Adam 6 | from tensorflow.keras.optimizers.schedules import ExponentialDecay 7 | from tensorflow.keras.callbacks import ReduceLROnPlateau, ModelCheckpoint 8 | from tensorflow.keras.utils import to_categorical 9 | from tensorflow.keras import __version__ as keras_version 10 | from tensorflow.compat.v1 import ConfigProto 11 | from tensorflow.compat.v1 import InteractiveSession 12 | from tensorflow.random import set_seed 13 | import tensorflow as tf 14 | from sklearn.model_selection import train_test_split 15 | from imutils import paths 16 | import numpy as np 17 | import random 18 | import cv2 19 | import os 20 | import matplotlib.pyplot as plt 21 | from numpy.random import seed 22 | 23 | # Set image size 24 | image_size = 24 25 | 26 | config = ConfigProto() 27 | config.gpu_options.allow_growth = True 28 | session = InteractiveSession(config=config) 29 | 30 | # Fix every random seed to make the training reproducible 31 | seed(1) 32 | set_seed(2) 33 | random.seed(42) 34 | 35 | print("[INFO] Version:") 36 | print("Tensorflow version: %s" % tf.__version__) 37 | keras_version = str(keras_version).encode('utf8') 38 | print("Keras version: %s" % keras_version) 39 | 40 | def build_LeNet(width, height, depth, classes): 41 | # initialize the model 42 | model = Sequential() 43 | inputShape = (height, width, depth) 44 | 45 | # After Keras 2.3 we need an Input layer instead of passing it as a parameter to the first layer 46 | model.add(Input(inputShape)) 47 | 48 | # first set of CONV => RELU => POOL layers 49 | model.add(Conv2D(20, (5, 5), padding="same")) 50 | model.add(Activation("relu")) 51 | model.add(MaxPooling2D(pool_size=(2, 2), strides=(2, 2))) 52 | 53 | # second set of CONV => RELU => POOL layers 54 | model.add(Conv2D(50, (5, 5), padding="same")) 55 | model.add(Activation("relu")) 56 | model.add(MaxPooling2D(pool_size=(2, 2), strides=(2, 2))) 57 | 58 | # first (and only) set of FC => RELU layers 59 | model.add(Flatten()) 60 | model.add(Dense(500)) 61 | model.add(Activation("relu")) 62 | 63 | # softmax classifier 64 | model.add(Dense(classes)) 65 | model.add(Activation("softmax")) 66 | 67 | # return the constructed network architecture 68 | return model 69 | 70 | 71 | dataset = '..//training_images' 72 | # initialize the data and labels 73 | print("[INFO] loading images and labels...") 74 | data = [] 75 | labels = [] 76 | 77 | # grab the image paths and randomly shuffle them 78 | imagePaths = sorted(list(paths.list_images(dataset))) 79 | random.shuffle(imagePaths) 80 | # loop over the input images 81 | for imagePath in imagePaths: 82 | # load the image, pre-process it, and store it in the data list 83 | image = cv2.imread(imagePath) 84 | image = cv2.resize(image, (image_size, image_size)) 85 | image = img_to_array(image) 86 | data.append(image) 87 | # extract the class label from the image path and update the 88 | # labels list 89 | label = imagePath.split(os.path.sep)[-2] 90 | print("Image: %s, Label: %s" % (imagePath, label)) 91 | if label == 'forward': 92 | label = 0 93 | elif label == 'right': 94 | label = 1 95 | elif label == 'left': 96 | label = 2 97 | else: 98 | label = 3 99 | labels.append(label) 100 | 101 | 102 | # scale the raw pixel intensities to the range [0, 1] 103 | data = np.array(data, dtype="float") / 255.0 104 | labels = np.array(labels) 105 | 106 | # partition the data into training and testing splits using 75% of 107 | # the data for training and the remaining 25% for testing 108 | (trainX, testX, trainY, testY) = train_test_split(data, labels, test_size=0.25, random_state=42)# convert the labels from integers to vectors 109 | trainY = to_categorical(trainY, num_classes=4) 110 | testY = to_categorical(testY, num_classes=4) 111 | 112 | 113 | # initialize the number of epochs to train for, initial learning rate, 114 | # and batch size 115 | EPOCHS = 40 116 | INIT_LR = 0.001 117 | BS = 32 118 | 119 | # initialize the model 120 | print("[INFO] compiling model...") 121 | model = build_LeNet(width=image_size, height=image_size, depth=3, classes=4) 122 | opt = Adam(learning_rate=INIT_LR) 123 | model.compile(loss="binary_crossentropy", optimizer=opt, metrics=["accuracy"]) 124 | 125 | # print model summary 126 | model.summary() 127 | 128 | # checkpoint the best model 129 | checkpoint_filepath = "..//network_model//model.best.keras" 130 | checkpoint = ModelCheckpoint(checkpoint_filepath, monitor = 'val_loss', verbose=1, save_best_only=True, mode='min') 131 | 132 | # set a learning rate annealer 133 | reduce_lr = ReduceLROnPlateau(monitor='val_loss', patience=3, verbose=1, factor=0.5, min_lr=1e-6) 134 | 135 | # callbacks 136 | callbacks_list=[reduce_lr, checkpoint] 137 | 138 | # train the network 139 | print("[INFO] training network...") 140 | history = model.fit(trainX, trainY, batch_size=BS, validation_data=(testX, testY), epochs=EPOCHS, callbacks=callbacks_list, verbose=1) 141 | 142 | # save the model to disk 143 | print("[INFO] serializing network...") 144 | model.save("..//network_model//model.keras") 145 | 146 | plt.xlabel('Epoch Number') 147 | plt.ylabel("Loss / Accuracy Magnitude") 148 | plt.plot(history.history['loss'], label="loss") 149 | plt.plot(history.history['accuracy'], label="acc") 150 | plt.plot(history.history['val_loss'], label="val_loss") 151 | plt.plot(history.history['val_accuracy'], label="val_acc") 152 | plt.legend() 153 | plt.savefig('..//network_model//model_training') 154 | plt.show() --------------------------------------------------------------------------------