├── CMakeLists.txt
├── LICENSE
├── LICENSE.previous.md
├── Package_Installation_Instruction.md
├── README.md
├── Tips_and_Troubleshooting.md
├── config
    ├── controller.yaml
    ├── controller_gz_sim.yaml
    ├── empty.yaml
    ├── gz_params.yaml
    ├── joystick_params.yaml
    ├── mapper_params_localization.yaml
    ├── mapper_params_online_async.yaml
    ├── minibot_config.rviz
    ├── minibot_display.rviz
    ├── nav2_params.yaml
    ├── sim_config.rviz
    └── twist_mux.yaml
├── demo_publisher_node
    └── velocity_publisher.cpp
├── description
    ├── camera.xacro
    ├── depth_camera.xacro
    ├── gz_diff_drive_control.xacro
    ├── inertial_macros.xacro
    ├── lidar.xacro
    ├── robot.urdf.xacro
    ├── robot_main.xacro
    └── ros2_control.xacro
├── launch
    ├── joystick_teleop.launch.py
    ├── robot.launch.py
    ├── robot_remote_station.launch.py
    ├── sim.launch.py
    └── sim_control_station.launch.py
├── maps
    ├── map_01.pgm
    ├── map_01.yaml
    ├── map_01_serial.data
    ├── map_01_serial.posegraph
    ├── sample_map.pgm
    ├── sample_map.yaml
    ├── sample_map_serial.data
    └── sample_map_serial.posegraph
├── package.xml
├── visual_demos
    ├── Nav2_demostration-ezgif.com-video-to-gif-converter.gif
    ├── SLAM_demostration-ezgif.com-video-to-gif-converter.gif
    ├── robot_hardware.jpg
    └── robot_visual.jpg
└── worlds
    ├── empty.sdf
    └── playground.sdf


/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.5)
 2 | project(minibot)
 3 | 
 4 | # Default to C99
 5 | if(NOT CMAKE_C_STANDARD)
 6 |   set(CMAKE_C_STANDARD 99)
 7 | endif()
 8 | 
 9 | # Default to C++14
10 | if(NOT CMAKE_CXX_STANDARD)
11 |   set(CMAKE_CXX_STANDARD 14)
12 | endif()
13 | 
14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
15 |   add_compile_options(-Wall -Wextra -Wpedantic)
16 | endif()
17 | 
18 | # find dependencies
19 | find_package(ament_cmake REQUIRED)
20 | find_package(rclcpp REQUIRED)
21 | find_package(geometry_msgs REQUIRED)
22 | # uncomment the following section in order to fill in
23 | # further dependencies manually.
24 | # find_package(<dependency> REQUIRED)
25 | 
26 | if(BUILD_TESTING)
27 |   find_package(ament_lint_auto REQUIRED)
28 |   # the following line skips the linter which checks for copyrights
29 |   # uncomment the line when a copyright and license is not present in all source files
30 |   #set(ament_cmake_copyright_FOUND TRUE)
31 |   # the following line skips cpplint (only works in a git repo)
32 |   # uncomment the line when this package is not in a git repo
33 |   #set(ament_cmake_cpplint_FOUND TRUE)
34 |   ament_lint_auto_find_test_dependencies()
35 | endif()
36 | 
37 | add_executable(velocity_publisher demo_publisher_node/velocity_publisher.cpp)
38 | ament_target_dependencies(velocity_publisher
39 |   rclcpp
40 |   geometry_msgs
41 | )
42 | 
43 | install(TARGETS
44 |   velocity_publisher
45 |   DESTINATION lib/${PROJECT_NAME}
46 | )
47 | 
48 | install(
49 |   DIRECTORY config description launch worlds demo_publisher_node maps visual_demos
50 |   DESTINATION share/${PROJECT_NAME}
51 | )
52 | 
53 | ament_package()
54 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2024 YJ0528
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
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/Package_Installation_Instruction.md:
--------------------------------------------------------------------------------
  1 | ### List of Content:
  2 | *	[Introduction](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#introduction)
  3 | *	[Install ROS 2 Packages](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#install-ros-2-package)
  4 | *	[Install and Flash Microcontroller Driver code](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#install-and-flash-microcontroller-driver-code)
  5 | 
  6 | ## Introduction
  7 | There are 2 ways to install ROS2 package, either via binary installation or build from source. Most of the stable-released standard ROS2 package can be installed via binary, while building the package from source allows more flexibility in modifying the package(s) content, or to install additional third-party package(s).
  8 | 
  9 | For more information, see: 
 10 | *	[Explaination on ROS 2 Packages](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#explanation-on-ros-2-packages)
 11 | *	[Configuring your ROS 2 environment](https://docs.ros.org/en/eloquent/Tutorials/Configuring-ROS2-Environment.html#background)
 12 | 
 13 | At the time I started this project, the ROS2 Jazzy Jalilsco only released several months, some of the packages were still not fully ported to Jazzy yet. Therefore, I will have to install from source or look up for pull request. 
 14 | 
 15 | Since then some packages has received a more refined updates. Therefore I will include both options if possible in the subesequent sections. However, binary installation are usually preferred if possible.
 16 | 
 17 | <br>
 18 | 
 19 | # Install ROS 2 Package:
 20 | The directory for the instruction to install required packages are listed below:
 21 | 
 22 | **For simulation only:**
 23 | *	[ros_gz](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#ros_gz)
 24 | *	[ros2_control](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#ros2_control)
 25 | *	[nav2 stack](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#nav2)
 26 | *	[twist_mux](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#twist_mux)
 27 | *	[twist_stamper](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#twist_stamper)
 28 | 
 29 | **For driver and hardware interface (in addition to the file listed for simulation, except `ros_gz`):**
 30 | *	[diffdrive_arduino](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#diffdrive_arduino)
 31 | *	[serial](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#serial)
 32 | *	[sllidar_ros2](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#sllidar_ros2)
 33 | 
 34 | ### Third-party Packages Repository
 35 | Among the above listed packages, the following are third-party packages:
 36 | *	[twist_stamper](https://github.com/joshnewans/twist_stamper.git)
 37 | *	[diffdrive_arduino](https://github.com/YJ0528/diffdrive_arduino ) (forked from [here](https://github.com/joshnewans/diffdrive_arduino))
 38 | *	[serial](https://github.com/joshnewans/serial.git)
 39 | *	[sllidar_ros2](https://github.com/Slamtec/sllidar_ros2.git)
 40 | 
 41 | <br>
 42 | 
 43 | ## ros_gz 
 44 | ROS2 Jazzy Jalisco supports Gazebo Harmonic (LTS), see [Summary of Compatible ROS and Gazebo Combinations](https://gazebosim.org/docs/harmonic/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations).
 45 | 
 46 | ### Binary Installation
 47 | *    Install the **default gazebo/ROS pairing** by following the instruction given [Installing the Default Gazebo/ROS Pairing](https://gazebosim.org/docs/harmonic/ros_installation/#installing-the-default-gazebo-ros-pairing).
 48 | 
 49 | 	     sudo apt-get install ros-${ROS_DISTRO}-ros-gz
 50 | ### Build from source 
 51 | *    Install the required **gazebo packages** by following the instruction given [here](https://github.com/gazebosim/ros_gz/tree/jazzy?tab=readme-ov-file#install) (optional, if create node is not available) .
 52 | 
 53 | In order to build ros_gz from source, sufficient RAM is essential to avoid the machine from getting crashed.
 54 | If the machine consist of 8GB RAM or less, expanding the virtual RAM with the instruction [How to Increase Virtual Memory](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-to-increase-virtual-memory).
 55 | 
 56 | <br>
 57 | 
 58 | ## ros2_control 
 59 | ### Binary Installation
 60 | *	Install ros2_control for Jazzy Jalisco using:
 61 | 
 62 |   		sudo apt install ros-jazzy-ros2-control
 63 |  ### Build from source 
 64 | *	Install ros2_control from source following the instruction [here](https://control.ros.org/jazzy/doc/getting_started/getting_started.html#building-from-source) (optional, in case the spawner.py is not found).
 65 | 
 66 | <br>
 67 | 
 68 | ## nav2
 69 | ### Binary Installation
 70 | *	Install nav2 stack for Jazzy Jalisco using:
 71 | 
 72 |  		sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup
 73 | 
 74 | <br>
 75 | 
 76 | ## twist_mux 
 77 | ### Binary installation
 78 | The recently updated version (4.4.0) supports stamped cmd_vel, which can be installed directly:
 79 | 
 80 | 	sudo apt install ros-jazzy-twist-mux
 81 |  **The following version is not tested yet so the parameter name could be different.**
 82 | *	To check the parameter name, see [Useful Tips: Check node parameter name in command line](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-to-check-ros-2-node-parameter-name-using-command-line) 
 83 | 
 84 | ### Build from source
 85 | Alternatively, if user wish to build from source:
 86 | 1.	Go the the workspace src:
 87 | 	
 88 | 		##Example:
 89 | 		cd ros_ws/
 90 | 		cd src/
 91 | 2.	Clone the package from github:
 92 | 
 93 |    		https://github.com/YJ0528/twist_mux.git
 94 |   	*	I have created a fork for the pr_52, which provides the stamped cmd_vel option.
 95 |    	*	Alternatively, user can still convert unstamped cmd_vel to stamped using [twist_stamper](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#twist_stamper).
 96 | 3.	Build the package:
 97 | 
 98 | 		##Remove <--packages-select twist_stamper> to build all other packages
 99 | 	 	colcon build --symlink-install --packages-select twist_mux
100 | 
101 | <br>
102 | 
103 | ## twist_stamper
104 | twist_stamper is a third-party package contributed by [Josh Newans](https://github.com/joshnewans), [niemsoen](https://github.com/niemsoen), and [Rick-v-E](https://github.com/Rick-v-E). Since it is not an official ROS 2 package, it can only build from source.
105 | 
106 | #### Build from source
107 | 1.	Go the the workspace src:
108 | 	
109 | 		##Example:
110 | 		cd ros_ws/
111 | 		cd src/
112 | 2.	Clone the package from github:
113 | 
114 |    		git clone https://github.com/joshnewans/twist_stamper.git
115 | 3.	Build the package:
116 | 
117 | 		##Remove <--packages-select twist_stamper> to build all other packages
118 | 	 	colcon build --symlink-install --packages-select twist_stamper
119 | 
120 | <br>
121 | 
122 | ## diffdrive_arduino
123 | #### Build from source
124 | 1.	Go the the workspace src:
125 | 	
126 | 		##Example:
127 | 		cd ros_ws/
128 | 		cd src/
129 | 2.	Clone the package from github:
130 | 
131 |    		git clone https://github.com/YJ0528/diffdrive_arduino.git
132 |   	*	I have created a fork with the Humble branch so it could be cloned directly.
133 |    	*	The pacakages works with Jazzy version although it is built for Humble.
134 | 3.	Build the package:
135 | 
136 | 		##Remove <--packages-select twist_stamper> to build all other packages
137 | 	 	colcon build --symlink-install --packages-select diffdrive_arduino
138 | 
139 | <br>
140 | 
141 | ## serial
142 | #### Build from source
143 | 1.	Go the the workspace src:
144 | 	
145 | 		##Example:
146 | 		cd ros_ws/
147 | 		cd src/
148 | 2.	Clone the package from github:
149 | 
150 |    		git clone https://github.com/joshnewans/serial
151 |   	*	I have created a fork with the Humble branch so it could be cloned directly.
152 |    	*	The pacakages works with Jazzy version although it is built for Humble.
153 | 3.	Build the package:
154 | 
155 | 		##Remove <--packages-select twist_stamper> to build all other packages
156 | 	 	colcon build --symlink-install --packages-select serial
157 | 
158 | <br>
159 | 
160 | ## sllidar_ros2 
161 | *	Build the `sllidar_ros2` package from source following the instruction [here](https://github.com/Slamtec/sllidar_ros2?tab=readme-ov-file#how-to-create-a-ros2-workspace).
162 | 
163 | <br>
164 | 
165 | # Install and Flash Microcontroller Driver Code
166 | The arduino driver code repository can be found at here: [ros_arduino_bridge](https://github.com/YJ0528/ros_arduino_bridge.git), in which compatibility for ESP32 and Cytron MDD3A motor driver is implemented.
167 | ### A.	Install Arduino IDE and Required Libraries
168 | 1.	Make sure you have arduino installed in the machine, otherwise see [Arduino IDE 1 Installation (Linux)](https://docs.arduino.cc/software/ide-v1/tutorials/Linux/).
169 | 2.	Open the Arduino IDE, install the ESP32 add-on in Arduino IDE, see [Installing the ESP32 Board in Arduino IDE (Windows, Mac OS X, Linux)](https://randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/)
170 | 3.	In the Arduino IDE, install the following libraries via Tools -> Manage Libraries...
171 | 	*	ESP32Encoder version 0.11.7, repository: https://github.com/madhephaestus/ESP32Encoder.git
172 |  	*	Cytron Motor Drivers Library version 1.0.1, repository: https://github.com/CytronTechnologies/CytronMotorDriver
173 | ### B.	Flashing the Driver code
174 | 1.	clone the driver code to local:
175 | 
176 | 		git clone https://github.com/YJ0528/ros_arduino_bridge.git
177 | 	*	Can place the code in any directory, as long as it can be open by the IDE.
178 | 
179 | 2.	In Arduino IDE, open the cloned sketch: ros_arduino_bridge/RosArduinoBridge/[RosArduinoBridge.ino](https://github.com/YJ0528/ros_arduino_bridge/blob/main/ROSArduinoBridge/ROSArduinoBridge.ino).
180 | 3.	Ensure the ESP32 serial is connected and accessible to the machine,set the port number to the ESP32 dev/ttyUSB0 and flash
181 | 4.	The default port number starts from `dev/ttyUSB0`, `dev/ttyUSB0`..., check serial port using
182 | 
183 | 		ls -l /dev/ttyUSB* 
184 | 6.	If the ESP32 is plugged into the serial port but the it is not recognized by the IDE, see [RPI5: Add USB Access for Raspberry Pi](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#rpi5-add-usb-access-for-raspberry-pi).
185 | 7.	run python miniterm with echo and set serial port, and baud rate as following (assume serial port= /dev/ttyUSB0):
186 | 
187 |   		python3 -m serial.tools.miniterm -e /dev/ttyUSB0 115200
188 | 
189 | ## TODO (maybe):
190 | *	Include guide to use arduinon extension in vscode 
191 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
  1 | ## License
  2 | This project is licensed under MIT License. 
  3 | For previous licensing history, see [LICENSE.previous.md](https://github.com/YJ0528/minibot/blob/main/LICENSE.previous.md)
  4 | 
  5 | <br>
  6 | 
  7 | <div align="center">
  8 | 	<img src="https://github.com/YJ0528/minibot/blob/main/visual_demos/robot_visual.jpg" height="350">
  9 | 	<br>
 10 | 	<h2> Differential Drive Robot using ROS 2 Jazzy Jalisco </h2>
 11 | 	<a href="https://github.com/YJ0528/minibot/blob/main/LICENSE">
 12 | 		<img src="https://img.shields.io/static/v1.svg?label=License&message=MIT&color=blue&style=flat-square" height="20">
 13 |   	</a>
 14 | 	<a href="https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview">
 15 | 		<img src="https://img.shields.io/static/v1.svg?label=Ubuntu&message=24.04%20LTS&color=orange&style=flat-square" height="20">
 16 |   	</a>
 17 | 	<a href="https://docs.ros.org/en/jazzy/index.html">
 18 | 	    <img src="https://img.shields.io/static/v1.svg?label=ROS%202&message=Jazzy%20Jalisco&color=0059b3&style=flat-square" height="20">
 19 |   	</a>
 20 | 	<br><br>		
 21 | </div>
 22 | 
 23 | Hi everyone! Today I would like to share my project implementing a fundamental differential drive robot using <ins>**ROS2 Jazzy Jalisco**</ins> and <ins>**Raspberry Pi 5**</ins>, with features including Gazebo simulation, ros2_control, teleoperation, SLAM, and Navigation2.
 24 | 
 25 | This project also represents my learning journey following tutorials from [Articulated Robotics](https://articulatedrobotics.xyz/):
 26 | 
 27 | *	Forum: https://articulatedrobotics.xyz/tutorials/mobile-robot/project-overview/
 28 | *	Tutorial playlist: https://youtube.com/playlist?list=PLunhqkrRNRhYAffV8JDiFOatQXuU-NnxT&si=1N9GNN6gRnet5heK
 29 | 
 30 | You can see the demo [here](https://github.com/YJ0528/minibot/blob/main/README.md#demo)
 31 | 
 32 | <br>	
 33 | 
 34 | ## Getting Started
 35 | Before we start, make sure you are using [Ubuntu 24.04](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) and have [ROS 2 Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html) installed in your server machine (which is your desktop or laptop).
 36 | 
 37 | Make sure to install git:
 38 | 
 39 | 	sudo apt install git ros-dev-tools -y
 40 | 
 41 | Make sure VScode is installed, it can be found in Ubuntu App Center. Some extensions that I have installed are listed below:
 42 | *	C/C++ Extension Pack (Microsoft)
 43 | *	Python (Microsoft)
 44 | *	ROS (Microsoft)
 45 | *	YAML (Red Hat)
 46 | *	Remote - SSH (Microsoft)
 47 | 
 48 | Additionally, consider to install [Terminator](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#terminator), which is a useful tool to use with ROS 2.
 49 | 
 50 | <br>
 51 | 
 52 | ## Setting Up ROS 2 Workspace and Installed Requied Packages
 53 | Before we start, see [ROS 2 Packages: A Brief Introduction](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#introduction) for the differences between the <ins>**binary installation**</ins> and <ins>**build from source**</ins>
 54 | 
 55 | ### Creating a Workspace `ros_ws`
 56 | 1.	Open a terminal using `ctrl + alt + t`, create a workspace named `ros_ws` with a folder named `src`:
 57 | 
 58 | 		mkdir -p ~/ros_ws/src
 59 | 	*	Replace `ros_ws` with the name you want to put as your workspace name.
 60 | 
 61 | 3.	 Follow to the insturction at [**Install ROS 2 Packages**](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#install-ros-2-package) to install all the necessary packages.
 62 | 		*	Although only the listed items under **<ins>For simulation only</ins>** are required for simulation, it is recommanded to install all of them.
 63 | 
 64 | <br>
 65 | 
 66 | ## Launch Simulation
 67 | 1.	Once Everything is set, go to `your_workspace` and source the workspace:
 68 | 	
 69 | 	 	cd ros_ws/
 70 | 		. install/setup.bash
 71 | 	*	When a new terminal is opened, ensure that terminal sourced the workspace also:
 72 | 	
 73 | 2.	Launch the simulation:
 74 | 	
 75 | 		ros2 launch minibot sim.launch.py
 76 | 	*	This will launch the `robot description`, `gazebo`, `rviz2`, `ros2_control` etc.
 77 | 	
 78 | 3.	Launch Simulation Control and SLAM
 79 | 
 80 | 	The `sim_control_station.launch.py` will launch all control features for the simulation, inclduing `teleop`, `slam_toolbox`, `nav2 stack`.
 81 | 	
 82 | 	*	To run the control with `online_async_slam` from `slam_toolbox`, open a new terminal, source the local workspace and enter:
 83 | 	
 84 | 			ros2 launch minibot sim_control_station.launch.py use_slam_option:=online_async_slam
 85 | 	*	For `mapper_params_localization` from `slam_toolbox`:
 86 | 	
 87 | 	 		ros2 launch minibot sim_control_station.launch.py use_slam_option:=mapper_params_localization
 88 | 	 	*	To change the map to load, open the params file at [`./src/minibot/config/mapper_params_localization.yaml`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/config/mapper_params_localization.yaml#L18), replace the value corresponding `map_file_name` with the desired directory.
 89 | 	*	For `AMCL` from `nav2`:
 90 | 	
 91 | 			ros2 launch minibot sim_control_station.launch.py use_slam_option:=amcl map:=./src/minibot/maps/sample_map.yaml
 92 | 	 	*	To change the map to load, replace the default value corresponding to [`map`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/launch/sim_control_station.launch.py#L27) with the desired directory.
 93 | 
 94 | 5.	Alternatively, we can just run the teleoperation only using:
 95 | 
 96 | 		ros2 launch minibot joystick_teleop.launch.py
 97 | ### Additional Notes:
 98 | Refer to:
 99 | *	[ros_gz_bridge](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#ros_gz_bridge) if a topic could not be send or recived between ROS 2 and Gazebo.
100 | *	[How a ROS 2 Topic Is Received By a Node](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-a-ros-2-topic-is-received-by-a-node) if you suspect topics are not being published or subscribed to properly
101 | *	[How to Check ROS 2 Node Parameter Name using Command Line](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-to-check-ros-2-node-parameter-name-using-command-line) if you want to check if the parameters from `.yaml` file is loaded to the node properly.
102 | 
103 | <br>
104 | <br>
105 | 
106 | 
107 | <div align="center">
108 | 	<h2> Setting Up the Robot </h2>
109 | 	<img src="https://github.com/YJ0528/minibot/blob/main/visual_demos/robot_hardware.jpg" height="500">
110 | 	<p>Robot Hardware and Circuit Connection Setup</p>
111 | </div>
112 | 
113 | ***<ins>IMPORTANT:</ins>** Please exercise the proper safety for lipo battery, I have included some precautions at [Lipo Battery Safety Precautions](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#lipo-battery-safety-precautions).
114 | 
115 | ## Lisf of Hardwares:
116 | *	Raspberry Pi 5
117 | *	RPLIDAR C1
118 | *	ESP32-vroom-32 development board
119 | *	ESP32 expansion board (be award whether the pinout match the ESP32 dev board)
120 | *	Cytron MDD3A motor driver
121 | *	3S lipo battery
122 | *	Step down converter ([DFRobot DRF0205](https://www.dfrobot.com/product-752.html) for example)
123 | 
124 | I only listed down the main electronics that I used, for more information, refer to [Build a Mobile Robot with ROS: Bill of Materials](https://articulatedrobotics.xyz/tutorials/mobile-robot/project-overview/#bill-of-materials) by [Articulated Robotics](https://articulatedrobotics.xyz/)
125 | 
126 | see also: [Recommanded Components for Wiring and Robot Chasis (Optional)](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#recommanded-components-for-wiring-and-robot-chasis-optional).
127 | 
128 | <br>
129 | 
130 | ## Configuring the Raspberry Pi:
131 | Make sure you are using [Ubuntu 24.04](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) and have [ROS 2 Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html) installed in the Raspberry Pi.
132 | 
133 | **<ins>Install Ubuntu in Raspberry PI using rpi-imager**</ins>
134 | *	Make sure you have a Micro SD Card with at least 32GB, but a Micro SD with <ins>**64GB or more**</ins> is recommanded.
135 | 	*	The system has occupied about 24GB of my SD Card, including all everything needed to run the robot.
136 | *	If you never install Ubuntu 24.04 using rpi-imager before, see: [RPI5: Flash Ubuntu to SD Card](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#rpi5-flash-ubuntu-to-sd-card).
137 | 
138 | **<ins>Install ROS 2 in Raspberry PI</ins>**	
139 | *	For ROS 2 installation, you can select `ROS-Base Install` instead of `Desktop Install`.
140 | *	If you wish to run `RViz` in Raspberry Pi, consider `Desktop Install` or binary install via bash using `sudo apt install ros-jazzy-rviz2`.
141 | 
142 | <br>
143 | 
144 | ## Installing Packages for Raspberry Pi and Flashing Code to ESP32
145 | 
146 | <ins>**Creating a Workspace `robot_ws` in Your SBC (Raspberry Pi)**</ins>
147 | 1.	Open a terminal using `ctrl + alt + t`, create a workspace named `robot_ws` with a folder named `src`:
148 | 
149 | 		mkdir -p ~/robot_ws/src
150 | 	*	Replace `robot_ws` with the name you want to put as your workspace name.
151 | 
152 | 2.	 Follow to the insturction at [**Install ROS 2 Packages**](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#install-ros-2-package) to install all the necessary packages in Raspberry Pi.
153 | 		*	You need to install all the packages listed except `ros_gz`.
154 | 
155 | <ins>**Flashing Code to ESP32**</ins>
156 | 
157 | In addition, you need to Flash the driver code to your ESP32, see [Install and Flash Microcontroller Driver code](https://github.com/YJ0528/minibot/blob/main/Package_Installation_Instruction.md#install-and-flash-microcontroller-driver-code)
158 | 
159 | <br>	
160 | 
161 | ## Operating the Robot
162 | 
163 | 1.	Ensure the Raspberry Pi USB device port number matched the value declared:
164 | 
165 | 	*	`/dev/ttyUSB0` for the lidar serial; located at [`./src/minibot/launch/robot.launch.py/declare_lidar_serial_port`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/launch/robot.launch.py#L53).
166 | 	*	`/dev/ttyUSB1` for the ESP32; located at [`./src/minibot/description/ros2_control.xacro/RobotSystem/device`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/description/ros2_control.xacro#L11).
167 | 	*	To check or troubleshoot the USB connection in Raspberry Pi, see [RPI5: Add USB Access for Raspberry Pi](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#rpi5-add-usb-access-for-raspberry-pi).
168 | 
169 | 2.	Connects to the Raspberry Pi from your server machine using `openssh-server`. Open a terminal in the server machine, enter:
170 | 
171 | 		ssh <remote_username>@<remote_ip_address>
172 | 	 *	If you never install or use `openssh-server` before,see [SSH Access to Remote Machine- Connect Remote Machine via Terminal](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#connecting-to-the-remote-machine-in-terminal).  
173 | 
174 | 3.	In order to let the nodes to be discoverable between the server and the remote machine, We need to set `ROS_DOMAIN_ID` to the same for both of the machine:
175 | 
176 | 		# The ID is 0 by default, but can be any number between 0 between 101
177 | 		export ROS_DOMAIN_ID=1
178 | 	*	For the Raspberry Pi, we can add `export ROS_DOMAIN_ID = 1` to the `.bashrc` file instead using:
179 | 
180 | 			echo "export ROS_DOMAIN_ID=1" >> ~/.bashrc
181 | 	*	To check the `ROS_DOMAIN_ID` set, enter `echo ${ROS_DOMAIN_ID}` in terminal.
182 | 
183 | 4.	Once Everything is set, go to `your_workspace` and source the workspace:
184 | 
185 | 		cd ros_ws/
186 | 		. install/setup.bash
187 | 	*	When a new terminal is opened, ensure that terminal sourced the workspace also:
188 | 
189 | 5.	Run the robot:
190 | 
191 | 		ros2 launch minibot robot.launch.py
192 | 	*	This will launch `robot description`,`ros2_control`, `sllidar_c1_launch` etc.
193 | 
194 | 6.	Launch Robot Control with SLAM or Localization
195 | 
196 | 	The `robot_remote_station.launch.py` will launch all control features for the robot, inclduing `teleop`, `slam_toolbox`, `nav2 stack`.
197 | 	
198 | 	*	To run the control with `online_async_slam` from `slam_toolbox`, open a new terminal in your server machine, source the local workspace and enter:
199 | 	
200 | 			ros2 launch minibot robot_remote_station.launch.py use_slam_option:=online_async_slam
201 | 	*	For `mapper_params_localization` from `slam_toolbox`:
202 | 	
203 | 	 		ros2 launch minibot robot_remote_station.launch.py use_slam_option:=mapper_params_localization
204 | 	 	*	To change the map to load, open the params file at [`./src/minibot/config/mapper_params_localization.yaml`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/config/mapper_params_localization.yaml#L18), replace the value in `map_file_name` with the desired directory.
205 | 	*	For `AMCL` from `nav2`:
206 | 	
207 | 			ros2 launch minibot robot_remote_station.launch.py use_slam_option:=amcl map:=./src/minibot/maps/sample_map.yaml
208 | 	 	*	To change the map to load, replace the default value of [`map`](https://github.com/YJ0528/minibot/blob/aa18371856751b270af9280b53b87c7f5f3a6bcf/launch/robot_remote_station.launch.py#L27) with the desired directory.
209 | 7.	Alternatively, we can just run the teleoperation only using:
210 | 
211 | 		ros2 launch minibot joystick_teleop.launch.py
212 | 
213 | <br>
214 | 
215 | ## Demo:
216 | Some visual demostration:
217 | <div align="center">
218 | 	<h3> SLAM with Joystick Teleoperation (5x speed with defualt parameter) </h3>
219 | 	<img src="https://github.com/YJ0528/minibot/blob/main/visual_demos/SLAM_demostration-ezgif.com-video-to-gif-converter.gif" height="400">
220 | 	<br><br>	
221 |  	<h3> Nav2 Navigation using SLAM Toolbox Localization (5x speed)</h3>
222 | 	<img src="https://github.com/YJ0528/minibot/blob/main/visual_demos/Nav2_demostration-ezgif.com-video-to-gif-converter.gif" height="400">	
223 | </div>
224 | 
225 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;`global_costmap/global_costmap/ros__parameters/inflation_layer/cost_scaling_factor`= 1.0
226 | 
227 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;`global_costmap/global_costmap/ros__parameters/inflation_layer/inflation_radius`= 0.05
228 | 
229 | 
230 | ## TO DO (maybe):
231 | *    Implement the hardware interface within this package instead.
232 | *    Explore the `slam_toolbox` and `nav2`, or any equivalent.
233 | *    Implement 3D slam at least in simulation using depth camera, if possible.
234 | 
235 | 


