├── demo.gif
├── param
    ├── default_planner.yaml
    ├── move_base.yaml
    └── turtlebot3_navigation.rviz
├── launch
    ├── rviz.launch
    ├── amcl_demo.launch
    └── includes
    │   └── move_base.launch.xml
├── README.md
├── package.xml
└── CMakeLists.txt


/demo.gif:
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https://raw.githubusercontent.com/Rayman/turtlebot3_mbf/HEAD/demo.gif


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/param/default_planner.yaml:
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1 | base_global_planner: NavfnROS
2 | base_local_planner: DWAPlannerROS
3 | 


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/launch/rviz.launch:
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1 | <?xml version="1.0"?>
2 | 
3 | <launch>
4 |   <node pkg="rviz" type="rviz" name="rviz" required="true"
5 |         args="-d $(find turtlebot3_mbf)/param/turtlebot3_navigation.rviz"/>
6 | </launch>
7 | 


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/README.md:
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 1 | # Move base flex turtlebot3 demo
 2 | 
 3 | ```sh
 4 | export TURTLEBOT3_MODEL=burger
 5 | roslaunch turtlebot3_gazebo turtlebot3_world.launch
 6 | roslaunch turtlebot3_mbf amcl_demo.launch
 7 | roslaunch turtlebot3_mbf rviz.launch
 8 | ```
 9 | ![](./demo.gif)
10 | 


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/param/move_base.yaml:
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 1 | planners:
 2 |   - name: NavfnROS
 3 |     type: navfn/NavfnROS
 4 | 
 5 | controllers:
 6 |   - name: DWAPlannerROS
 7 |     type: dwa_local_planner/DWAPlannerROS
 8 | 
 9 | controller_frequency: 5.0
10 | controller_patience: 3.0
11 | 
12 | planner_frequency: 1.0
13 | planner_patience: 5.0
14 | 
15 | oscillation_timeout: 10.0
16 | oscillation_distance: 0.2
17 | 


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>turtlebot3_mbf</name>
 4 |   <version>0.0.0</version>
 5 |   <description>Move base flex config for the turtlebot</description>
 6 | 
 7 |   <maintainer email="ramon@ruvu.nl">Ramon Wijnands</maintainer>
 8 | 
 9 |   <license>TODO</license>
10 | 
11 |   <buildtool_depend>catkin</buildtool_depend>
12 | 
13 |   <exec_depend>map_server</exec_depend>
14 |   <exec_depend>mbf_costmap_nav</exec_depend>
15 |   <exec_depend>turtlebot3_bringup</exec_depend>
16 |   <exec_depend>turtlebot3_navigation</exec_depend>
17 | </package>
18 | 


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/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 3.0.2)
 2 | project(turtlebot3_mbf)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | ###################################
 7 | ## catkin specific configuration ##
 8 | ###################################
 9 | 
10 | catkin_package()
11 | 
12 | #############
13 | ## Install ##
14 | #############
15 | 
16 | # all install targets should use catkin DESTINATION variables
17 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
18 | 
19 | ## Mark executable scripts (Python etc.) for installation
20 | ## in contrast to setup.py, you can choose the destination
21 | # install(PROGRAMS
22 | #   scripts/my_python_script
23 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
24 | # )
25 | 
26 | ## Mark other files for installation (e.g. launch and bag files, etc.)
27 | # install(FILES
28 | #   # myfile1
29 | #   # myfile2
30 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
31 | # )
32 | 


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/launch/amcl_demo.launch:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <launch>
 4 |   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
 5 |   <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
 6 | 
 7 |   <!-- Turtlebot3 -->
 8 |   <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
 9 |     <arg name="model" value="$(arg model)"/>
10 |   </include>
11 | 
12 |   <!-- Map server -->
13 |   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>
14 | 
15 |   <!-- Localization -->
16 |   <arg name="initial_pose_x" default="0.0"/>
17 |   <arg name="initial_pose_y" default="0.0"/>
18 |   <arg name="initial_pose_a" default="0.0"/>
19 | 
20 |   <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
21 |     <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
22 |     <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
23 |     <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
24 |   </include>
25 | 
26 |   <!-- Move base -->
27 |   <include file="$(find turtlebot3_mbf)/launch/includes/move_base.launch.xml"/>
28 | </launch>
29 | 