--------------------------------------------------------------------------------
/Tips_and_Troubleshooting.md:
--------------------------------------------------------------------------------
  1 | This file consists of some concept to handle ROS 2 batter and some implementation suggestion for reference and troubleshooting.
  2 | ### List of Content:
  3 | *	[Explanation on ROS 2 Packages](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#explanation-on-ros-2-packages)
  4 | *	[How a ROS 2 Topic Is Received By a Node](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-a-ros-2-topic-is-received-by-a-node)
  5 | *	[How to Check ROS 2 Node Parameter Name using Command Line](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-to-check-ros-2-node-parameter-name-using-command-line)
  6 | *	[How to Increase Virtual Memory](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#how-to-increase-virtual-memory)
  7 | *	[Lipo Battery Safety Precautions](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#lipo-battery-safety-precautions)
  8 | *	[Recommanded Components for Wiring and Robot Chasis (Optional)](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#recommanded-components-for-wiring-and-robot-chasis-optional)
  9 | *	[ros_gz_bridge](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#ros_gz_bridge)
 10 | *	[RPI5: Add USB Access for Raspberry Pi](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#rpi5-add-usb-access-for-raspberry-pi)
 11 | *	[RPI5: Flash Ubuntu to SD Card](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#rpi5-flash-ubuntu-to-sd-card)
 12 | *	[SSH Access to Remote Machine](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#ssh-access-to-remote-machine)
 13 | *	[Terminator](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#terminator)
 14 | <br>
 15 | 
 16 | ## Explanation on ROS 2 Packages
 17 | ROS 2 installed its packages mainly in 2 types of location, which recognize as workspace:
 18 | 
 19 | *	A <ins>**core workspace**</ins> located at `/opt/ros/<YOUR_ROS_DISTRO>`
 20 | 
 21 | *	<ins>**Local workspaces**</ins>, which can be create freely using:
 22 | 	
 23 | 		mkdir -p ~/<workspace_name>/src
 24 | The differences between <ins>core workspace</ins> and <ins>local workspaces</ins> are listed below:
 25 | 
 26 | | Feature | Core Workspace | Local workspaces | 
 27 | |-----|----|----|
 28 | | Role  			| contain all the essential libraries and packages.  					| space we use to develop our robot system; provide felxibility to experiment any packages we want.		| 
 29 | | Workspace layer		| <ins>Underlay workspace</ins>, all local workspace can access here when needed. 	| <ins>Overlay workspace</ins>, Content in local workspaces will not share between each other.			| 
 30 | | Package included 		| only official-released ROS 2 packages 						| mainly packages under development or third-party packages 							| 
 31 | | Workspace number(s)		| normally only one for each distro 							| can be multiple												| 
 32 | | Folder location(s)  		| located at `/opt/ros/<YOUR_ROS_DISTRO>` 						| can be create freely using mkdir `-p ~/<workspace_name>/src`							| 
 33 | | Installation method 		| <ins>Binary Installation</ins> using `sudo apt install ros-jazzy-<package_name>` 	| <ins>Build from source</ins> using `colcon build...` at the root of local workspace, see [here](https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#tasks). 				| 
 34 | | Installation difficulty 	| simple, the system itself will choose the suitable version 				| can be more difficult, version incompatible could happen; some understanding towrads the package is required 	| 
 35 | | Package reliability  		| Reliability is guaranteed, tested before release 					| reliability might varies, some packages might not available for newer version.				| 
 36 | | Package priority 		| lower											| higher 													| 
 37 | | Documentation  		| Usually comes with official documentation 						| Mainly included in README.md 											| 
 38 | | Sourcing the workspace	| `source /opt/ros/jazzy/setup.bash `; add to shell startup scrip using: `echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc`	| In local's root workspace, `source install/setup.bash` 	| 
 39 | <br>
 40 | 
 41 | ## How a ROS 2 Topic Is Received By a Node 
 42 | In ROS 2, for a topic to be received by a subscriber node, the following have to match each other:
 43 | *	**Topic name**
 44 | *	**Topic message type**, defines the message format and content
 45 | A topic can have multiple message type, but the value will not share between the message types.
 46 | 
 47 | ### Manually Identify the Message Type in ROS 2 Core Package.
 48 | We can imagine topic message type as the <ins>**directory towards the hearder file**</ins> that included all the necessary implementation information (counting from `/opt/ros/jazzy/include` onwards).
 49 | 
 50 | To check the message type, we can:
 51 | 1.	Locate to `/opt/ros/jazzy/include`
 52 | 2.	**Most (not all)** message type will suffixed with `_msgs` at the first directory, or `msg` in the subsequent path.
 53 | 3.	For example,topic cmd_vel has a message type `geometry_msgs/msg/TwistStamped`, hence its header file is located at `/opt/ros/jazzy/include/geometry_msgs/msg`
 54 | 
 55 | ### Checking the Topic and Topic Message Type using Command Line
 56 | In the terminal:
 57 | 
 58 | To list all available ROS 2 topics:
 59 | 
 60 | 	ros2 topic list
 61 | To check if ROS 2 topic is publishing message:
 62 | 
 63 | 	ros2 topic echo /topic_name
 64 | To check ROS 2 topic message type:
 65 | 
 66 | 	ros2 topic type /topic_name
 67 | To list all available gazebo topics:
 68 | 
 69 | 	gz topic -l
 70 | To check if gazebo topic is publishing message:
 71 | 
 72 | 	gz topic -t /topic_name -i
 73 | To check gazebo topic message type:
 74 | 
 75 | 	gz topic -e /topic_name
 76 | <br>
 77 | 
 78 | ## How to Check ROS 2 Node Parameter Name using Command Line
 79 | 
 80 | 1.	launch the node (e.g. twist_mux node) using configuration in .yaml file:
 81 | 	
 82 | 		##Example:
 83 | 		ros2 run twist_mux twist_mux --params-file src/minibot/config/joystick_params.yaml
 84 | 2.	In another terminal, list out all availabe nodes to check the name:
 85 | 
 86 |    		ros2 node list
 87 | 	which return:
 88 | 
 89 | 		/twist_mux
 90 | 3.	Check the paramter of the node /twist_mux using:
 91 | 
 92 | 		ros2 param dump /twist_mux
 93 | 	which return (for example):
 94 | 
 95 | 		twist_mux:
 96 | 		  ros__parameters:
 97 | 		    diagnostic_updater:
 98 | 		      period: 1.0
 99 | 		      use_fqn: false
100 | 		    output_stamped: true
101 | 		    qos_overrides:
102 | 		      /parameter_events:
103 | 		        publisher:
104 | 		          depth: 1000
105 | 		          durability: volatile
106 | 		          history: keep_last
107 | 		          reliability: reliable
108 | 		    start_type_description_service: true
109 | 		    use_sim_time: false
110 | 	*	In this case, the parameter name to publish stamped cmd_vel is `/output_stamped`
111 | <br>
112 | 
113 | ## How to Increase Virtual Memory
114 | Some packages such as Gazebo or Moveit2 required decent amount of memory when building the packages from source, having an insufficient RAM(e.g. 8GB) may risk the machine to stop responding and subsequently fail the build. 
115 | 
116 | Such risk can be reduced by increasing the virtual memory. In Ubuntu, virtual memory is stored in term of swap space. 
117 | 
118 | Following method to increase the swap space is extracted from [askUbuntu: How to increase swap space?](https://askubuntu.com/questions/178712/how-to-increase-swap-space).
119 | 
120 | 1.	Firstly, open the terminal and input the following: 
121 | 
122 | 		dd if=/dev/zero of=/media/fasthdd/swapfile.img bs=1024 count=1M
123 | 	*	This will create a swap file containing 1GiB virtual memory named `swapfile.img`
124 | 	*	To change the swap size to 4GiB, replace `count=1M` to `count=4M`
125 | 2.	Bake the swap file using:
126 | 
127 | 		mkswap /media/fasthdd/swapfile.img
128 | 3.	To activate the swap space during boot, add the following to `dev/fstab`:
129 | 
130 | 		/media/fasthdd/swapfile.img swap swap sw 0 0
131 | 4.	Reboot or enter the following command in terminal to activate the swap space:
132 | 
133 |  		swapon /media/fasthdd/swapfile.img
134 | 5.	To check if the swap space is available:
135 | 
136 | 		cat /proc/swaps
137 | 	*	If the swap space is avaialble, you should see the name of the swapfile and the size in `byte`.
138 | 
139 | <br>
140 | 
141 | ## Lipo Battery Safety Precautions
142 | Lipo battery is highly volatile especially due to its high discharge rate. It can causes a fire if being handled properly.
143 | 
144 | *** **IMPORTANT** *** **Please do not hesitate to spend money on the accessories.** 
145 | *	Do not leave the charging battery unsupervised.
146 | *	Get a battery charger with **balance charge** and **storage charge**.
147 | *	Balance charge if possible.
148 | *	Consider getting a [bat-safe charging box](https://hobbyking.com/en_us/bat-safe-lipo-battery-charging-safe-box.html?utm_source=youtube&utm_medium=social&utm_campaign=woolysheep_032021&___store=en_us) or a lipo bag at least.
149 | *	Ensure no combustable material nearby.
150 | *	Storage charge the battery asap once received, especially when not planning to use it immediately.
151 | *	Discharge (or use) a charged battery within 3 days, possibly use it the next day.
152 | *	Keep track of each of the battery voltage using battery checker.
153 | 
154 | ### Imbalanced Voltage Value Across Batteries
155 | Given a 3S battery for example, the battery consists of 3 serially-connected lipo batteries, with a voltage reading between 3.20V to 4.20V for each of them. Normally each of the batteries will have a voltage value that is close to each other.
156 | 
157 | An imbalance voltage value across each of the batteries could indicate an its unhealthy state, and should be aware of since the battery voltage could drop below the low limit (3.20V) although the total voltage value is still above the limit (3.20 x3 = 9.60V, but also 3.00 + 3.30 x 2 = 9.60V), resulting a one-sided puffing battry for example. 
158 | 
159 | If the voltage imbalance is observed, check the battery voltage more frequently using a bettery checker when discharging the battery. 
160 | 
161 | <br>
162 | 
163 | ## Recommanded Components for Wiring and Robot Chasis (Optional)
164 | Item listed below are some recommandation for building the wire connection and the robot chasis: 
165 | *	Wire ferrule/ double wire ferrule
166 | *	XT60 connector or T-plug to connect the lipo battery
167 | *	Terminal strips
168 | *	Terminal block
169 | *	USB to terminal block connector
170 | *	3.6v/4.8V screwdriver
171 | *	12V screwdriver for drilling
172 | *	hot air gun
173 | *	multimeter
174 | *	wire crimper
175 | *	heat shrink tube
176 | *	molex connecter and pin
177 | *	screw set
178 | 
179 | <br>
180 | 
181 | ## ros_gz_bridge
182 | Starting from ROS 2 Jazzy, plugins are no longer supported in connecting gazebo and ROS 2 topics. Instead ros_gz_bridge is used for this purpose, see: [Use ROS 2 to interact with Gazebo](https://gazebosim.org/docs/harmonic/ros2_integration/#use-ros-2-to-interact-with-gazebo).
183 | 
184 | An example implementation in launch file are as follow:
185 | 
186 | 	node_gz_bridge = Node(
187 | 	        package='ros_gz_bridge',
188 | 	        executable='parameter_bridge',
189 | 	        arguments=[	
190 | 	            # Gazebo_Control
191 | 	            '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
192 | 	        ],
193 | 	        output='screen'
194 | 	    )
195 | *	This will send the topic message named cmd_vel from ROS 2 to gazebo.
196 | *	Replace `]` with `@` to established a connection in both direction, and `[` to send topic message from Gazebo to ROS.
197 | 
198 | ### ROS-Gazebo message type conversion
199 | **In most case (not all)**, gazebo message type will be `gz.msg.<the last element of ROS 2 message type>`.
200 | 
201 | Given the topic `cmd_vel` type name in ROS 2 is `/cmd_vel@geometry_msgs/msg/Twist`, its message type in gazebo will be `gz.msgs.Twist`
202 | 
203 | To retrive the values directly from command line, see: [Checking the Topic and Topic Message Type using Command Line](https://github.com/YJ0528/minibot/blob/main/Tips_and_Troubleshooting.md#checking-the-topic-and-topic-message-type-using-command-line) 
204 | 
205 | <br>
206 | 
207 | ## RPI5: Add USB Access for Raspberry Pi
208 | First, we check if the serial port is found in /dev using:
209 | 
210 |     ls -l /dev/ttyUSB*
211 |   *  If serial port is conencted it should return `/dev/ttyUSB0`, `/dev/ttyUSB1`...
212 | 
213 | If the issue presist, it could indicate that raspberry pi is preventing the user from accessing the device. 
214 | 
215 | To resolve this:
216 | 
217 | **A.  Add user to diaout group:**
218 |         
219 |     sudo usermod -a -G dialout $USER
220 |   *  Logout and login again for the change to take effect.
221 |      
222 | **B.  Create a udev rule:**
223 | 
224 | *** **IMPORTANT** *** **I got this fix from Claude and logically I did not actually understand how it works, so it might not work as expected, please implement with caution.**
225 | 
226 | 1.  Create a udev rule:
227 | 
228 |         sudo nano /etc/udev/rules.d/99-sllidar.rules
229 | 2.  Add the following line to the file:
230 | 
231 |         # SLLIDAR rule
232 |         SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="4466c1d8fee5ed118b4bd0a80b2af5ab", SYMLINK+="ttyLIDAR", MODE="0666"
233 |         
234 |         # ESP32 rule
235 |         SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="0001", SYMLINK+="ttyESP32", MODE="0666"
236 |         
237 |         # Rule to ignore both devices in ModemManager
238 |         SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1"
239 |       *  exit `ctrl + x` and save (press `y` followed by `enter` ) the file using command: 
240 | 4.  Reload the udev rules:
241 | 
242 |         sudo udevadm control --reload-rules && sudo udevadm trigger
243 | <br>
244 | 
245 | ## RPI5: Flash Ubuntu to SD Card
246 | 
247 | ### Note:
248 | As of the lastest update according to the 
249 | [Ubuntu MATE 24.04 LTS Release Notes](https://ubuntu-mate.org/blog/ubuntu-mate-noble-numbat-release-notes/), and 
250 | [Ubuntu MATE 24.10 Release Notes](https://ubuntu-mate.org/blog/ubuntu-mate-oracular-oriole-release-notes/),
251 | the Ubuntu mate is not available for Raspberry Pi yet. Hence, this section will install `Ubuntu desktop 24.04` instead.
252 | 
253 | ### Instruction
254 | 1.	Install rpi-imager from Ubuntu App Center.
255 | 	*	Alternatively, install rpi-imager from bash:
256 | 
257 | 			sudo apt update && sudo apt install rpi-imager
258 | 
259 | 2.	Insert your SD card to the computer, open the imager, choose the Raspberry Pi device that your are using.
260 | 3.	Select the desired OS.
261 | 	*	For Ubuntu OS, it should located at `Other general-purpose OS/Ubuntu`, select the desktop version.
262 | 4. 	Select your SD card as the storage and flash the OS.
263 | 5. 	Once done, insert the flashed SD card into the Raspberry Pi and the it is ready to run.
264 | 
265 | <br>
266 | 
267 | ## SSH Access to Remote Machine
268 | ### Connect Remote Machine via Terminal
269 | OpenSSH server allows our computer to remotely control networked machine (server) such as Raspberry Pi as a client.
270 | 
271 | <ins>**To Connect to remote using OpenSSH server:**</ins>
272 | 1.	Install OpenSSH server:
273 | 
274 | 		sudo apt install openssh-server
275 | 2.	Connect the Raspberry Pi (aka the server machine) to a monitor, open a terminal and enter:
276 | 
277 | 		whoami
278 | 		ip addr
279 | 	*	`whoami`: will return your remote machine's `username` 
280 | 	*	`ip addr`: will return a long chain of information, including something like `inet 192.168.1.100/24`, in which the ip address will be `192.168.1.100`
281 | 
282 | 3.	In our client machine, or a computer, open a terminal and enter:
283 | 
284 | 		ssh <remote_username>@<remote_ip_address>
285 |  ### VScode Remote - SSH extension
286 |  The extension allows the dev machine access the remote machine's files and folder in VScode. To set up the connection, see: [ Connect to a Remote Server with SSH in VS Code -- Step-by-Step Tutorial ](https://www.youtube.com/watch?v=qZwGyfN8X5A).
287 | <br>	
288 | 
289 | ## Terminator
290 | Terminator allows multiple terminal to be open in the same window, see: [Terminator](https://innovativeinnovation.github.io/ubuntu-setup/terminals/terminator.html)
291 | 
292 | <div align="center">
293 | 	<img src="https://innovativeinnovation.github.io/ubuntu-setup/images/terminator.png" height="400">
294 | 	<br>
295 | 	source: <a href="https://innovativeinnovation.github.io/ubuntu-setup/terminals/terminator.html">Terminator </a>
296 | 	<br><br>		
297 | </div>
298 | 
299 | To install Terminator in Ubuntu:
300 | <br>
301 | <br>
302 | 
303 |  	sudo apt install terminator
304 | Shortcut keys:
305 | *	`ctrl + o`: Open an new terminal below the current terminal. 
306 | *	`ctrl + e`: Open an new terminal at the right of the current terminal. 
307 | *	`ctrl + shift + t`: Open an new tab.
308 | *	`ctrl + w`: Close the current terminal.
309 | *	`ctrl + shift + arrow_key`: Move current terminal border.
310 | 
311 | 


--------------------------------------------------------------------------------
/config/controller.yaml:
--------------------------------------------------------------------------------
 1 | controller_manager:
 2 |   ros__parameters:
 3 |     update_rate: 30  # Hz
 4 |     # use_sim_time: true
 5 |     
 6 |     joint_state_broadcaster:
 7 |       type: joint_state_broadcaster/JointStateBroadcaster
 8 | 
 9 | diff_drive_controller:
10 |   ros__parameters:
11 |     type: diff_drive_controller/DiffDriveController
12 |     left_wheel_names: ["left_wheel_joint"]
13 |     right_wheel_names: ["right_wheel_joint"]
14 | 
15 |     wheel_separation: 0.266
16 |     # wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
17 |     wheel_radius: 0.034
18 | 
19 |     wheel_separation_multiplier: 1.0
20 |     left_wheel_radius_multiplier: 1.0
21 |     right_wheel_radius_multiplier: 1.0
22 | 
23 |     publish_rate: 30.0
24 |     odom_frame_id: odom
25 |     base_frame_id: base_link
26 |     pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
27 |     twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
28 | 
29 |     open_loop: true
30 |     enable_odom_tf: true
31 | 
32 |     cmd_vel_timeout: 0.5
33 |     # publish_limited_velocity: true
34 |     use_stamped_vel: false
35 |     # velocity_rolling_window_size: 10
36 | 
37 |     # Velocity and acceleration limits
38 |     # Whenever a min_* is unspecified, default to -max_*
39 |     linear.x.has_velocity_limits: true
40 |     linear.x.has_acceleration_limits: true
41 |     linear.x.has_jerk_limits: false
42 |     linear.x.max_velocity: 1.0
43 |     linear.x.min_velocity: -1.0
44 |     linear.x.max_acceleration: 1.0
45 |     linear.x.max_jerk: 0.0
46 |     linear.x.min_jerk: 0.0
47 | 
48 |     angular.z.has_velocity_limits: true
49 |     angular.z.has_acceleration_limits: true
50 |     angular.z.has_jerk_limits: false
51 |     angular.z.max_velocity: 1.0
52 |     angular.z.min_velocity: -1.0
53 |     angular.z.max_acceleration: 1.0
54 |     angular.z.min_acceleration: -1.0
55 |     angular.z.max_jerk: 0.0
56 |     angular.z.min_jerk: 0.0


--------------------------------------------------------------------------------
/config/controller_gz_sim.yaml:
--------------------------------------------------------------------------------
 1 | controller_manager:
 2 |   ros__parameters:
 3 |     update_rate: 30  # Hz
 4 |     use_sim_time: true
 5 |     
 6 |     joint_state_broadcaster:
 7 |       type: joint_state_broadcaster/JointStateBroadcaster
 8 | 
 9 | diff_drive_controller:
10 |   ros__parameters:
11 |     type: diff_drive_controller/DiffDriveController
12 |     left_wheel_names: ["left_wheel_joint"]
13 |     right_wheel_names: ["right_wheel_joint"]
14 | 
15 |     wheel_separation: 0.266
16 |     # wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
17 |     wheel_radius: 0.034
18 | 
19 |     wheel_separation_multiplier: 1.0
20 |     left_wheel_radius_multiplier: 1.0
21 |     right_wheel_radius_multiplier: 1.0
22 | 
23 |     publish_rate: 30.0
24 |     odom_frame_id: odom
25 |     base_frame_id: base_link
26 |     pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
27 |     twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
28 | 
29 |     open_loop: true
30 |     enable_odom_tf: true
31 | 
32 |     cmd_vel_timeout: 0.5
33 |     # publish_limited_velocity: true
34 |     use_stamped_vel: false
35 |     # velocity_rolling_window_size: 10
36 | 
37 |     # Velocity and acceleration limits
38 |     # Whenever a min_* is unspecified, default to -max_*
39 |     linear.x.has_velocity_limits: true
40 |     linear.x.has_acceleration_limits: true
41 |     linear.x.has_jerk_limits: false
42 |     linear.x.max_velocity: 1.0
43 |     linear.x.min_velocity: -1.0
44 |     linear.x.max_acceleration: 1.0
45 |     linear.x.max_jerk: 0.0
46 |     linear.x.min_jerk: 0.0
47 | 
48 |     angular.z.has_velocity_limits: true
49 |     angular.z.has_acceleration_limits: true
50 |     angular.z.has_jerk_limits: false
51 |     angular.z.max_velocity: 1.0
52 |     angular.z.min_velocity: -1.0
53 |     angular.z.max_acceleration: 1.0
54 |     angular.z.min_acceleration: -1.0
55 |     angular.z.max_jerk: 0.0
56 |     angular.z.min_jerk: 0.0


--------------------------------------------------------------------------------
/config/empty.yaml:
--------------------------------------------------------------------------------
1 | # This is an empty file, so that git commits the folder correctly


--------------------------------------------------------------------------------
/config/gz_params.yaml:
--------------------------------------------------------------------------------
1 | gazebo:
2 |   ros__parameters:
3 |     publish_rate: 500.0


--------------------------------------------------------------------------------
/config/joystick_params.yaml:
--------------------------------------------------------------------------------
 1 | joy_node:
 2 |   ros__parameters:
 3 |     device_id: 0
 4 |     deadzone: 0.05
 5 |     autorepeat_rate: 20.0
 6 | 
 7 | teleop_node:
 8 |   ros__parameters:
 9 |     axis_linear:
10 |       x: 1
11 |     scale_linear:
12 |       x: -0.5
13 |     scale_linear_turbo:
14 |       x: -1.0
15 | 
16 |     axis_angular:
17 |       yaw: 0
18 |     scale_angular:
19 |       yaw: 0.5
20 |     scale_angular_turbo:
21 |       yaw: 1.0
22 |   
23 |     enable_button: 0
24 |     enable_turbo_button: 1
25 |     require_enable_button: true
26 | 
27 |     use_sim_time: true
28 |     inverted_reverse: true
29 |     
30 |     publish_stamped_twist: true
31 |     frame: teleop_twist_joy
32 |     


--------------------------------------------------------------------------------
/config/mapper_params_localization.yaml:
--------------------------------------------------------------------------------
 1 | slam_toolbox:
 2 |   ros__parameters:
 3 |     solver_plugin: solver_plugins::CeresSolver
 4 |     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
 5 |     ceres_preconditioner: SCHUR_JACOBI
 6 |     ceres_trust_strategy: LEVENBERG_MARQUARDT
 7 |     ceres_dogleg_type: TRADITIONAL_DOGLEG
 8 |     ceres_loss_function: None
 9 | 
10 |     # ROS Parameters
11 |     odom_frame: odom
12 |     map_frame: map
13 |     base_frame: base_footprint
14 |     scan_topic: /scan
15 |     mode: localization
16 | 
17 |     # if you'd like to start localizing on bringup in a map and pose
18 |     map_file_name: ./src/minibot/maps/sample_map_serial
19 |     #map_start_pose: [5.0, 1.0, 0.0]
20 | 
21 |     debug_logging: false
22 |     throttle_scans: 1
23 |     transform_publish_period: 0.02 #if 0 never publishes odometry
24 |     map_update_interval: 5.0
25 |     resolution: 0.05
26 |     max_laser_range: 20.0 #for rastering images
27 |     minimum_time_interval: 0.5
28 |     transform_timeout: 0.2
29 |     tf_buffer_duration: 30.
30 |     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
31 | 
32 |     # General Parameters
33 |     use_scan_matching: true
34 |     use_scan_barycenter: true
35 |     minimum_travel_distance: 0.5
36 |     minimum_travel_heading: 0.5
37 |     scan_buffer_size: 3
38 |     scan_buffer_maximum_scan_distance: 10.0
39 |     link_match_minimum_response_fine: 0.1  
40 |     link_scan_maximum_distance: 1.5
41 |     do_loop_closing: true 
42 |     loop_match_minimum_chain_size: 3
43 |     loop_match_maximum_variance_coarse: 3.0  
44 |     loop_match_minimum_response_coarse: 0.35    
45 |     loop_match_minimum_response_fine: 0.45
46 | 
47 |     # Correlation Parameters - Correlation Parameters
48 |     correlation_search_space_dimension: 0.5
49 |     correlation_search_space_resolution: 0.01
50 |     correlation_search_space_smear_deviation: 0.1 
51 | 
52 |     # Correlation Parameters - Loop Closure Parameters
53 |     loop_search_space_dimension: 8.0
54 |     loop_search_space_resolution: 0.05
55 |     loop_search_space_smear_deviation: 0.03
56 |     loop_search_maximum_distance: 3.0
57 | 
58 |     # Scan Matcher Parameters
59 |     distance_variance_penalty: 0.5      
60 |     angle_variance_penalty: 1.0    
61 | 
62 |     fine_search_angle_offset: 0.00349     
63 |     coarse_search_angle_offset: 0.349   
64 |     coarse_angle_resolution: 0.0349        
65 |     minimum_angle_penalty: 0.9
66 |     minimum_distance_penalty: 0.5
67 |     use_response_expansion: true
68 | 


--------------------------------------------------------------------------------
/config/mapper_params_online_async.yaml:
--------------------------------------------------------------------------------
 1 | slam_toolbox:
 2 |   ros__parameters:
 3 | 
 4 |     # Plugin params
 5 |     solver_plugin: solver_plugins::CeresSolver
 6 |     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
 7 |     ceres_preconditioner: SCHUR_JACOBI
 8 |     ceres_trust_strategy: LEVENBERG_MARQUARDT
 9 |     ceres_dogleg_type: TRADITIONAL_DOGLEG
10 |     ceres_loss_function: None
11 | 
12 |     # ROS Parameters
13 |     odom_frame: odom
14 |     map_frame: map
15 |     base_frame: base_footprint
16 |     scan_topic: /scan
17 |     use_map_saver: true
18 |     mode: mapping
19 | 
20 |     # if you'd like to immediately start continuing a map at a given pose
21 |     # or at the dock, but they are mutually exclusive, if pose is given
22 |     # will use pose
23 |     # map_file_name: 
24 |     # map_start_pose: [0.0, 0.0, 0.0]
25 |     map_start_at_dock: true
26 | 
27 |     debug_logging: false
28 |     throttle_scans: 1
29 |     transform_publish_period: 0.02 #if 0 never publishes odometry
30 |     map_update_interval: 1.0
31 |     resolution: 0.05
32 |     max_laser_range: 10.0 #for rastering images
33 |     minimum_time_interval: 0.5
34 |     transform_timeout: 0.2
35 |     tf_buffer_duration: 30.0
36 |     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
37 |     enable_interactive_mode: true
38 | 
39 |     # General Parameters
40 |     use_scan_matching: true
41 |     use_scan_barycenter: true
42 |     minimum_travel_distance: 0.5
43 |     minimum_travel_heading: 0.5
44 |     scan_buffer_size: 10
45 |     scan_buffer_maximum_scan_distance: 10.0
46 |     link_match_minimum_response_fine: 0.1  
47 |     link_scan_maximum_distance: 1.5
48 |     loop_search_maximum_distance: 3.0
49 |     do_loop_closing: true 
50 |     loop_match_minimum_chain_size: 10           
51 |     loop_match_maximum_variance_coarse: 3.0  
52 |     loop_match_minimum_response_coarse: 0.35    
53 |     loop_match_minimum_response_fine: 0.45
54 | 
55 |     # Correlation Parameters - Correlation Parameters
56 |     correlation_search_space_dimension: 0.5
57 |     correlation_search_space_resolution: 0.01
58 |     correlation_search_space_smear_deviation: 0.1 
59 | 
60 |     # Correlation Parameters - Loop Closure Parameters
61 |     loop_search_space_dimension: 8.0
62 |     loop_search_space_resolution: 0.05
63 |     loop_search_space_smear_deviation: 0.03
64 | 
65 |     # Scan Matcher Parameters
66 |     distance_variance_penalty: 0.5      
67 |     angle_variance_penalty: 1.0    
68 | 
69 |     fine_search_angle_offset: 0.00349     
70 |     coarse_search_angle_offset: 0.349   
71 |     coarse_angle_resolution: 0.0349        
72 |     minimum_angle_penalty: 0.9
73 |     minimum_distance_penalty: 0.5
74 |     use_response_expansion: true
75 | 