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/launch/includes/move_base.launch.xml:
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 1 | <launch>
 2 |   <!-- Arguments -->
 3 |   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
 4 | 
 5 |   <node name="move_base_flex" pkg="mbf_costmap_nav" type="mbf_costmap_nav" required="true" output="screen">
 6 |     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
 7 |     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
 8 |     <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
 9 |     <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
10 |     <rosparam file="$(find turtlebot3_mbf)/param/move_base.yaml" command="load"/>
11 |     <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
12 |   </node>
13 | 
14 |   <node name="move_base_legacy_relay" pkg="mbf_costmap_nav" type="move_base_legacy_relay.py">
15 |     <rosparam file="$(find turtlebot3_mbf)/param/default_planner.yaml" command="load"/>
16 |   </node>
17 | </launch>
18 | 


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/param/turtlebot3_navigation.rviz:
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  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /TF1/Frames1
  8 |         - /TF1/Tree1
  9 |         - /Global Map1
 10 |         - /Local Map1
 11 |       Splitter Ratio: 0.5
 12 |     Tree Height: 796
 13 |   - Class: rviz/Selection
 14 |     Name: Selection
 15 |   - Class: rviz/Tool Properties
 16 |     Expanded:
 17 |       - /2D Pose Estimate1
 18 |       - /2D Nav Goal1
 19 |     Name: Tool Properties
 20 |     Splitter Ratio: 0.5886790156364441
 21 |   - Class: rviz/Views
 22 |     Expanded:
 23 |       - /Current View1
 24 |     Name: Views
 25 |     Splitter Ratio: 0.5
 26 |   - Class: rviz/Time
 27 |     Experimental: false
 28 |     Name: Time
 29 |     SyncMode: 0
 30 |     SyncSource: LaserScan
 31 | Preferences:
 32 |   PromptSaveOnExit: true
 33 | Toolbars:
 34 |   toolButtonStyle: 2
 35 | Visualization Manager:
 36 |   Class: ""
 37 |   Displays:
 38 |     - Alpha: 0.5
 39 |       Cell Size: 1
 40 |       Class: rviz/Grid
 41 |       Color: 160; 160; 164
 42 |       Enabled: true
 43 |       Line Style:
 44 |         Line Width: 0.029999999329447746
 45 |         Value: Lines
 46 |       Name: Grid
 47 |       Normal Cell Count: 0
 48 |       Offset:
 49 |         X: 0
 50 |         Y: 0
 51 |         Z: 0
 52 |       Plane: XY
 53 |       Plane Cell Count: 20
 54 |       Reference Frame: <Fixed Frame>
 55 |       Value: true
 56 |     - Alpha: 1
 57 |       Class: rviz/RobotModel
 58 |       Collision Enabled: false
 59 |       Enabled: true
 60 |       Links:
 61 |         All Links Enabled: true
 62 |         Expand Joint Details: false
 63 |         Expand Link Details: false
 64 |         Expand Tree: false
 65 |         Link Tree Style: Links in Alphabetic Order
 66 |         base_footprint:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |         base_link:
 71 |           Alpha: 1
 72 |           Show Axes: false
 73 |           Show Trail: false
 74 |           Value: true
 75 |         base_scan:
 76 |           Alpha: 1
 77 |           Show Axes: false
 78 |           Show Trail: false
 79 |           Value: true
 80 |         caster_back_link:
 81 |           Alpha: 1
 82 |           Show Axes: false
 83 |           Show Trail: false
 84 |           Value: true
 85 |         imu_link:
 86 |           Alpha: 1
 87 |           Show Axes: false
 88 |           Show Trail: false
 89 |         wheel_left_link:
 90 |           Alpha: 1
 91 |           Show Axes: false
 92 |           Show Trail: false
 93 |           Value: true
 94 |         wheel_right_link:
 95 |           Alpha: 1
 96 |           Show Axes: false
 97 |           Show Trail: false
 98 |           Value: true
 99 |       Name: RobotModel
100 |       Robot Description: robot_description
101 |       TF Prefix: ""
102 |       Update Interval: 0
103 |       Value: true
104 |       Visual Enabled: true
105 |     - Class: rviz/TF
106 |       Enabled: false
107 |       Frame Timeout: 15
108 |       Frames:
109 |         All Enabled: false
110 |       Marker Scale: 1
111 |       Name: TF
112 |       Show Arrows: true