--------------------------------------------------------------------------------
/config/minibot_config.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |       Splitter Ratio: 0.5029411911964417
 10 |     Tree Height: 707
 11 |   - Class: rviz_common/Selection
 12 |     Name: Selection
 13 |   - Class: rviz_common/Tool Properties
 14 |     Expanded:
 15 |       - /2D Goal Pose1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.5886790156364441
 19 |   - Class: rviz_common/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz_common/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: LaserScan
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz_default_plugins/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.029999999329447746
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Class: rviz_default_plugins/TF
 51 |       Enabled: true
 52 |       Filter (blacklist): ""
 53 |       Filter (whitelist): ""
 54 |       Frame Timeout: 15
 55 |       Frames:
 56 |         All Enabled: true
 57 |         base_footprint:
 58 |           Value: true
 59 |         base_link:
 60 |           Value: true
 61 |         camera_link:
 62 |           Value: true
 63 |         camera_link_optical:
 64 |           Value: true
 65 |         caster_wheel:
 66 |           Value: true
 67 |         chasis:
 68 |           Value: true
 69 |         left_wheel:
 70 |           Value: true
 71 |         lidar_frame:
 72 |           Value: true
 73 |         map:
 74 |           Value: true
 75 |         odom:
 76 |           Value: true
 77 |         right_wheel:
 78 |           Value: true
 79 |       Marker Scale: 1
 80 |       Name: TF
 81 |       Show Arrows: true
 82 |       Show Axes: true
 83 |       Show Names: false
 84 |       Tree:
 85 |         map:
 86 |           odom:
 87 |             base_link:
 88 |               base_footprint:
 89 |                 {}
 90 |               chasis:
 91 |                 camera_link:
 92 |                   camera_link_optical:
 93 |                     {}
 94 |                 caster_wheel:
 95 |                   {}
 96 |                 lidar_frame:
 97 |                   {}
 98 |               left_wheel:
 99 |                 {}
100 |               right_wheel:
101 |                 {}
102 |       Update Interval: 0
103 |       Value: true
104 |     - Alpha: 1
105 |       Class: rviz_default_plugins/RobotModel
106 |       Collision Enabled: false
107 |       Description File: ""
108 |       Description Source: Topic
109 |       Description Topic:
110 |         Depth: 5
111 |         Durability Policy: Volatile
112 |         History Policy: Keep Last
113 |         Reliability Policy: Reliable
114 |         Value: /robot_description
115 |       Enabled: true
116 |       Links:
117 |         All Links Enabled: true
118 |         Expand Joint Details: false
119 |         Expand Link Details: false
120 |         Expand Tree: false
121 |         Link Tree Style: Links in Alphabetic Order
122 |         base_footprint:
123 |           Alpha: 1
124 |           Show Axes: false
125 |           Show Trail: false
126 |         base_link:
127 |           Alpha: 1
128 |           Show Axes: false
129 |           Show Trail: false
130 |         camera_link:
131 |           Alpha: 1
132 |           Show Axes: false
133 |           Show Trail: false
134 |           Value: true
135 |         camera_link_optical:
136 |           Alpha: 1
137 |           Show Axes: false
138 |           Show Trail: false
139 |         caster_wheel:
140 |           Alpha: 1
141 |           Show Axes: false
142 |           Show Trail: false
143 |           Value: true
144 |         chasis:
145 |           Alpha: 1
146 |           Show Axes: false
147 |           Show Trail: false
148 |           Value: true
149 |         left_wheel:
150 |           Alpha: 1
151 |           Show Axes: false
152 |           Show Trail: false
153 |           Value: true
154 |         lidar_frame:
155 |           Alpha: 1
156 |           Show Axes: false
157 |           Show Trail: false
158 |           Value: true
159 |         right_wheel:
160 |           Alpha: 1
161 |           Show Axes: false
162 |           Show Trail: false
163 |           Value: true
164 |       Mass Properties:
165 |         Inertia: false
166 |         Mass: false
167 |       Name: RobotModel
168 |       TF Prefix: ""
169 |       Update Interval: 0
170 |       Value: true
171 |       Visual Enabled: true
172 |     - Alpha: 1
173 |       Autocompute Intensity Bounds: true
174 |       Autocompute Value Bounds:
175 |         Max Value: 10
176 |         Min Value: -10
177 |         Value: true
178 |       Axis: Z
179 |       Channel Name: intensity
180 |       Class: rviz_default_plugins/LaserScan
181 |       Color: 255; 255; 255
182 |       Color Transformer: Intensity
183 |       Decay Time: 0
184 |       Enabled: true
185 |       Invert Rainbow: false
186 |       Max Color: 255; 255; 255
187 |       Max Intensity: 56
188 |       Min Color: 0; 0; 0
189 |       Min Intensity: 5
190 |       Name: LaserScan
191 |       Position Transformer: XYZ
192 |       Selectable: true
193 |       Size (Pixels): 3
194 |       Size (m): 0.03999999910593033
195 |       Style: Flat Squares
196 |       Topic:
197 |         Depth: 5
198 |         Durability Policy: Volatile
199 |         Filter size: 10
200 |         History Policy: Keep Last
201 |         Reliability Policy: Reliable
202 |         Value: /scan
203 |       Use Fixed Frame: true
204 |       Use rainbow: true
205 |       Value: true
206 |     - Alpha: 0.699999988079071
207 |       Binary representation: false
208 |       Binary threshold: 100
209 |       Class: rviz_default_plugins/Map
210 |       Color Scheme: map
211 |       Draw Behind: false
212 |       Enabled: false
213 |       Name: Map
214 |       Topic:
215 |         Depth: 5
216 |         Durability Policy: Volatile
217 |         Filter size: 10
218 |         History Policy: Keep Last
219 |         Reliability Policy: Reliable
220 |         Value: /map
221 |       Update Topic:
222 |         Depth: 5
223 |         Durability Policy: Volatile
224 |         History Policy: Keep Last
225 |         Reliability Policy: Reliable
226 |         Value: /map_updates
227 |       Use Timestamp: false
228 |       Value: false
229 |     - Alpha: 0.699999988079071
230 |       Binary representation: false
231 |       Binary threshold: 100
232 |       Class: rviz_default_plugins/Map
233 |       Color Scheme: costmap
234 |       Draw Behind: false
235 |       Enabled: true
236 |       Name: Map
237 |       Topic:
238 |         Depth: 5
239 |         Durability Policy: Volatile
240 |         Filter size: 10
241 |         History Policy: Keep Last
242 |         Reliability Policy: Reliable
243 |         Value: /global_costmap/costmap
244 |       Update Topic:
245 |         Depth: 5
246 |         Durability Policy: Volatile
247 |         History Policy: Keep Last
248 |         Reliability Policy: Reliable
249 |         Value: /global_costmap/costmap_updates
250 |       Use Timestamp: false
251 |       Value: true
252 |   Enabled: true
253 |   Global Options:
254 |     Background Color: 48; 48; 48
255 |     Fixed Frame: map
256 |     Frame Rate: 30
257 |   Name: root
258 |   Tools:
259 |     - Class: rviz_default_plugins/Interact
260 |       Hide Inactive Objects: true
261 |     - Class: rviz_default_plugins/MoveCamera
262 |     - Class: rviz_default_plugins/Select
263 |     - Class: rviz_default_plugins/FocusCamera
264 |     - Class: rviz_default_plugins/Measure
265 |       Line color: 128; 128; 0
266 |     - Class: rviz_default_plugins/SetInitialPose
267 |       Covariance x: 0.25
268 |       Covariance y: 0.25
269 |       Covariance yaw: 0.06853891909122467
270 |       Topic:
271 |         Depth: 5
272 |         Durability Policy: Volatile
273 |         History Policy: Keep Last
274 |         Reliability Policy: Reliable
275 |         Value: /initialpose
276 |     - Class: rviz_default_plugins/SetGoal
277 |       Topic:
278 |         Depth: 5
279 |         Durability Policy: Volatile
280 |         History Policy: Keep Last
281 |         Reliability Policy: Reliable
282 |         Value: /goal_pose
283 |     - Class: rviz_default_plugins/PublishPoint
284 |       Single click: true
285 |       Topic:
286 |         Depth: 5
287 |         Durability Policy: Volatile
288 |         History Policy: Keep Last
289 |         Reliability Policy: Reliable
290 |         Value: /clicked_point
291 |   Transformation:
292 |     Current:
293 |       Class: rviz_default_plugins/TF
294 |   Value: true
295 |   Views:
296 |     Current:
297 |       Angle: -1.5749999284744263
298 |       Class: rviz_default_plugins/TopDownOrtho
299 |       Enable Stereo Rendering:
300 |         Stereo Eye Separation: 0.05999999865889549
301 |         Stereo Focal Distance: 1
302 |         Swap Stereo Eyes: false
303 |         Value: false
304 |       Invert Z Axis: false
305 |       Name: Current View
306 |       Near Clip Distance: 0.009999999776482582
307 |       Scale: 196.64593505859375
308 |       Target Frame: <Fixed Frame>
309 |       Value: TopDownOrtho (rviz_default_plugins)
310 |       X: 1.166335940361023
311 |       Y: 1.3729205131530762
312 |     Saved: ~
313 | Window Geometry:
314 |   Displays:
315 |     collapsed: false
316 |   Height: 1011
317 |   Hide Left Dock: false
318 |   Hide Right Dock: false
319 |   QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000351000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002a6000000ea0000000000000000000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cd0000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
320 |   Selection:
321 |     collapsed: false
322 |   Time:
323 |     collapsed: false
324 |   Tool Properties:
325 |     collapsed: false
326 |   Views:
327 |     collapsed: false
328 |   Width: 1854
329 |   X: 66
330 |   Y: 32
331 | 


--------------------------------------------------------------------------------
/config/minibot_display.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |       Splitter Ratio: 0.5
 10 |     Tree Height: 542
 11 |   - Class: rviz_common/Selection
 12 |     Name: Selection
 13 |   - Class: rviz_common/Tool Properties
 14 |     Expanded:
 15 |       - /2D Goal Pose1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.5886790156364441
 19 |   - Class: rviz_common/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz_common/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: ""
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz_default_plugins/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.029999999329447746
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Class: rviz_default_plugins/TF
 51 |       Enabled: true
 52 |       Filter (blacklist): ""
 53 |       Filter (whitelist): ""
 54 |       Frame Timeout: 15
 55 |       Frames:
 56 |         All Enabled: true
 57 |         base_link:
 58 |           Value: true
 59 |         caster_wheel:
 60 |           Value: true
 61 |         chasis:
 62 |           Value: true
 63 |         left_wheel:
 64 |           Value: true
 65 |         right_wheel:
 66 |           Value: true
 67 |       Marker Scale: 1
 68 |       Name: TF
 69 |       Show Arrows: true
 70 |       Show Axes: true
 71 |       Show Names: false
 72 |       Tree:
 73 |         base_link:
 74 |           chasis:
 75 |             caster_wheel:
 76 |               {}
 77 |           left_wheel:
 78 |             {}
 79 |           right_wheel:
 80 |             {}
 81 |       Update Interval: 0
 82 |       Value: true
 83 |     - Alpha: 1
 84 |       Class: rviz_default_plugins/RobotModel
 85 |       Collision Enabled: false
 86 |       Description File: ""
 87 |       Description Source: Topic
 88 |       Description Topic:
 89 |         Depth: 5
 90 |         Durability Policy: Volatile
 91 |         History Policy: Keep Last
 92 |         Reliability Policy: Reliable
 93 |         Value: /robot_description
 94 |       Enabled: true
 95 |       Links:
 96 |         All Links Enabled: true
 97 |         Expand Joint Details: false
 98 |         Expand Link Details: false
 99 |         Expand Tree: false
100 |         Link Tree Style: Links in Alphabetic Order
101 |         base_link:
102 |           Alpha: 1
103 |           Show Axes: false
104 |           Show Trail: false
105 |         caster_wheel:
106 |           Alpha: 1
107 |           Show Axes: false
108 |           Show Trail: false
109 |           Value: true
110 |         chasis:
111 |           Alpha: 1
112 |           Show Axes: false
113 |           Show Trail: false
114 |           Value: true
115 |         left_wheel:
116 |           Alpha: 1
117 |           Show Axes: false
118 |           Show Trail: false
119 |           Value: true
120 |         right_wheel:
121 |           Alpha: 1
122 |           Show Axes: false
123 |           Show Trail: false
124 |           Value: true
125 |       Mass Properties:
126 |         Inertia: false
127 |         Mass: false
128 |       Name: RobotModel
129 |       TF Prefix: ""
130 |       Update Interval: 0
131 |       Value: true
132 |       Visual Enabled: true
133 |   Enabled: true
134 |   Global Options:
135 |     Background Color: 48; 48; 48
136 |     Fixed Frame: base_link
137 |     Frame Rate: 30
138 |   Name: root
139 |   Tools:
140 |     - Class: rviz_default_plugins/Interact
141 |       Hide Inactive Objects: true
142 |     - Class: rviz_default_plugins/MoveCamera
143 |     - Class: rviz_default_plugins/Select
144 |     - Class: rviz_default_plugins/FocusCamera
145 |     - Class: rviz_default_plugins/Measure
146 |       Line color: 128; 128; 0
147 |     - Class: rviz_default_plugins/SetInitialPose
148 |       Covariance x: 0.25
149 |       Covariance y: 0.25
150 |       Covariance yaw: 0.06853891909122467
151 |       Topic:
152 |         Depth: 5
153 |         Durability Policy: Volatile
154 |         History Policy: Keep Last
155 |         Reliability Policy: Reliable
156 |         Value: /initialpose
157 |     - Class: rviz_default_plugins/SetGoal
158 |       Topic:
159 |         Depth: 5
160 |         Durability Policy: Volatile
161 |         History Policy: Keep Last
162 |         Reliability Policy: Reliable
163 |         Value: /goal_pose
164 |     - Class: rviz_default_plugins/PublishPoint
165 |       Single click: true
166 |       Topic:
167 |         Depth: 5
168 |         Durability Policy: Volatile
169 |         History Policy: Keep Last
170 |         Reliability Policy: Reliable
171 |         Value: /clicked_point
172 |   Transformation:
173 |     Current:
174 |       Class: rviz_default_plugins/TF
175 |   Value: true
176 |   Views:
177 |     Current:
178 |       Class: rviz_default_plugins/Orbit
179 |       Distance: 2.6215710639953613
180 |       Enable Stereo Rendering:
181 |         Stereo Eye Separation: 0.05999999865889549
182 |         Stereo Focal Distance: 1
183 |         Swap Stereo Eyes: false
184 |         Value: false
185 |       Focal Point:
186 |         X: 0
187 |         Y: 0
188 |         Z: 0
189 |       Focal Shape Fixed Size: true
190 |       Focal Shape Size: 0.05000000074505806
191 |       Invert Z Axis: false
192 |       Name: Current View
193 |       Near Clip Distance: 0.009999999776482582
194 |       Pitch: 0.4197966456413269
195 |       Target Frame: <Fixed Frame>
196 |       Value: Orbit (rviz)
197 |       Yaw: 0.9004007577896118
198 |     Saved: ~
199 | Window Geometry:
200 |   Displays:
201 |     collapsed: false
202 |   Height: 846
203 |   Hide Left Dock: false
204 |   Hide Right Dock: false
205 |   QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
206 |   Selection:
207 |     collapsed: false
208 |   Time:
209 |     collapsed: false
210 |   Tool Properties:
211 |     collapsed: false
212 |   Views:
213 |     collapsed: false
214 |   Width: 1200
215 |   X: 66
216 |   Y: 60
217 | 


--------------------------------------------------------------------------------
/config/nav2_params.yaml:
--------------------------------------------------------------------------------
  1 | amcl:
  2 |   ros__parameters:
  3 |     alpha1: 0.2
  4 |     alpha2: 0.2
  5 |     alpha3: 0.2
  6 |     alpha4: 0.2
  7 |     alpha5: 0.2
  8 |     base_frame_id: "base_footprint"
  9 |     beam_skip_distance: 0.5
 10 |     beam_skip_error_threshold: 0.9
 11 |     beam_skip_threshold: 0.3
 12 |     do_beamskip: false
 13 |     global_frame_id: "map"
 14 |     lambda_short: 0.1
 15 |     laser_likelihood_max_dist: 2.0
 16 |     laser_max_range: 100.0
 17 |     laser_min_range: -1.0
 18 |     laser_model_type: "likelihood_field"
 19 |     max_beams: 60
 20 |     max_particles: 2000
 21 |     min_particles: 500
 22 |     odom_frame_id: "odom"
 23 |     pf_err: 0.05
 24 |     pf_z: 0.99
 25 |     recovery_alpha_fast: 0.0
 26 |     recovery_alpha_slow: 0.0
 27 |     resample_interval: 1
 28 |     robot_model_type: "nav2_amcl::DifferentialMotionModel"
 29 |     save_pose_rate: 0.5
 30 |     sigma_hit: 0.2
 31 |     tf_broadcast: true
 32 |     transform_tolerance: 1.0
 33 |     update_min_a: 0.2
 34 |     update_min_d: 0.25
 35 |     z_hit: 0.5
 36 |     z_max: 0.05
 37 |     z_rand: 0.5
 38 |     z_short: 0.05
 39 |     scan_topic: scan
 40 | 
 41 | bt_navigator:
 42 |   ros__parameters:
 43 |     global_frame: map
 44 |     robot_base_frame: base_link
 45 |     odom_topic: /odom
 46 |     bt_loop_duration: 10
 47 |     default_server_timeout: 20
 48 |     wait_for_service_timeout: 1000
 49 |     action_server_result_timeout: 900.0
 50 |     navigators: ["navigate_to_pose", "navigate_through_poses"]
 51 |     navigate_to_pose:
 52 |       plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
 53 |     navigate_through_poses:
 54 |       plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
 55 |     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
 56 |     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
 57 |     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
 58 |     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
 59 | 
 60 |     # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
 61 |     # Built-in plugins are added automatically
 62 |     # plugin_lib_names: []
 63 | 
 64 |     error_code_names:
 65 |       - compute_path_error_code
 66 |       - follow_path_error_code
 67 | 
 68 | controller_server:
 69 |   ros__parameters:
 70 |     controller_frequency: 20.0
 71 |     min_x_velocity_threshold: 0.001
 72 |     min_y_velocity_threshold: 0.5
 73 |     min_theta_velocity_threshold: 0.001
 74 |     failure_tolerance: 0.3
 75 |     progress_checker_plugins: ["progress_checker"]
 76 |     goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
 77 |     controller_plugins: ["FollowPath"]
 78 |     use_realtime_priority: false
 79 | 
 80 |     # Progress checker parameters
 81 |     progress_checker:
 82 |       plugin: "nav2_controller::SimpleProgressChecker"
 83 |       required_movement_radius: 0.5
 84 |       movement_time_allowance: 10.0
 85 |     # Goal checker parameters
 86 |     #precise_goal_checker:
 87 |     #  plugin: "nav2_controller::SimpleGoalChecker"
 88 |     #  xy_goal_tolerance: 0.25
 89 |     #  yaw_goal_tolerance: 0.25
 90 |     #  stateful: True
 91 |     general_goal_checker:
 92 |       stateful: True
 93 |       plugin: "nav2_controller::SimpleGoalChecker"
 94 |       xy_goal_tolerance: 0.25
 95 |       yaw_goal_tolerance: 0.25
 96 |     FollowPath:
 97 |       plugin: "nav2_mppi_controller::MPPIController"
 98 |       time_steps: 56
 99 |       model_dt: 0.05
100 |       batch_size: 2000
101 |       ax_max: 3.0
102 |       ax_min: -3.0
103 |       ay_max: 3.0
104 |       az_max: 3.5
105 |       vx_std: 0.2
106 |       vy_std: 0.2
107 |       wz_std: 0.4
108 |       vx_max: 0.5
109 |       vx_min: -0.35
110 |       vy_max: 0.5
111 |       wz_max: 1.9
112 |       iteration_count: 1
113 |       prune_distance: 1.7
114 |       transform_tolerance: 0.1
115 |       temperature: 0.3
116 |       gamma: 0.015
117 |       motion_model: "DiffDrive"
118 |       visualize: true
119 |       regenerate_noises: true
120 |       TrajectoryVisualizer:
121 |         trajectory_step: 5
122 |         time_step: 3
123 |       AckermannConstraints:
124 |         min_turning_r: 0.2
125 |       critics: [
126 |         "ConstraintCritic", "CostCritic", "GoalCritic",
127 |         "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
128 |         "PathAngleCritic", "PreferForwardCritic"]
129 |       ConstraintCritic:
130 |         enabled: true
131 |         cost_power: 1
132 |         cost_weight: 4.0
133 |       GoalCritic:
134 |         enabled: true
135 |         cost_power: 1
136 |         cost_weight: 5.0
137 |         threshold_to_consider: 1.4
138 |       GoalAngleCritic:
139 |         enabled: true
140 |         cost_power: 1
141 |         cost_weight: 3.0
142 |         threshold_to_consider: 0.5
143 |       PreferForwardCritic:
144 |         enabled: true
145 |         cost_power: 1
146 |         cost_weight: 5.0
147 |         threshold_to_consider: 0.5
148 |       CostCritic:
149 |         enabled: true
150 |         cost_power: 1
151 |         cost_weight: 3.81
152 |         critical_cost: 300.0
153 |         consider_footprint: true
154 |         collision_cost: 1000000.0
155 |         near_goal_distance: 1.0
156 |         trajectory_point_step: 2
157 |       PathAlignCritic:
158 |         enabled: true
159 |         cost_power: 1
160 |         cost_weight: 14.0
161 |         max_path_occupancy_ratio: 0.05
162 |         trajectory_point_step: 4
163 |         threshold_to_consider: 0.5
164 |         offset_from_furthest: 20
165 |         use_path_orientations: false
166 |       PathFollowCritic:
167 |         enabled: true
168 |         cost_power: 1
169 |         cost_weight: 5.0
170 |         offset_from_furthest: 5
171 |         threshold_to_consider: 1.4
172 |       PathAngleCritic:
173 |         enabled: true
174 |         cost_power: 1
175 |         cost_weight: 2.0
176 |         offset_from_furthest: 4
177 |         threshold_to_consider: 0.5
178 |         max_angle_to_furthest: 1.0
179 |         mode: 0
180 |       # TwirlingCritic:
181 |       #   enabled: true
182 |       #   twirling_cost_power: 1
183 |       #   twirling_cost_weight: 10.0
184 | 
185 | local_costmap:
186 |   local_costmap:
187 |     ros__parameters:
188 |       update_frequency: 5.0
189 |       publish_frequency: 2.0
190 |       global_frame: odom
191 |       robot_base_frame: base_link
192 |       rolling_window: true
193 |       width: 3
194 |       height: 3
195 |       resolution: 0.05
196 |       robot_radius: 0.22
197 |       plugins: ["voxel_layer", "inflation_layer"]
198 |       inflation_layer:
199 |         plugin: "nav2_costmap_2d::InflationLayer"
200 |         cost_scaling_factor: 3.0
201 |         inflation_radius: 0.70
202 |       voxel_layer:
203 |         plugin: "nav2_costmap_2d::VoxelLayer"
204 |         enabled: True
205 |         publish_voxel_map: True
206 |         origin_z: 0.0
207 |         z_resolution: 0.05
208 |         z_voxels: 16
209 |         max_obstacle_height: 2.0
210 |         mark_threshold: 0
211 |         observation_sources: scan
212 |         scan:
213 |           topic: /scan
214 |           max_obstacle_height: 2.0
215 |           clearing: True
216 |           marking: True
217 |           data_type: "LaserScan"
218 |           raytrace_max_range: 3.0
219 |           raytrace_min_range: 0.0
220 |           obstacle_max_range: 2.5
221 |           obstacle_min_range: 0.0
222 |       static_layer:
223 |         plugin: "nav2_costmap_2d::StaticLayer"
224 |         map_subscribe_transient_local: True
225 |       always_send_full_costmap: True
226 | 
227 | global_costmap:
228 |   global_costmap:
229 |     ros__parameters:
230 |       update_frequency: 1.0
231 |       publish_frequency: 1.0
232 |       global_frame: map
233 |       robot_base_frame: base_link
234 |       robot_radius: 0.22
235 |       resolution: 0.05
236 |       track_unknown_space: true
237 |       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
238 |       obstacle_layer:
239 |         plugin: "nav2_costmap_2d::ObstacleLayer"
240 |         enabled: True
241 |         observation_sources: scan
242 |         scan:
243 |           topic: /scan
244 |           max_obstacle_height: 2.0
245 |           clearing: True
246 |           marking: True
247 |           data_type: "LaserScan"
248 |           raytrace_max_range: 3.0
249 |           raytrace_min_range: 0.0
250 |           obstacle_max_range: 2.5
251 |           obstacle_min_range: 0.0
252 |       static_layer:
253 |         plugin: "nav2_costmap_2d::StaticLayer"
254 |         map_subscribe_transient_local: True
255 |       inflation_layer:
256 |         plugin: "nav2_costmap_2d::InflationLayer"
257 |         cost_scaling_factor: 1.0  
258 |         inflation_radius: 0.05
259 |       always_send_full_costmap: True
260 | 
261 | # The yaml_filename does not need to be specified since it going to be set by defaults in launch.
262 | # If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
263 | # file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
264 | # map_server:
265 | #   ros__parameters:
266 | #     yaml_filename: ""
267 | 
268 | map_saver:
269 |   ros__parameters:
270 |     save_map_timeout: 5.0
271 |     free_thresh_default: 0.25
272 |     occupied_thresh_default: 0.65
273 |     map_subscribe_transient_local: True
274 | 
275 | planner_server:
276 |   ros__parameters:
277 |     expected_planner_frequency: 20.0
278 |     planner_plugins: ["GridBased"]
279 |     GridBased:
280 |       plugin: "nav2_navfn_planner::NavfnPlanner"
281 |       tolerance: 0.5
282 |       use_astar: false
283 |       allow_unknown: true
284 | 
285 | smoother_server:
286 |   ros__parameters:
287 |     smoother_plugins: ["simple_smoother"]
288 |     simple_smoother:
289 |       plugin: "nav2_smoother::SimpleSmoother"
290 |       tolerance: 1.0e-10
291 |       max_its: 1000
292 |       do_refinement: True
293 | 
294 | behavior_server:
295 |   ros__parameters:
296 |     local_costmap_topic: local_costmap/costmap_raw
297 |     global_costmap_topic: global_costmap/costmap_raw
298 |     local_footprint_topic: local_costmap/published_footprint
299 |     global_footprint_topic: global_costmap/published_footprint
300 |     cycle_frequency: 10.0
301 |     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
302 |     spin:
303 |       plugin: "nav2_behaviors::Spin"
304 |     backup:
305 |       plugin: "nav2_behaviors::BackUp"
306 |     drive_on_heading:
307 |       plugin: "nav2_behaviors::DriveOnHeading"
308 |     wait:
309 |       plugin: "nav2_behaviors::Wait"
310 |     assisted_teleop:
311 |       plugin: "nav2_behaviors::AssistedTeleop"
312 |     local_frame: odom
313 |     global_frame: map
314 |     robot_base_frame: base_link
315 |     transform_tolerance: 0.1
316 |     simulate_ahead_time: 2.0
317 |     max_rotational_vel: 1.0
318 |     min_rotational_vel: 0.4
319 |     rotational_acc_lim: 3.2
320 | 
321 | waypoint_follower:
322 |   ros__parameters:
323 |     loop_rate: 20
324 |     stop_on_failure: false
325 |     action_server_result_timeout: 900.0
326 |     waypoint_task_executor_plugin: "wait_at_waypoint"
327 |     wait_at_waypoint:
328 |       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
329 |       enabled: True
330 |       waypoint_pause_duration: 200
331 | 
332 | velocity_smoother:
333 |   ros__parameters:
334 |     smoothing_frequency: 20.0
335 |     scale_velocities: False
336 |     feedback: "OPEN_LOOP"
337 |     max_velocity: [0.5, 0.0, 2.0]
338 |     min_velocity: [-0.5, 0.0, -2.0]
339 |     max_accel: [2.5, 0.0, 3.2]
340 |     max_decel: [-2.5, 0.0, -3.2]
341 |     odom_topic: "odom"
342 |     odom_duration: 0.1
343 |     deadband_velocity: [0.0, 0.0, 0.0]
344 |     velocity_timeout: 1.0
345 | 
346 | collision_monitor:
347 |   ros__parameters:
348 |     base_frame_id: "base_footprint"
349 |     odom_frame_id: "odom"
350 |     cmd_vel_in_topic: "cmd_vel_smoothed"
351 |     cmd_vel_out_topic: "cmd_vel"
352 |     state_topic: "collision_monitor_state"
353 |     transform_tolerance: 0.2
354 |     source_timeout: 1.0
355 |     base_shift_correction: True
356 |     stop_pub_timeout: 2.0
357 |     # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
358 |     # and robot footprint for "approach" action type.
359 |     polygons: ["FootprintApproach"]
360 |     FootprintApproach:
361 |       type: "polygon"
362 |       action_type: "approach"
363 |       footprint_topic: "/local_costmap/published_footprint"
364 |       time_before_collision: 1.2
365 |       simulation_time_step: 0.1
366 |       min_points: 6
367 |       visualize: False
368 |       enabled: True
369 |     observation_sources: ["scan"]
370 |     scan:
371 |       type: "scan"
372 |       topic: "scan"
373 |       min_height: 0.15
374 |       max_height: 2.0
375 |       enabled: True
376 | 
377 | docking_server:
378 |   ros__parameters:
379 |     controller_frequency: 50.0
380 |     initial_perception_timeout: 5.0
381 |     wait_charge_timeout: 5.0
382 |     dock_approach_timeout: 30.0
383 |     undock_linear_tolerance: 0.05
384 |     undock_angular_tolerance: 0.1
385 |     max_retries: 3
386 |     base_frame: "base_link"
387 |     fixed_frame: "odom"
388 |     dock_backwards: false
389 |     dock_prestaging_tolerance: 0.5
390 | 
391 |     # Types of docks
392 |     dock_plugins: ['simple_charging_dock']
393 |     simple_charging_dock:
394 |       plugin: 'opennav_docking::SimpleChargingDock'
395 |       docking_threshold: 0.05
396 |       staging_x_offset: -0.7
397 |       use_external_detection_pose: true
398 |       use_battery_status: false # true
399 |       use_stall_detection: false # true
400 | 
401 |       external_detection_timeout: 1.0
402 |       external_detection_translation_x: -0.18
403 |       external_detection_translation_y: 0.0
404 |       external_detection_rotation_roll: -1.57
405 |       external_detection_rotation_pitch: -1.57
406 |       external_detection_rotation_yaw: 0.0
407 |       filter_coef: 0.1
408 | 
409 |     # Dock instances
410 |     # The following example illustrates configuring dock instances.
411 |     # docks: ['home_dock']  # Input your docks here
412 |     # home_dock:
413 |     #   type: 'simple_charging_dock'
414 |     #   frame: map
415 |     #   pose: [0.0, 0.0, 0.0]
416 | 
417 |     controller:
418 |       k_phi: 3.0
419 |       k_delta: 2.0
420 |       v_linear_min: 0.15
421 |       v_linear_max: 0.15
422 | 
423 | loopback_simulator:
424 |   ros__parameters:
425 |     base_frame_id: "base_footprint"
426 |     odom_frame_id: "odom"
427 |     map_frame_id: "map"
428 |     scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
429 |     update_duration: 0.02
430 | 


--------------------------------------------------------------------------------
/config/sim_config.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |       Splitter Ratio: 0.5029411911964417
 10 |     Tree Height: 467
 11 |   - Class: rviz_common/Selection
 12 |     Name: Selection
 13 |   - Class: rviz_common/Tool Properties
 14 |     Expanded:
 15 |       - /2D Goal Pose1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.5886790156364441
 19 |   - Class: rviz_common/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz_common/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: LaserScan
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz_default_plugins/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.029999999329447746
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Class: rviz_default_plugins/TF
 51 |       Enabled: true
 52 |       Filter (blacklist): ""
 53 |       Filter (whitelist): ""
 54 |       Frame Timeout: 15
 55 |       Frames:
 56 |         All Enabled: true
 57 |         base_footprint:
 58 |           Value: true
 59 |         base_link:
 60 |           Value: true
 61 |         camera_link:
 62 |           Value: true
 63 |         camera_link_optical:
 64 |           Value: true
 65 |         caster_wheel:
 66 |           Value: true
 67 |         chasis:
 68 |           Value: true
 69 |         left_wheel:
 70 |           Value: true
 71 |         lidar_frame:
 72 |           Value: true
 73 |         map:
 74 |           Value: true
 75 |         odom:
 76 |           Value: true
 77 |         right_wheel:
 78 |           Value: true
 79 |       Marker Scale: 1
 80 |       Name: TF
 81 |       Show Arrows: true
 82 |       Show Axes: true
 83 |       Show Names: false
 84 |       Tree:
 85 |         map:
 86 |           {}
 87 |         odom:
 88 |           base_link:
 89 |             base_footprint:
 90 |               {}
 91 |             chasis:
 92 |               camera_link:
 93 |                 camera_link_optical:
 94 |                   {}
 95 |               caster_wheel:
 96 |                 {}
 97 |               lidar_frame:
 98 |                 {}
 99 |             left_wheel:
100 |               {}
101 |             right_wheel:
102 |               {}
103 |       Update Interval: 0
104 |       Value: true
105 |     - Alpha: 1
106 |       Class: rviz_default_plugins/RobotModel
107 |       Collision Enabled: false
108 |       Description File: ""
109 |       Description Source: Topic
110 |       Description Topic:
111 |         Depth: 5
112 |         Durability Policy: Volatile
113 |         History Policy: Keep Last
114 |         Reliability Policy: Reliable
115 |         Value: /robot_description
116 |       Enabled: true
117 |       Links:
118 |         All Links Enabled: true
119 |         Expand Joint Details: false
120 |         Expand Link Details: false
121 |         Expand Tree: false
122 |         Link Tree Style: Links in Alphabetic Order
123 |         base_footprint:
124 |           Alpha: 1
125 |           Show Axes: false
126 |           Show Trail: false
127 |         base_link:
128 |           Alpha: 1
129 |           Show Axes: false
130 |           Show Trail: false
131 |         camera_link:
132 |           Alpha: 1
133 |           Show Axes: false
134 |           Show Trail: false
135 |           Value: true
136 |         camera_link_optical:
137 |           Alpha: 1
138 |           Show Axes: false
139 |           Show Trail: false
140 |         caster_wheel:
141 |           Alpha: 1
142 |           Show Axes: false
143 |           Show Trail: false
144 |           Value: true
145 |         chasis:
146 |           Alpha: 1
147 |           Show Axes: false
148 |           Show Trail: false
149 |           Value: true
150 |         left_wheel:
151 |           Alpha: 1
152 |           Show Axes: false
153 |           Show Trail: false
154 |           Value: true
155 |         lidar_frame:
156 |           Alpha: 1
157 |           Show Axes: false
158 |           Show Trail: false
159 |           Value: true
160 |         right_wheel:
161 |           Alpha: 1
162 |           Show Axes: false
163 |           Show Trail: false
164 |           Value: true
165 |       Mass Properties:
166 |         Inertia: false
167 |         Mass: false
168 |       Name: RobotModel
169 |       TF Prefix: ""
170 |       Update Interval: 0
171 |       Value: true
172 |       Visual Enabled: true
173 |     - Alpha: 1
174 |       Autocompute Intensity Bounds: true
175 |       Autocompute Value Bounds:
176 |         Max Value: 10
177 |         Min Value: -10
178 |         Value: true
179 |       Axis: Z
180 |       Channel Name: intensity
181 |       Class: rviz_default_plugins/LaserScan
182 |       Color: 255; 255; 255
183 |       Color Transformer: Intensity
184 |       Decay Time: 0
185 |       Enabled: true
186 |       Invert Rainbow: false
187 |       Max Color: 255; 255; 255
188 |       Max Intensity: 0
189 |       Min Color: 0; 0; 0
190 |       Min Intensity: 0
191 |       Name: LaserScan
192 |       Position Transformer: XYZ
193 |       Selectable: true
194 |       Size (Pixels): 3
195 |       Size (m): 0.03999999910593033
196 |       Style: Flat Squares
197 |       Topic:
198 |         Depth: 5
199 |         Durability Policy: Volatile
200 |         Filter size: 10
201 |         History Policy: Keep Last
202 |         Reliability Policy: Reliable
203 |         Value: /scan
204 |       Use Fixed Frame: true
205 |       Use rainbow: true
206 |       Value: true
207 |     - Class: rviz_default_plugins/Camera
208 |       Enabled: true
209 |       Far Plane Distance: 100
210 |       Image Rendering: background and overlay
211 |       Name: Camera
212 |       Overlay Alpha: 0.5
213 |       Topic:
214 |         Depth: 5
215 |         Durability Policy: Volatile
216 |         History Policy: Keep Last
217 |         Reliability Policy: Reliable
218 |         Value: /camera/depth/image_raw/image
219 |       Value: true
220 |       Visibility:
221 |         Grid: true
222 |         LaserScan: true
223 |         Map: true
224 |         PointCloud2: true
225 |         RobotModel: false
226 |         TF: false
227 |         Value: true
228 |       Zoom Factor: 1
229 |     - Alpha: 1
230 |       Autocompute Intensity Bounds: true
231 |       Autocompute Value Bounds:
232 |         Max Value: 10
233 |         Min Value: -10
234 |         Value: true
235 |       Axis: Z
236 |       Channel Name: intensity
237 |       Class: rviz_default_plugins/PointCloud2
238 |       Color: 255; 255; 255
239 |       Color Transformer: RGB8
240 |       Decay Time: 0
241 |       Enabled: false
242 |       Invert Rainbow: false
243 |       Max Color: 255; 255; 255
244 |       Max Intensity: 4096
245 |       Min Color: 0; 0; 0
246 |       Min Intensity: 0
247 |       Name: PointCloud2
248 |       Position Transformer: XYZ
249 |       Selectable: true
250 |       Size (Pixels): 3
251 |       Size (m): 0.009999999776482582
252 |       Style: Flat Squares
253 |       Topic:
254 |         Depth: 5
255 |         Durability Policy: Volatile
256 |         History Policy: Keep Last
257 |         Reliability Policy: Reliable
258 |         Value: /camera/depth/image_raw/points
259 |       Use Fixed Frame: true
260 |       Use rainbow: true
261 |       Value: false
262 |     - Alpha: 0.699999988079071
263 |       Binary representation: false
264 |       Binary threshold: 100
265 |       Class: rviz_default_plugins/Map
266 |       Color Scheme: map
267 |       Draw Behind: false
268 |       Enabled: false
269 |       Name: Map
270 |       Topic:
271 |         Depth: 5
272 |         Durability Policy: Volatile
273 |         Filter size: 10
274 |         History Policy: Keep Last
275 |         Reliability Policy: Reliable
276 |         Value: /map
277 |       Update Topic:
278 |         Depth: 5
279 |         Durability Policy: Volatile
280 |         History Policy: Keep Last
281 |         Reliability Policy: Reliable
282 |         Value: /map_updates
283 |       Use Timestamp: false
284 |       Value: false
285 |     - Alpha: 0.699999988079071
286 |       Binary representation: false
287 |       Binary threshold: 100
288 |       Class: rviz_default_plugins/Map
289 |       Color Scheme: costmap
290 |       Draw Behind: false
291 |       Enabled: true
292 |       Name: Map
293 |       Topic:
294 |         Depth: 5
295 |         Durability Policy: Volatile
296 |         Filter size: 10
297 |         History Policy: Keep Last
298 |         Reliability Policy: Reliable
299 |         Value: /global_costmap/costmap
300 |       Update Topic:
301 |         Depth: 5
302 |         Durability Policy: Volatile
303 |         History Policy: Keep Last
304 |         Reliability Policy: Reliable
305 |         Value: /global_costmap/costmap_updates
306 |       Use Timestamp: false
307 |       Value: true
308 |   Enabled: true
309 |   Global Options:
310 |     Background Color: 48; 48; 48
311 |     Fixed Frame: odom
312 |     Frame Rate: 30
313 |   Name: root
314 |   Tools:
315 |     - Class: rviz_default_plugins/Interact
316 |       Hide Inactive Objects: true
317 |     - Class: rviz_default_plugins/MoveCamera
318 |     - Class: rviz_default_plugins/Select
319 |     - Class: rviz_default_plugins/FocusCamera
320 |     - Class: rviz_default_plugins/Measure
321 |       Line color: 128; 128; 0
322 |     - Class: rviz_default_plugins/SetInitialPose
323 |       Covariance x: 0.25
324 |       Covariance y: 0.25
325 |       Covariance yaw: 0.06853891909122467
326 |       Topic:
327 |         Depth: 5
328 |         Durability Policy: Volatile
329 |         History Policy: Keep Last
330 |         Reliability Policy: Reliable
331 |         Value: /initialpose
332 |     - Class: rviz_default_plugins/SetGoal
333 |       Topic:
334 |         Depth: 5
335 |         Durability Policy: Volatile
336 |         History Policy: Keep Last
337 |         Reliability Policy: Reliable
338 |         Value: /goal_pose
339 |     - Class: rviz_default_plugins/PublishPoint
340 |       Single click: true
341 |       Topic:
342 |         Depth: 5
343 |         Durability Policy: Volatile
344 |         History Policy: Keep Last
345 |         Reliability Policy: Reliable
346 |         Value: /clicked_point
347 |   Transformation:
348 |     Current:
349 |       Class: rviz_default_plugins/TF
350 |   Value: true
351 |   Views:
352 |     Current:
353 |       Angle: -1.5749999284744263
354 |       Class: rviz_default_plugins/TopDownOrtho
355 |       Enable Stereo Rendering:
356 |         Stereo Eye Separation: 0.05999999865889549
357 |         Stereo Focal Distance: 1
358 |         Swap Stereo Eyes: false
359 |         Value: false
360 |       Invert Z Axis: false
361 |       Name: Current View
362 |       Near Clip Distance: 0.009999999776482582
363 |       Scale: 60.9480094909668
364 |       Target Frame: <Fixed Frame>
365 |       Value: TopDownOrtho (rviz_default_plugins)
366 |       X: 1.920721173286438
367 |       Y: 0.09565046429634094
368 |     Saved: ~
369 | Window Geometry:
370 |   Camera:
371 |     collapsed: false
372 |   Displays:
373 |     collapsed: false
374 |   Height: 1011
375 |   Hide Left Dock: false
376 |   Hide Right Dock: false
377 |   QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000261000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002a6000000ea0000001700ffffff000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cd0000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
378 |   Selection:
379 |     collapsed: false
380 |   Time:
381 |     collapsed: false
382 |   Tool Properties:
383 |     collapsed: false
384 |   Views:
385 |     collapsed: false
386 |   Width: 1854
387 |   X: 66
388 |   Y: 32
389 | 