113 |       Show Axes: true
114 |       Show Names: false
115 |       Tree:
116 |         {}
117 |       Update Interval: 0
118 |       Value: false
119 |     - Alpha: 1
120 |       Autocompute Intensity Bounds: true
121 |       Autocompute Value Bounds:
122 |         Max Value: 10
123 |         Min Value: -10
124 |         Value: true
125 |       Axis: Z
126 |       Channel Name: intensity
127 |       Class: rviz/LaserScan
128 |       Color: 0; 255; 0
129 |       Color Transformer: FlatColor
130 |       Decay Time: 0
131 |       Enabled: true
132 |       Invert Rainbow: false
133 |       Max Color: 255; 255; 255
134 |       Max Intensity: 13069
135 |       Min Color: 0; 0; 0
136 |       Min Intensity: 28
137 |       Name: LaserScan
138 |       Position Transformer: XYZ
139 |       Queue Size: 10
140 |       Selectable: true
141 |       Size (Pixels): 3
142 |       Size (m): 0.030000001192092896
143 |       Style: Flat Squares
144 |       Topic: /scan
145 |       Unreliable: false
146 |       Use Fixed Frame: true
147 |       Use rainbow: true
148 |       Value: true
149 |     - Class: rviz/Image
150 |       Enabled: false
151 |       Image Topic: /raspicam_node/image
152 |       Max Value: 1
153 |       Median window: 5
154 |       Min Value: 0
155 |       Name: Image
156 |       Normalize Range: true
157 |       Queue Size: 2
158 |       Transport Hint: compressed
159 |       Unreliable: false
160 |       Value: false
161 |     - Alpha: 0.699999988079071
162 |       Class: rviz/Map
163 |       Color Scheme: map
164 |       Draw Behind: false
165 |       Enabled: true
166 |       Name: Map
167 |       Topic: /map
168 |       Unreliable: false
169 |       Use Timestamp: false
170 |       Value: true
171 |     - Alpha: 1
172 |       Buffer Length: 1
173 |       Class: rviz/Path
174 |       Color: 0; 0; 0
175 |       Enabled: true
176 |       Head Diameter: 0.30000001192092896
177 |       Head Length: 0.20000000298023224
178 |       Length: 0.30000001192092896
179 |       Line Style: Lines
180 |       Line Width: 0.029999999329447746
181 |       Name: Planner Plan
182 |       Offset:
183 |         X: 0
184 |         Y: 0
185 |         Z: 0
186 |       Pose Color: 255; 85; 255
187 |       Pose Style: None
188 |       Radius: 0.029999999329447746
189 |       Shaft Diameter: 0.10000000149011612
190 |       Shaft Length: 0.10000000149011612
191 |       Topic: /move_base/NavfnROS/plan
192 |       Unreliable: false
193 |       Value: true
194 |     - Class: rviz/Group
195 |       Displays:
196 |         - Alpha: 0.699999988079071
197 |           Class: rviz/Map
198 |           Color Scheme: costmap
199 |           Draw Behind: true
200 |           Enabled: true
201 |           Name: Costmap
202 |           Topic: /move_base_flex/global_costmap/costmap
203 |           Unreliable: false
204 |           Use Timestamp: false
205 |           Value: true
206 |         - Alpha: 1
207 |           Buffer Length: 1
208 |           Class: rviz/Path
209 |           Color: 255; 0; 0
210 |           Enabled: true
211 |           Head Diameter: 0.30000001192092896
212 |           Head Length: 0.20000000298023224
213 |           Length: 0.30000001192092896
214 |           Line Style: Lines
215 |           Line Width: 0.029999999329447746
216 |           Name: Planner
217 |           Offset:
218 |             X: 0
219 |             Y: 0
220 |             Z: 0
221 |           Pose Color: 255; 85; 255
222 |           Pose Style: None
223 |           Radius: 0.029999999329447746
224 |           Shaft Diameter: 0.10000000149011612
225 |           Shaft Length: 0.10000000149011612
226 |           Topic: /move_base_flex/NavfnROS/plan
227 |           Unreliable: false
228 |           Value: true
229 |       Enabled: true
230 |       Name: Global Map
231 |     - Class: rviz/Group
232 |       Displays:
233 |         - Alpha: 1
234 |           Class: rviz/Polygon
235 |           Color: 0; 0; 0
236 |           Enabled: true
237 |           Name: Polygon
238 |           Topic: /move_base_flex/local_costmap/footprint
239 |           Unreliable: false
240 |           Value: true
241 |         - Alpha: 0.699999988079071
242 |           Class: rviz/Map