--------------------------------------------------------------------------------
/config/twist_mux.yaml:
--------------------------------------------------------------------------------
 1 | twist_mux:
 2 |   ros__parameters:
 3 |     topics:
 4 |       navigation:
 5 |         topic   : nav_vel
 6 |         timeout : 0.5
 7 |         priority: 10
 8 |         stamped : true
 9 | 
10 |       joystick:
11 |         topic   : joy_vel
12 |         timeout : 0.5
13 |         priority: 100
14 |         stamped : true


--------------------------------------------------------------------------------
/demo_publisher_node/velocity_publisher.cpp:
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 1 | // Copyright 2022 Open Source Robotics Foundation, Inc.
 2 | //
 3 | // Licensed under the Apache License, Version 2.0 (the "License");
 4 | // you may not use this file except in compliance with the License.
 5 | // You may obtain a copy of the License at
 6 | //
 7 | //     http://www.apache.org/licenses/LICENSE-2.0
 8 | //
 9 | // Unless required by applicable law or agreed to in writing, software
10 | // distributed under the License is distributed on an "AS IS" BASIS,
11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 | // See the License for the specific language governing permissions and
13 | // limitations under the License.
14 | 
15 | #include <memory>
16 | 
17 | #include <rclcpp/rclcpp.hpp>
18 | 
19 | #include <geometry_msgs/msg/twist_stamped.hpp>
20 | 
21 | using namespace std::chrono_literals;
22 | 
23 | int main(int argc, char * argv[])
24 | {
25 |   rclcpp::init(argc, argv);
26 | 
27 |   std::shared_ptr<rclcpp::Node> node =
28 |     std::make_shared<rclcpp::Node>("diff_drive_control_input");
29 | 
30 |   auto publisher = node->create_publisher<geometry_msgs::msg::TwistStamped>(
31 |     "/diff_drive_controller/cmd_vel", 10);
32 | 
33 |   RCLCPP_INFO(node->get_logger(), "node created");
34 | 
35 |   geometry_msgs::msg::TwistStamped command;
36 | 
37 |   command.twist.linear.x = 0.0;
38 |   command.twist.linear.y = 0.0;
39 |   command.twist.linear.z = 0.0;
40 | 
41 |   command.twist.angular.x = 0.0;
42 |   command.twist.angular.y = 0.0;
43 |   command.twist.angular.z = 0.15;
44 | 
45 |   while (1) {
46 |     command.header.stamp = node->now();
47 |     command.header.frame_id = "odom";
48 |     publisher->publish(command);
49 |     std::this_thread::sleep_for(50ms);
50 |     rclcpp::spin_some(node);
51 |   }
52 |   rclcpp::shutdown();
53 | 
54 |   return 0;
55 | }
56 | 


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/description/camera.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
 3 | 
 4 |     <xacro:property name="camera_length"             value="0.01"/>
 5 |     <xacro:property name="camera_width"              value="0.03"/>
 6 |     <xacro:property name="camera_height"             value="0.03"/>
 7 |     <xacro:property name="camera_offset_x"           value="0.318"/>
 8 |     <xacro:property name="camera_offset_z"           value="0.063"/>
 9 | 
10 |     <!-- Camera -->
11 |     <joint name="camera_joint" type="fixed">
12 |         <parent link="chasis"/>
13 |         <child link="camera_link"/>
14 |         <origin xyz="${camera_offset_x} 0.0 ${camera_offset_z}" rpy="0 0 0"/>    
15 |     </joint>
16 | 
17 |     <link name="camera_link">
18 |         <visual>
19 |             <geometry>
20 |                 <box size="${camera_length} ${camera_width} ${camera_height}" />
21 |             </geometry>
22 |             <material name="orange"/>
23 |         </visual>
24 |     </link>
25 | 
26 |     <joint name="camera_optical_joint" type="fixed">
27 |         <parent link="camera_link"/>
28 |         <child link="camera_link_optical"/>
29 |         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0 ${-pi/2}"/>    
30 |     </joint>
31 | 
32 |     <link name="camera_link_optical"></link>
33 |     
34 | 
35 |     <!-- Camera in gazebo-->  
36 |     <gazebo reference="camera_link">
37 |         <sensor name="camera" type="camera">
38 | 
39 |             <gz_frame_id>camera_link_optical</gz_frame_id> 
40 |             <pose>0 0 0 0 0 0</pose>
41 |             <topic>camera/image_raw</topic>
42 |             <update_rate>30</update_rate>
43 |             <always_on>1</always_on>
44 |             <visualize>true</visualize>
45 | 
46 |             <camera>
47 |                 <horizontal_fov>1.089</horizontal_fov>
48 |                 <image>
49 |                     <format>R8G8B8</format>
50 |                     <width>640</width>
51 |                     <height>480</height>
52 |                 </image>
53 |                 <clip>
54 |                     <near>0.05</near>
55 |                     <far>8.0</far>
56 |                 </clip>
57 |                 <!-- <distortion>
58 |                     <k1>1.578758331993112829e-01</k1>
59 |                     <k2>-5.784303605943902360e-01</k2>
60 |                     <k3>-8.740723680089258069e-03</k3>
61 |                     <p1>1.359451618091441112e-03</p1>
62 |                     <p2>1.640043376158566713e-01</p2>
63 |                     <center>0.5 0.5</center>
64 |                 </distortion>
65 |                 <lens>
66 |                     <type>pinhole</type>
67 |                     <scale_to_hfov>false</scale_to_hfov>
68 |                     <intrinsics>
69 |                     <fx>4.970870507466349295e+02</fx>
70 |                     <fy>4.976011127668800782e+02</fy>
71 |                     <cx>3.168387473166100108e+02</cx>
72 |                     <cy>2.342740555042151982e+02</cy>
73 |                     <s>0.0</s>
74 |                     </intrinsics>
75 |                 </lens> -->
76 |             </camera>
77 |         </sensor>
78 |     </gazebo>
79 | </robot>


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/description/depth_camera.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
 3 | 
 4 |     <xacro:property name="RGBD_length"             value="0.01"/>
 5 |     <xacro:property name="RGBD_width"              value="0.09"/>
 6 |     <xacro:property name="RGBD_height"             value="0.03"/>
 7 |     <xacro:property name="RGBD_offset_x"           value="0.318"/>
 8 |     <xacro:property name="RGBD_offset_z"           value="0.063"/>
 9 | 
10 |     <!-- RGB_Depth camera -->
11 |     <joint name="camera_joint" type="fixed">
12 |         <parent link="chasis"/>
13 |         <child link="camera_link"/>
14 |         <origin xyz="${RGBD_offset_x} 0.0 ${RGBD_offset_z}" rpy="0 0 0"/>    
15 |     </joint>
16 | 
17 |     <link name="camera_link">
18 |         <visual>
19 |             <geometry>
20 |                 <box size="${RGBD_length} ${RGBD_width} ${RGBD_height}" />
21 |             </geometry>
22 |             <material name="orange"/>
23 |         </visual>
24 |     </link>
25 | 
26 |     <joint name="camera_optical_joint" type="fixed">
27 |         <parent link="camera_link"/>
28 |         <child link="camera_link_optical"/>
29 |         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0 ${-pi/2}"/>    
30 |     </joint>
31 | 
32 |     <link name="camera_link_optical"></link>
33 |     
34 | 
35 |     <!-- RGBD camera in gazebo-->  
36 |     <gazebo reference="camera_link">
37 |         <sensor name="camera" type="rgbd_camera">
38 | 
39 |             <gz_frame_id>camera_link</gz_frame_id> 
40 |             <frame_id>camera_link_optical</frame_id> 
41 |             <pose>0 0 0 0 0 0</pose>
42 |             <topic>camera/depth/image_raw</topic>
43 |             <update_rate>10</update_rate>
44 |             <always_on>1</always_on>
45 |             <visualize>true</visualize>
46 | 
47 |             <camera>
48 |                 <horizontal_fov>2.0944</horizontal_fov>
49 |                 <image>
50 |                     <format>R8G8B8</format>
51 |                     <width>640</width>
52 |                     <height>480</height> 
53 |                 </image>
54 |                 <clip>
55 |                     <near>0.05</near>
56 |                     <far>12.0</far>
57 |                 </clip>
58 |                 <!-- <distortion>
59 |                     <k1>1.578758331993112829e-01</k1>
60 |                     <k2>-5.784303605943902360e-01</k2>
61 |                     <k3>-8.740723680089258069e-03</k3>
62 |                     <p1>1.359451618091441112e-03</p1>
63 |                     <p2>1.640043376158566713e-01</p2>
64 |                     <center>0.5 0.5</center>
65 |                 </distortion>
66 |                 <lens>
67 |                     <type>pinhole</type>
68 |                     <scale_to_hfov>false</scale_to_hfov>
69 |                     <intrinsics>
70 |                     <fx>4.970870507466349295e+02</fx>
71 |                     <fy>4.976011127668800782e+02</fy>
72 |                     <cx>3.168387473166100108e+02</cx>
73 |                     <cy>2.342740555042151982e+02</cy>
74 |                     <s>0.0</s>
75 |                     </intrinsics>
76 |                 </lens> -->
77 |             </camera>
78 |         </sensor>
79 |     </gazebo>
80 | </robot>


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/description/gz_diff_drive_control.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | 
 4 |     <gazebo>
 5 |         <plugin filename="gz-sim-diff-drive-system" 
 6 |         name="gz::sim::systems::DiffDrive" >
 7 |     
 8 |             <!-- Wheel Information -->
 9 |             <left_joint>left_wheel_joint</left_joint>
10 |             <right_joint>right_wheel_joint</right_joint>
11 |             <wheel_separation>0.266</wheel_separation>
12 |             <wheel_radius>0.034</wheel_radius>
13 |     
14 |             <!-- Limits -->
15 |             <max_wheel_torque>200</max_wheel_torque>
16 |             <max_wheel_acceleration>10.0</max_wheel_acceleration>
17 |     
18 |             <!-- Topic -->
19 |             <topic>cmd_vel</topic>
20 |             <odom_topic>odom</odom_topic>
21 |             <odometry_source>world</odometry_source>
22 |             <odom_publish_frequency>30</odom_publish_frequency>
23 |             <tf_topic>tf</tf_topic>
24 | 
25 |             <!-- Frames -->
26 |             <frame_id>odom</frame_id>
27 |             <child_frame_id>base_link</child_frame_id>
28 | 
29 |             <!-- Output -->
30 |             <publish_odom>true</publish_odom>
31 |             <publish_odom_tf>true</publish_odom_tf>
32 |             <publish_wheel_tf>true</publish_wheel_tf>
33 |             <publish_wheel_joints>true</publish_wheel_joints>
34 | 
35 |         </plugin>
36 | 
37 |         <plugin filename="gz-sim-joint-state-publisher-system" 
38 |         name="gz::sim::systems::JointStatePublisher">
39 | 
40 |             <!-- Publish -->
41 |             <topic>joint_states</topic>
42 |            
43 |         </plugin>
44 | 
45 |     </gazebo>
46 |     
47 | </robot>


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/description/inertial_macros.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
 3 | 
 4 |     <!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
 5 |     <!-- These make use of xacro's mathematical functionality -->
 6 | 
 7 |     <xacro:macro name="inertial_sphere" params="mass radius *origin">
 8 |         <inertial>
 9 |             <xacro:insert_block name="origin"/>
10 |             <mass value="${mass}" />
11 |             <inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
12 |                     iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
13 |                     izz="${(2/5) * mass * (radius*radius)}" />
14 |         </inertial>
15 |     </xacro:macro>  
16 | 
17 | 
18 |     <xacro:macro name="inertial_box" params="mass x y z *origin">
19 |         <inertial>
20 |             <xacro:insert_block name="origin"/>
21 |             <mass value="${mass}" />
22 |             <inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
23 |                     iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
24 |                     izz="${(1/12) * mass * (x*x+y*y)}" />
25 |         </inertial>
26 |     </xacro:macro>
27 | 
28 | 
29 |     <xacro:macro name="inertial_cylinder" params="mass length radius *origin">
30 |         <inertial>
31 |             <xacro:insert_block name="origin"/>
32 |             <mass value="${mass}" />
33 |             <inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
34 |                     iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
35 |                     izz="${(1/2) * mass * (radius*radius)}" />
36 |         </inertial>
37 |     </xacro:macro>
38 | 
39 | 
40 | </robot>


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/description/lidar.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
 3 | 
 4 |     <xacro:property name="lidar_radius"             value="0.025"/>
 5 |     <xacro:property name="lidar_thickness"          value="0.040"/>
 6 |     <xacro:property name="lidar_offset_x"           value="0.230"/>
 7 |     <xacro:property name="lidar_offset_z"           value="0.098"/>
 8 | 
 9 |     <!-- Lidar -->
10 |     <joint name="lidar_joint" type="fixed">
11 |         <parent link="chasis"/>
12 |         <child link="lidar_frame"/>
13 |         <origin xyz="${lidar_offset_x} 0.0 ${lidar_offset_z}" rpy="0 0 ${pi}"/>    
14 |     </joint>
15 | 
16 |     <link name="lidar_frame">
17 |         <visual>
18 |             <geometry>
19 |                 <cylinder radius="${lidar_radius}" length="${lidar_thickness}"/>
20 |             </geometry>
21 |             <material name="orange"/>
22 |         </visual>
23 |         <collision>
24 |             <geometry>
25 |                 <cylinder radius="${lidar_radius}" length="${lidar_thickness}"/>
26 |             </geometry>
27 |         </collision>
28 |         <xacro:inertial_cylinder mass="0.1" radius="${lidar_radius}" length="${lidar_thickness}">
29 |             <origin xyz="0 0 0" rpy="0 0 0"/>
30 |         </xacro:inertial_cylinder>
31 |     </link>
32 | 
33 |     <!-- Lidar in gazebo-->  
34 |     <gazebo reference="lidar_frame">
35 |         <sensor name="lidar" type="gpu_lidar">
36 | 
37 |             <gz_frame_id>lidar_frame</gz_frame_id> 
38 |             <pose>0 0 0 0 0 0</pose>
39 |             <topic>scan</topic>
40 |             <update_rate>10</update_rate>
41 |             <always_on>1</always_on>
42 |             <visualize>true</visualize>
43 | 
44 |             <lidar>
45 |                 <scan>
46 |                     <horizontal>
47 |                         <samples>360</samples>
48 |                         <resolution>1</resolution>
49 |                         <min_angle>-3.14159</min_angle>
50 |                         <max_angle>3.14159</max_angle>
51 |                     </horizontal>
52 |                     <vertical>
53 |                         <samples>1</samples>
54 |                         <resolution>0.1</resolution>
55 |                         <min_angle>0.</min_angle>
56 |                         <max_angle>0.</max_angle>
57 |                     </vertical>
58 |                 </scan>
59 |                 <range>
60 |                     <min>0.08</min>
61 |                     <max>10.0</max>
62 |                     <resolution>0.01</resolution>
63 |                 </range>
64 |                 <noise>
65 |                     <type>gaussian</type>
66 |                     <mean>0.0</mean>
67 |                     <stddev>0.01</stddev>
68 |                 </noise>
69 |             </lidar>
70 | 
71 |         <plugin filename="gz-sim-sensors-system"
72 |                 name="gz::sim::systems::Sensors">
73 |                 <render_engine>ogre2</render_engine>
74 |         </plugin>
75 | 
76 |         </sensor>
77 |     </gazebo>
78 | </robot>