243 |           Color Scheme: costmap
244 |           Draw Behind: false
245 |           Enabled: true
246 |           Name: Costmap
247 |           Topic: /move_base_flex/local_costmap/costmap
248 |           Unreliable: false
249 |           Use Timestamp: false
250 |           Value: true
251 |         - Alpha: 1
252 |           Buffer Length: 1
253 |           Class: rviz/Path
254 |           Color: 255; 255; 0
255 |           Enabled: true
256 |           Head Diameter: 0.30000001192092896
257 |           Head Length: 0.20000000298023224
258 |           Length: 0.30000001192092896
259 |           Line Style: Lines
260 |           Line Width: 0.029999999329447746
261 |           Name: Planner
262 |           Offset:
263 |             X: 0
264 |             Y: 0
265 |             Z: 0
266 |           Pose Color: 255; 85; 255
267 |           Pose Style: None
268 |           Radius: 0.029999999329447746
269 |           Shaft Diameter: 0.10000000149011612
270 |           Shaft Length: 0.10000000149011612
271 |           Topic: /move_base_flex/DWAPlannerROS/local_plan
272 |           Unreliable: false
273 |           Value: true
274 |       Enabled: true
275 |       Name: Local Map
276 |     - Alpha: 1
277 |       Arrow Length: 0.05000000074505806
278 |       Axes Length: 0.30000001192092896
279 |       Axes Radius: 0.009999999776482582
280 |       Class: rviz/PoseArray
281 |       Color: 0; 192; 0
282 |       Enabled: true
283 |       Head Length: 0.07000000029802322
284 |       Head Radius: 0.029999999329447746
285 |       Name: Amcl Particles
286 |       Shaft Length: 0.23000000417232513
287 |       Shaft Radius: 0.009999999776482582
288 |       Shape: Arrow (Flat)
289 |       Topic: /particlecloud
290 |       Unreliable: false
291 |       Value: true
292 |     - Alpha: 1
293 |       Axes Length: 1
294 |       Axes Radius: 0.10000000149011612
295 |       Class: rviz/Pose
296 |       Color: 255; 25; 0
297 |       Enabled: true
298 |       Head Length: 0.30000001192092896
299 |       Head Radius: 0.10000000149011612
300 |       Name: Goal
301 |       Shaft Length: 0.5
302 |       Shaft Radius: 0.05000000074505806
303 |       Shape: Arrow
304 |       Topic: /move_base_simple/goal
305 |       Unreliable: false
306 |       Value: true
307 |   Enabled: true
308 |   Global Options:
309 |     Background Color: 48; 48; 48
310 |     Default Light: true
311 |     Fixed Frame: map
312 |     Frame Rate: 30
313 |   Name: root
314 |   Tools:
315 |     - Class: rviz/MoveCamera
316 |     - Class: rviz/Interact
317 |       Hide Inactive Objects: true
318 |     - Class: rviz/Select
319 |     - Class: rviz/SetInitialPose
320 |       Theta std deviation: 0.2617993950843811
321 |       Topic: /initialpose
322 |       X std deviation: 0.5
323 |       Y std deviation: 0.5
324 |     - Class: rviz/SetGoal
325 |       Topic: /move_base_simple/goal
326 |     - Class: rviz/Measure
327 |   Value: true
328 |   Views:
329 |     Current:
330 |       Angle: -1.6257963180541992
331 |       Class: rviz/TopDownOrtho
332 |       Enable Stereo Rendering:
333 |         Stereo Eye Separation: 0.05999999865889549
334 |         Stereo Focal Distance: 1
335 |         Swap Stereo Eyes: false
336 |         Value: false
337 |       Invert Z Axis: false
338 |       Name: Current View
339 |       Near Clip Distance: 0.009999999776482582
340 |       Scale: 158.78826904296875
341 |       Target Frame: <Fixed Frame>
342 |       Value: TopDownOrtho (rviz)
343 |       X: 0.08110414445400238
344 |       Y: -0.45166757702827454
345 |     Saved: ~
346 | Window Geometry:
347 |   Displays:
348 |     collapsed: false
349 |   Height: 1025
350 |   Hide Left Dock: false
351 |   Hide Right Dock: true
352 |   Image:
353 |     collapsed: false
354 |   QMainWindow State: 000000ff00000000fd0000000400000000000002b3000003a7fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000484000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
355 |   Selection:
356 |     collapsed: false
357 |   Time:
358 |     collapsed: false
359 |   Tool Properties:
360 |     collapsed: false
361 |   Views:
362 |     collapsed: true
363 |   Width: 1853
364 |   X: 1987
365 |   Y: 27
366 | 


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