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/description/robot.urdf.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="robot">
 3 |     
 4 |     <xacro:arg name="use_ros2_control"              default="true"/>
 5 |     <xacro:arg name="use_ros2_control_gz_sim"       default="false"/>
 6 | 
 7 |     <!-- Robot_frames -->
 8 |     <xacro:include filename = "robot_main.xacro" />
 9 | 
10 |     <!-- Controls -->
11 |     <xacro:if value="$(arg use_ros2_control)">
12 |         <xacro:include filename = "ros2_control.xacro" />
13 |     </xacro:if>
14 |     <xacro:unless value="$(arg use_ros2_control)">
15 |         <xacro:include filename = "gz_diff_drive_control.xacro" />
16 |     </xacro:unless>
17 |         
18 |     <!-- Sensors -->
19 |     <xacro:include filename = "lidar.xacro" />
20 |     <!-- <xacro:include filename = "camera.xacro" /> -->
21 |     <xacro:include filename = "depth_camera.xacro" />
22 | 
23 | </robot>


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/description/robot_main.xacro:
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  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 |     <xacro:include filename = "inertial_macros.xacro" />
  5 | 
  6 |     <xacro:property name="chassis_length"           value="0.320"/>
  7 |     <xacro:property name="chassis_width"            value="0.240"/>
  8 |     <xacro:property name="chassis_height"           value="0.078"/>
  9 |     <xacro:property name="chassis_mass"             value="0.700"/>
 10 | 
 11 |     <xacro:property name="wheel_radius"             value="0.034"/>
 12 |     <xacro:property name="wheel_thickness"          value="0.026"/>
 13 |     <xacro:property name="wheel_mass"               value="0.050"/>
 14 |     <xacro:property name="wheel_offset_x"           value="0.133"/>
 15 |     <xacro:property name="wheel_offset_y"           value="0.133"/>
 16 |     <xacro:property name="wheel_offset_z"           value="0.020"/>
 17 | 
 18 |     <xacro:property name="caster_wheel_radius"      value="${wheel_radius - wheel_offset_z}"/>
 19 |     <xacro:property name="caster_wheel_mass"        value="0.010"/>
 20 |     <xacro:property name="caster_wheel_offset_x"    value="0.230"/>
 21 |     <xacro:property name="caster_wheel_offset_z"    value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
 22 | 
 23 | 
 24 |     <!-- Colors -->
 25 |     <material name="white">
 26 |         <color rgba= "1 1 1 1"/>    
 27 |     </material>
 28 |     
 29 |     <material name="black">
 30 |         <color rgba= "0 0 0 1"/>    
 31 |     </material>
 32 |     
 33 |     <material name= "orange">
 34 |         <color rgba= "1 0.25 0 1"/>    
 35 |     </material>
 36 | 
 37 |     <material name="cyan">
 38 |         <color rgba= "0 1 1 1"/>    
 39 |     </material>
 40 | 
 41 |     <material name="indigo">
 42 |         <color rgba= "0.294 0 0.51 1"/>    
 43 |     </material>
 44 | 
 45 | 
 46 |     <!-- convention (except base_link): joint followed by link -->
 47 |     <!-- base_link -->
 48 |     <link name="base_link">
 49 |     </link>
 50 | 
 51 |     <!-- base_footprint -->
 52 |     <joint name="base_footprint_joint" type="fixed">
 53 |         <parent link= "base_link"/>
 54 |         <child link= "base_footprint"/>
 55 |         <origin xyz= "0 0 0" rpy= "0 0 0"/>    
 56 |     </joint>
 57 | 
 58 |     <link name="base_footprint">
 59 |     </link>
 60 | 
 61 |     <!-- chasis -->
 62 |     <joint name="chasis_joint" type="fixed">
 63 |         <parent link= "base_link"/>
 64 |         <child link= "chasis"/>
 65 |         <origin xyz= "${-wheel_offset_x} 0 ${-wheel_offset_z}"/>    
 66 |     </joint>
 67 | 
 68 |     <link name="chasis">
 69 |         <visual>
 70 |             <origin xyz= "${chassis_length/2} 0 ${chassis_height/2}" rpy= "0 0 0"/>
 71 |             <geometry>
 72 |                 <box size = "${chassis_length} ${chassis_width} ${chassis_height}"/>
 73 |             </geometry>
 74 |             <material name= "black"/>
 75 |         </visual>
 76 |         <collision>
 77 |             <origin xyz= "${chassis_length/2} 0 ${chassis_height/2}" rpy= "0 0 0"/>
 78 |             <geometry>
 79 |                 <box size = "${chassis_length} ${chassis_width} ${chassis_height}"/>
 80 |             </geometry>
 81 |         </collision>
 82 |         <xacro:inertial_box mass= "0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
 83 |             <origin xyz= "${chassis_length/2} 0 ${chassis_height/2}" rpy= "0 0 0"/>
 84 |         </xacro:inertial_box>
 85 |     </link> 
 86 | 
 87 |     <gazebo reference="chasis">
 88 |         <material>Gazebo/Black</material>
 89 |     </gazebo>
 90 | 
 91 |     <!-- left_wheel -->
 92 |     <joint name="left_wheel_joint" type="continuous">
 93 |         <parent link= "base_link"/>
 94 |         <child link= "left_wheel"/>
 95 |         <origin xyz= "0 ${wheel_offset_y} 0" rpy = "${pi/2} 0 0"/>
 96 |         <axis xyz= "0 0 -1"/>    
 97 |     </joint>
 98 | 
 99 |     <link name="left_wheel"> 
100 |         <visual>
101 |             <geometry>
102 |                 <cylinder radius = "${wheel_radius}" length= "${wheel_thickness}"/>
103 |             </geometry>
104 |             <material name= "orange"/>
105 |         </visual>
106 |         <collision>
107 |             <geometry>
108 |                 <sphere radius = "${wheel_radius}" />
109 |             </geometry>
110 |         </collision>
111 |         <xacro:inertial_cylinder mass = "${wheel_mass}" radius= "${wheel_radius}" length= "${wheel_thickness}">
112 |             <origin xyz= "0 0 0" rpy= "0 0 0"/>
113 |         </xacro:inertial_cylinder>
114 |     </link> 
115 | 
116 |     <gazebo reference="left_wheel">
117 |         <material>Gazebo/Orange</material>
118 |     </gazebo>
119 | 
120 |     <!-- right_wheel -->
121 |     <joint name="right_wheel_joint" type="continuous">
122 |         <parent link= "base_link"/>
123 |         <child link= "right_wheel"/>
124 |         <origin xyz= "0 ${-wheel_offset_y} 0" rpy = "${pi/2} 0 0"/>
125 |         <axis xyz= "0 0 -1"/>    
126 |     </joint>
127 | 
128 |     <link name="right_wheel"> 
129 |         <visual>
130 |             <geometry>
131 |                 <cylinder radius = "${wheel_radius}" length= "${wheel_thickness}"/>
132 |             </geometry>
133 |             <material name= "orange"/>
134 |         </visual>
135 |         <collision>
136 |             <geometry>
137 |                 <sphere radius = "${wheel_radius}" />
138 |             </geometry>
139 |         </collision>
140 |         <xacro:inertial_cylinder mass = "${wheel_mass}" radius= "${wheel_radius}" length= "${wheel_thickness}">
141 |             <origin xyz= "0 0 0" rpy= "0 0 0"/>
142 |         </xacro:inertial_cylinder>
143 |     </link> 
144 | 
145 |     <gazebo reference="right_wheel">
146 |         <material>Gazebo/Orange</material>
147 |     </gazebo>
148 | 
149 |     <!-- caster_wheel -->
150 |     <joint name="caster_wheel_joint" type="fixed">
151 |         <parent link= "chasis"/>
152 |         <child link= "caster_wheel"/>
153 |         <origin xyz= "${caster_wheel_offset_x} 0 0"/>   
154 |     </joint>
155 | 
156 |     <link name="caster_wheel"> 
157 |         <visual>
158 |             <geometry>
159 |                 <sphere radius = "${caster_wheel_radius}"/>
160 |             </geometry>
161 |             <material name= "orange"/>
162 |         </visual>
163 |         <collision>
164 |             <geometry>
165 |                 <sphere radius = "${caster_wheel_radius}"/>
166 |             </geometry>
167 |         </collision>
168 |         <xacro:inertial_sphere mass= "${caster_wheel_mass}" radius= "${caster_wheel_radius}">
169 |             <origin xyz= "0 0 0" rpy= "0 0 0"/>
170 |         </xacro:inertial_sphere>
171 |     </link> 
172 | 
173 |     <gazebo reference="caster_wheel">
174 |         <material>Gazebo/Orange</material>
175 |         <mu1 value= "0.0001"/>
176 |         <mu2 value= "0.0001"/>
177 |     </gazebo>
178 | 
179 | 
180 | </robot>


--------------------------------------------------------------------------------
/description/ros2_control.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | 
 4 |     <xacro:unless value="$(arg use_ros2_control_gz_sim)">
 5 |         <ros2_control name="RobotSystem" type="system">
 6 |             <hardware>
 7 |                 <plugin>diffdrive_arduino/DiffDriveArduinoHardware</plugin>
 8 |                     <param name="left_wheel_name">left_wheel_joint</param>
 9 |                     <param name="right_wheel_name">right_wheel_joint</param>
10 |                     <param name="loop_rate">30</param>
11 |                     <param name="device">/dev/ttyUSB1</param>
12 |                     <param name="baud_rate">115200</param>
13 |                     <param name="timeout_ms">1000</param>
14 |                     <param name="enc_counts_per_rev">616</param> 
15 |             </hardware>
16 |             <joint name="left_wheel_joint">
17 |                 <command_interface name="velocity">
18 |                     <param name="min">-10</param>
19 |                     <param name="max">10</param>
20 |                 </command_interface>
21 |                 <state_interface name="position"/>
22 |                 <state_interface name="velocity"/>
23 |             </joint>
24 |             <joint name="right_wheel_joint">
25 |                 <command_interface name="velocity">
26 |                     <param name="min">-10</param>
27 |                     <param name="max">10</param>
28 |                 </command_interface>
29 |                 <state_interface name="position"/>
30 |                 <state_interface name="velocity"/>
31 |             </joint>
32 |         </ros2_control>
33 |     </xacro:unless>
34 | 
35 |     <xacro:if value="$(arg use_ros2_control_gz_sim)">
36 |         <ros2_control name="minibot_ros2_control" type="system">
37 |             <hardware>
38 |                 <plugin>gz_ros2_control/GazeboSimSystem</plugin>
39 |             </hardware>
40 |             <joint name="left_wheel_joint">
41 |                 <command_interface name="velocity">
42 |                     <param name="min">-10</param>
43 |                     <param name="max">10</param>
44 |                 </command_interface>
45 |                 <state_interface name="velocity"/>
46 |                 <state_interface name="position"/>
47 |             </joint>
48 |             <joint name="right_wheel_joint">
49 |                 <command_interface name="velocity">
50 |                     <param name="min">-10</param>
51 |                     <param name="max">10</param>
52 |                 </command_interface>
53 |                 <state_interface name="velocity"/>
54 |                 <state_interface name="position"/>
55 |             </joint>
56 |         </ros2_control>
57 |         
58 |         <gazebo>
59 |             <plugin filename="gz_ros2_control-system" 
60 |                 name="gz_ros2_control::GazeboSimROS2ControlPlugin">
61 |                 <parameters>
62 |                     $(find minibot)/config/controller_gz_sim.yaml
63 |                 </parameters>
64 |             </plugin>
65 |         </gazebo>   
66 |     </xacro:if>
67 | </robot>


--------------------------------------------------------------------------------
/launch/joystick_teleop.launch.py:
--------------------------------------------------------------------------------
 1 | import os
 2 | from ament_index_python.packages import get_package_share_directory
 3 | from launch import LaunchDescription
 4 | from launch_ros.actions import Node
 5 | 
 6 | def generate_launch_description():
 7 | 
 8 |     package_name= 'minibot'
 9 | 
10 |     # Declare the path to files
11 |     joy_params_file = os.path.join(
12 |         get_package_share_directory(package_name), 
13 |         'config', 
14 |         'joystick_params.yaml' 
15 |     )
16 | 
17 |     # joy node
18 |     joy_node = Node(
19 |         package='joy',
20 |         executable='joy_node',
21 |         parameters=[joy_params_file]
22 |     )    
23 | 
24 |     # teleop node
25 |     teleop_node = Node(
26 |         package='teleop_twist_joy',
27 |         executable='teleop_node',
28 |         name= 'teleop_node',
29 |         parameters=[joy_params_file],
30 |         remappings=[('/cmd_vel','joy_vel')]
31 |     )   
32 |         
33 |     # Create the launch description and populate
34 |     ld = LaunchDescription()
35 | 
36 |     # Add the nodes to the launch description
37 |     ld.add_action(joy_node)
38 |     ld.add_action(teleop_node)
39 |    
40 |     # Generate the launch description and 
41 |     return ld
42 | 
43 |     


--------------------------------------------------------------------------------
/launch/robot.launch.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | 
  3 | from ament_index_python.packages import get_package_share_directory
  4 | 
  5 | from launch import LaunchDescription
  6 | from launch.actions import RegisterEventHandler, DeclareLaunchArgument, IncludeLaunchDescription
  7 | from launch.event_handlers import OnProcessStart
  8 | from launch.launch_description_sources import PythonLaunchDescriptionSource
  9 | from launch_ros.actions import Node
 10 | from launch_ros.parameter_descriptions import ParameterValue
 11 | from launch.substitutions import LaunchConfiguration, Command
 12 | 
 13 | 
 14 | # Image Transport Republishers
 15 | # terminal command example: ros2 run image_transport republish raw compressed --ros-args -r in:=/camera/image_raw -r out/compressed:=/camera/image_raw/compressed
 16 | def image_transport_republisher(transport, camera_topics):
 17 |     base_topic = camera_topics.split('/')[-1]
 18 |     
 19 |     return Node(
 20 |         package='image_transport',
 21 |         executable='republish',
 22 |         name=f'image_transport_republish_{transport}_{base_topic}',
 23 |         arguments=['raw', transport],
 24 |         remappings=[
 25 |             ('in', f'/camera/{camera_topics}'),
 26 |             (f'out/{transport}', f'/camera/{camera_topics}/{transport}'),
 27 |         ],
 28 |     )
 29 | 
 30 | def generate_launch_description():
 31 | 
 32 |     package_name= 'minibot'
 33 |     package_dir= get_package_share_directory(package_name) 
 34 | 
 35 |     use_sim_time = LaunchConfiguration('use_sim_time')
 36 |     use_ros2_control = LaunchConfiguration('use_ros2_control')
 37 |     lidar_serial_port = LaunchConfiguration('lidar_serial_port')
 38 | 
 39 |     declare_use_sim_time= DeclareLaunchArgument(
 40 |         'use_sim_time',
 41 |         default_value='false',
 42 |         description='If true, use simulated clock'
 43 |     )
 44 |     
 45 |     declare_use_ros2_control = DeclareLaunchArgument(
 46 |         'use_ros2_control',
 47 |         default_value='true',
 48 |         description='If true, use ros2_control'
 49 |     )
 50 | 
 51 |     declare_lidar_serial_port = DeclareLaunchArgument(
 52 |         'lidar_serial_port',
 53 |         default_value='/dev/ttyUSB0',
 54 |         description='Specifying usb port to connected lidar'
 55 |     )
 56 | 
 57 |     # Declare the path to files
 58 |     robot_description_xacro_file = os.path.join(
 59 |         package_dir,
 60 |         'description',
 61 |         'robot.urdf.xacro'
 62 |     )
 63 | 
 64 |     rviz_config_file_dir = os.path.join(
 65 |         package_dir, 
 66 |         'config', 
 67 |         'minibot_config.rviz'
 68 |     )
 69 | 
 70 |     robot_controllers_file_dir = os.path.join(
 71 |         package_dir, 
 72 |         'config', 
 73 |         'controller.yaml'
 74 |     )
 75 | 
 76 |     
 77 |     twist_mux_params_file = os.path.join(
 78 |         package_dir, 
 79 |         'config', 
 80 |         'twist_mux.yaml'
 81 |     )
 82 | 
 83 |     # robot_state_publisher setup    
 84 |     robot_description_config = Command ([
 85 |         'xacro ', 
 86 |         robot_description_xacro_file, 
 87 |         ' use_ros2_control:=', 
 88 |         use_ros2_control
 89 |         ])
 90 |     
 91 |     params = {
 92 |         'robot_description': ParameterValue(robot_description_config, value_type=str), 
 93 |         'use_sim_time': use_sim_time,
 94 |         'use_ros2_control': use_ros2_control
 95 |     }
 96 | 
 97 |     # robot_state_publisher node
 98 |     node_robot_state_publisher = Node(
 99 |         package='robot_state_publisher',
100 |         executable='robot_state_publisher',
101 |         output='screen',
102 |         parameters=[params]
103 |         
104 |     )
105 |  
106 |     # Image Transport Republishers Node
107 |     camera = 'image_raw'
108 |     depth_camera = 'depth/image_raw'
109 |     image_transports = ['compressed','compressedDepth', 'theora', 'zstd' ]  
110 |     node_image_republishers = [image_transport_republisher(transport, depth_camera) 
111 |                           for transport in image_transports]
112 |  
113 |     # controller spawn
114 |     node_ros2_control = Node(
115 |         package="controller_manager",
116 |         executable="ros2_control_node",
117 |         parameters=[params, 
118 |                     robot_controllers_file_dir
119 |                     ],
120 |     )
121 | 
122 |     joint_state_broadcaster_spawner = Node(
123 |         package="controller_manager",
124 |         executable="spawner",
125 |         arguments=["joint_state_broadcaster"],
126 |     )
127 |     
128 |     diff_drive_controller_spawner = Node(
129 |         package="controller_manager",
130 |         executable="spawner",
131 |         arguments=["diff_drive_controller", 
132 |                    "--param-file", 
133 |                    robot_controllers_file_dir
134 |         ],
135 |     )
136 | 
137 |     node_twist_mux = Node(
138 |         package="twist_mux",
139 |         executable="twist_mux",
140 |         name='twist_mux',
141 |         output='screen',
142 |         parameters=[
143 |             twist_mux_params_file,
144 |             {'use_stamped': True},
145 |         ],
146 |         remappings=[
147 |             ('cmd_vel_out', 
148 |              'diff_drive_controller/cmd_vel'),
149 |         ],
150 |     )
151 | 
152 |     node_twist_stamper = Node(
153 |         package="twist_stamper",
154 |         executable="twist_stamper",
155 |         name='twist_stamper',
156 |         output='screen',
157 |         remappings=[
158 |             ('cmd_vel_in', 'cmd_vel_smoothed'),
159 |             ('cmd_vel_out', 'nav_vel'),
160 |         ],
161 |     )
162 | 
163 |     register_node_ros2_control = RegisterEventHandler(
164 |         event_handler=OnProcessStart(
165 |             target_action= node_robot_state_publisher,
166 |             on_start= [node_ros2_control],
167 |         )
168 |     )
169 | 
170 |     register_joint_state_broadcaster_spawner = RegisterEventHandler(
171 |         event_handler=OnProcessStart(
172 |             target_action= node_ros2_control,
173 |             on_start=[joint_state_broadcaster_spawner],
174 |         )
175 |     )
176 | 
177 |     register_diff_drive_controller_spawner = RegisterEventHandler(
178 |         event_handler=OnProcessStart(
179 |             target_action= joint_state_broadcaster_spawner,
180 |             on_start=[diff_drive_controller_spawner],
181 |         )
182 |     )
183 | 
184 |     node_rplidar_drive = IncludeLaunchDescription(
185 |                 PythonLaunchDescriptionSource([os.path.join(
186 |                     get_package_share_directory('sllidar_ros2'),
187 |                     'launch',
188 |                     'sllidar_c1_launch.py'
189 |                 )]), 
190 |                 launch_arguments={
191 |                     'serial_port': lidar_serial_port, 
192 |                     'frame_id': 'lidar_frame'
193 |                     }.items()
194 |     )
195 | 
196 |     # Create the launch description and populate
197 |     ld = LaunchDescription()
198 | 
199 |     # Add the nodes to the launch description
200 |     ld.add_action(declare_use_sim_time)
201 |     ld.add_action(declare_use_ros2_control)
202 |     ld.add_action(declare_lidar_serial_port)
203 | 
204 |     ld.add_action(register_node_ros2_control)
205 |     ld.add_action(register_joint_state_broadcaster_spawner)
206 |     ld.add_action(register_diff_drive_controller_spawner)
207 | 
208 |     ld.add_action(node_robot_state_publisher)
209 |     ld.add_action(node_twist_mux)
210 |     ld.add_action(node_twist_stamper)
211 |     for node_republisher in node_image_republishers:
212 |         ld.add_action(node_republisher)
213 |     ld.add_action(node_rplidar_drive)
214 | 
215 |     # Generate the launch description  
216 |     return ld
217 | 
218 |     


--------------------------------------------------------------------------------
/launch/robot_remote_station.launch.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | from ament_index_python.packages import get_package_share_directory
  3 | from launch import LaunchDescription
  4 | from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
  5 | from launch.launch_description_sources import PythonLaunchDescriptionSource
  6 | from launch_ros.actions import Node
  7 | from launch.substitutions import LaunchConfiguration, PythonExpression
  8 | from launch.conditions import IfCondition
  9 | 
 10 | def generate_launch_description():
 11 | 
 12 |     package_name= 'minibot'
 13 |     package_dir= get_package_share_directory(package_name) 
 14 | 
 15 |     use_sim_time = LaunchConfiguration('use_sim_time')
 16 |     map = LaunchConfiguration('map')
 17 |     use_slam_option = LaunchConfiguration('use_slam_option')
 18 |     
 19 |     declare_use_sim_time= DeclareLaunchArgument(
 20 |         'use_sim_time',
 21 |         default_value='false',
 22 |         description='If true, use simulated clock'
 23 |     )  
 24 | 
 25 |     declare_map= DeclareLaunchArgument(
 26 |         'map',
 27 |         default_value='./src/minibot/maps/map_01.yaml',
 28 |         description='If true, use simulated clock'
 29 |     )
 30 | 
 31 |     declare_use_slam_option = DeclareLaunchArgument(
 32 |         'use_slam_option',
 33 |         default_value='mapper_params_localization',
 34 |         description='Choose SLAM option: amcl, mapper_params_localization, or online_async_slam'
 35 |     )  
 36 | 
 37 |     # Declare the path to files
 38 |     joy_params_file = os.path.join(
 39 |         get_package_share_directory(package_name), 
 40 |         'config', 
 41 |         'joystick_params.yaml' 
 42 |     )
 43 | 
 44 |     rviz_config_file = os.path.join(
 45 |         get_package_share_directory(package_name), 
 46 |         'config', 
 47 |         'minibot_config.rviz' 
 48 |     )
 49 | 
 50 |     mapper_params_online_async_file = os.path.join(
 51 |         package_dir, 
 52 |         'config', 
 53 |         'mapper_params_online_async.yaml'
 54 |     )
 55 | 
 56 |     mapper_params_localization_file = os.path.join(
 57 |         package_dir, 
 58 |         'config', 
 59 |         'mapper_params_localization.yaml'
 60 |     )
 61 | 
 62 |     nav2_params_file = os.path.join(
 63 |         package_dir, 
 64 |         'config', 
 65 |         'nav2_params.yaml'
 66 |     )
 67 | 
 68 |     # joy node
 69 |     joy_node = Node(
 70 |         package='joy',
 71 |         executable='joy_node',
 72 |         parameters=[joy_params_file]
 73 |     )    
 74 | 
 75 |     # teleop node
 76 |     teleop_node = Node(
 77 |         package='teleop_twist_joy',
 78 |         executable='teleop_node',
 79 |         name= 'teleop_node',
 80 |         parameters=[joy_params_file],
 81 |         remappings=[('/cmd_vel','joy_vel')]
 82 |     )   
 83 |     
 84 |     # rviz2 node
 85 |     node_rviz2 = Node(
 86 |         package='rviz2',
 87 |         executable='rviz2',
 88 |         name='rviz2',
 89 |         arguments=['-d', rviz_config_file],
 90 |         parameters=[{'use_sim_time': False}],
 91 |         output='both'
 92 |     )
 93 |     
 94 |     # online_async_slam launch 
 95 |     online_async_slam = IncludeLaunchDescription(
 96 |                 PythonLaunchDescriptionSource([os.path.join(
 97 |                     get_package_share_directory('slam_toolbox'),
 98 |                     'launch',
 99 |                     'online_async_launch.py'
100 |                 )]), 
101 |                 launch_arguments={
102 |                     'slam_params_file': mapper_params_online_async_file,
103 |                     'use_sim_time': use_sim_time
104 |                 }.items(),
105 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'online_async_slam'"]))         
106 |     )
107 | 
108 |     # nav2_nmapper_params_localization launch 
109 |     mapper_params_localization = IncludeLaunchDescription(
110 |                 PythonLaunchDescriptionSource([os.path.join(
111 |                     get_package_share_directory('slam_toolbox'),
112 |                     'launch',
113 |                     'localization_launch.py'
114 |                 )]), 
115 |                 launch_arguments={
116 |                     'slam_params_file': mapper_params_localization_file,
117 |                     'use_sim_time': use_sim_time
118 |                 }.items(),
119 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'mapper_params_localization'"]))         
120 |     )
121 | 
122 |     # amcl launch 
123 |     amcl = IncludeLaunchDescription(
124 |                 PythonLaunchDescriptionSource([os.path.join(
125 |                     get_package_share_directory('nav2_bringup'),
126 |                     'launch',
127 |                     'localization_launch.py'
128 |                 )]), 
129 |                 launch_arguments={
130 |                     'map': map,
131 |                     'use_sim_time': use_sim_time
132 |                 }.items(),
133 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'amcl'"]))           
134 |     )
135 | 
136 |     # nav2_navigation launch 
137 |     navigation = IncludeLaunchDescription(
138 |                 PythonLaunchDescriptionSource([os.path.join(
139 |                     get_package_share_directory('nav2_bringup'),
140 |                     'launch',
141 |                     'navigation_launch.py'
142 |                 )]), 
143 |                 launch_arguments={
144 |                     'params_file': nav2_params_file,
145 |                     'use_sim_time': use_sim_time
146 |                 }.items()            
147 |     )
148 | 
149 |     
150 | 
151 |      # Create the launch description and populate
152 |     ld = LaunchDescription()
153 |     
154 |     # Add the launch arguments
155 |     ld.add_action(declare_use_sim_time)
156 |     ld.add_action(declare_map)
157 |     ld.add_action(declare_use_slam_option)
158 | 
159 |     # Add the nodes to the launch description
160 |     ld.add_action(joy_node)
161 |     ld.add_action(teleop_node)
162 |     ld.add_action(node_rviz2)
163 | 
164 |     # Add SLAM options
165 |     ld.add_action(online_async_slam)
166 |     ld.add_action(mapper_params_localization)
167 |     ld.add_action(amcl)
168 | 
169 |     # # Add navigation
170 |     ld.add_action(navigation)
171 | 
172 |     # Generate the launch description and 
173 |     return ld
174 | 
175 |     


--------------------------------------------------------------------------------
/launch/sim.launch.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | 
  3 | from ament_index_python.packages import get_package_share_directory
  4 | 
  5 | from launch import LaunchDescription
  6 | from launch.actions import IncludeLaunchDescription, GroupAction, RegisterEventHandler, DeclareLaunchArgument
  7 | from launch.event_handlers import OnProcessStart
  8 | from launch.launch_description_sources import PythonLaunchDescriptionSource
  9 | from launch_ros.actions import Node
 10 | from launch_ros.parameter_descriptions import ParameterValue
 11 | from launch.substitutions import LaunchConfiguration, Command
 12 | 
 13 | 
 14 | # Image Transport Republishers
 15 | # terminal command example: ros2 run image_transport republish raw compressed --ros-args -r in:=/camera/image_raw -r out/compressed:=/camera/image_raw/compressed
 16 | def image_transport_republisher(transport, camera_topics):
 17 |     base_topic = camera_topics.split('/')[-1]
 18 |     
 19 |     return Node(
 20 |         package='image_transport',
 21 |         executable='republish',
 22 |         name=f'image_transport_republish_{transport}_{base_topic}',
 23 |         arguments=['raw', transport],
 24 |         remappings=[
 25 |             ('in', f'/camera/{camera_topics}'),
 26 |             (f'out/{transport}', f'/camera/{camera_topics}/{transport}'),
 27 |         ],
 28 |     )
 29 | 
 30 | def generate_launch_description():
 31 | 
 32 |     package_name= 'minibot'
 33 |     package_dir= get_package_share_directory(package_name) 
 34 | 
 35 |     # Add launch configurations
 36 |     use_sim_time = LaunchConfiguration('use_sim_time')
 37 |     use_ros2_control = LaunchConfiguration('use_ros2_control')
 38 |     use_ros2_control_gz_sim = LaunchConfiguration('use_ros2_control_gz_sim')
 39 | 
 40 |     # Declare launch arguments
 41 |     declare_use_sim_time= DeclareLaunchArgument(
 42 |         'use_sim_time',
 43 |         default_value='true',
 44 |         description='If true, use simulated clock'
 45 |     )
 46 |     
 47 |     declare_use_ros2_control = DeclareLaunchArgument(
 48 |         'use_ros2_control',
 49 |         default_value='true',
 50 |         description='If true, use ros2_control'
 51 |     )
 52 | 
 53 |     declare_use_ros2_control_gz_sim = DeclareLaunchArgument(
 54 |         'use_ros2_control_gz_sim',
 55 |         default_value='true',
 56 |         description='If true, use ros2_control in gz_sim'
 57 |     )
 58 | 
 59 |     # Declare the path to files
 60 |     robot_description_xacro_file = os.path.join(
 61 |         package_dir,
 62 |         'description',
 63 |         'robot.urdf.xacro'
 64 |     )
 65 | 
 66 |     world_file_path = os.path.join(
 67 |         package_dir, 
 68 |         'worlds', 
 69 |         'playground.sdf'
 70 |     )
 71 | 
 72 |     rviz_config_file = os.path.join(
 73 |         package_dir, 
 74 |         'config', 
 75 |         'sim_config.rviz'
 76 |     )
 77 | 
 78 |     robot_controllers_file = os.path.join(
 79 |         package_dir, 
 80 |         'config', 
 81 |         'controller_gz_sim.yaml'
 82 |     )
 83 | 
 84 |     gazebo_params_file = os.path.join(
 85 |         package_dir, 
 86 |         'config', 
 87 |         'gz_params.yaml'
 88 |     )
 89 |     
 90 |     twist_mux_params_file = os.path.join(
 91 |         package_dir, 
 92 |         'config', 
 93 |         'twist_mux.yaml'
 94 |     )
 95 | 
 96 |     # robot_state_publisher setup    
 97 |     robot_description_config = Command ([
 98 |         'xacro ', 
 99 |         robot_description_xacro_file, 
100 |         ' use_ros2_control:=', 
101 |         use_ros2_control,
102 |         ' use_ros2_control_gz_sim:=',
103 |         use_ros2_control_gz_sim,        
104 |         ])
105 |     
106 |     params = {
107 |         'robot_description': ParameterValue(robot_description_config, value_type=str), 
108 |         'use_sim_time': use_sim_time,        
109 |     }
110 | 
111 |     # robot_state_publisher node
112 |     node_robot_state_publisher = Node(
113 |         package='robot_state_publisher',
114 |         executable='robot_state_publisher',
115 |         output='screen',
116 |         parameters=[params]
117 |     )
118 |     
119 |     # gz_bridge node
120 |     # format: '<topic_name>@/[/]<ros2_topic_type_name>@/[/]<gazebo_topic_type_name>',
121 |     # ros2 topic type <topic_name> to check topi type_name in ros2
122 |     # gz topic -t <topic_name> -i to check topic type_name in gazebo
123 |     node_gz_bridge = Node(
124 |         package='ros_gz_bridge',
125 |         executable='parameter_bridge',
126 |         arguments=[
127 |             
128 |             # General
129 |             '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
130 | 
131 |             # Gazebo_Control
132 |             '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
133 |             '/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry',
134 |             '/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model',
135 |             '/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V', 
136 | 
137 |             # Lidar 
138 |             '/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan',
139 |             '/scan/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked',
140 | 
141 |             # Camera
142 |             # '/camera/image_raw@sensor_msgs/msg/Image[gz.msgs.Image',
143 |             # '/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo',
144 | 
145 |             # RGBD Camera
146 |             '/camera/depth/image_raw/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo',
147 |             '/camera/depth/image_raw/depth_image@sensor_msgs/msg/Image[gz.msgs.Image',
148 |             '/camera/depth/image_raw/image@sensor_msgs/msg/Image[gz.msgs.Image',
149 |             '/camera/depth/image_raw/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked',
150 |         ],
151 |         output='screen'
152 |     )
153 | 
154 |     # Image Transport Republishers Node
155 |     camera = 'image_raw'
156 |     depth_camera = 'depth/image_raw'
157 |     image_transports = ['compressed','compressedDepth', 'theora', 'zstd' ]  
158 |     node_image_republishers = [image_transport_republisher(transport, depth_camera) 
159 |                           for transport in image_transports]
160 | 
161 |     # gz launch world
162 |     gazebo = IncludeLaunchDescription(
163 |                 PythonLaunchDescriptionSource([os.path.join(
164 |                     get_package_share_directory('ros_gz_sim'),
165 |                     'launch',
166 |                     'gz_sim.launch.py'
167 |                 )]), 
168 |                 launch_arguments=
169 |                 {'gz_args': f'-r -v 4 {world_file_path}',
170 |                  'extra_gazebo_args': '--ros-args --params-file' + gazebo_params_file}.items()
171 |     )
172 | 
173 |     # gz spawn robot entity 
174 |     node_gz_spawn_entity = Node(
175 |         package='ros_gz_sim',
176 |         executable='create',
177 |         output='screen',
178 |         arguments=['-topic', 'robot_description', 
179 |                 '-name', 'minibot',
180 |                 '-allow_renaming', 'true',
181 |                 '-z', '0.1'],
182 |     )
183 | 
184 |     # rviz2 node
185 |     node_rviz2 = Node(
186 |         package='rviz2',
187 |         executable='rviz2',
188 |         name='rviz2',
189 |         arguments=['-d', rviz_config_file],
190 |         parameters=[{'use_sim_time': True}],
191 |         output='both'
192 |     )
193 | 
194 |     # controller spawn 
195 |     joint_state_broadcaster_spawner = Node(
196 |         package="controller_manager",
197 |         executable="spawner",
198 |         arguments=["joint_state_broadcaster"],
199 |     )
200 |     
201 |     diff_drive_controller_spawner = Node(
202 |         package="controller_manager",
203 |         executable="spawner",
204 |         arguments=["diff_drive_controller", 
205 |                    "--param-file", 
206 |                    robot_controllers_file
207 |         ],
208 |     )
209 | 
210 |     node_twist_mux = Node(
211 |         package="twist_mux",
212 |         executable="twist_mux",
213 |         name='twist_mux',
214 |         output='screen',
215 |         parameters=[
216 |             twist_mux_params_file,
217 |             {'use_stamped': True},
218 |         ],
219 |         remappings=[
220 |             ('cmd_vel_out', 
221 |              'diff_drive_controller/cmd_vel'),
222 |         ],
223 |     )
224 | 
225 |     node_twist_stamper = Node(
226 |         package="twist_stamper",
227 |         executable="twist_stamper",
228 |         name='twist_stamper',
229 |         output='screen',
230 |         remappings=[
231 |             ('cmd_vel_in', 'cmd_vel_smoothed'),
232 |             ('cmd_vel_out', 'nav_vel'),
233 |         ],
234 |     )
235 | 
236 |     register_joint_state_broadcaster_spawner = RegisterEventHandler(
237 |         event_handler=OnProcessStart(
238 |             target_action= node_gz_spawn_entity,
239 |             on_start= [joint_state_broadcaster_spawner],
240 |         )
241 |     )
242 | 
243 |     register_diff_drive_controller_spawner = RegisterEventHandler(
244 |         event_handler=OnProcessStart(
245 |             target_action= joint_state_broadcaster_spawner,
246 |             on_start= [diff_drive_controller_spawner],
247 |         )
248 |     )
249 | 
250 |     group_spawn_gz= GroupAction(
251 |         [gazebo, 
252 |          node_gz_spawn_entity,
253 |         ]
254 |     )
255 | 
256 | 
257 |     # Create the launch description and populate
258 |     ld = LaunchDescription()
259 | 
260 |     # Add the nodes to the launch description
261 |     ld.add_action(declare_use_sim_time)
262 |     ld.add_action(declare_use_ros2_control)
263 |     ld.add_action(declare_use_ros2_control_gz_sim)
264 | 
265 |     ld.add_action(register_joint_state_broadcaster_spawner)
266 |     ld.add_action(register_diff_drive_controller_spawner)
267 | 
268 |     ld.add_action(node_robot_state_publisher)
269 |     ld.add_action(node_twist_mux)
270 |     ld.add_action(node_twist_stamper)
271 |     ld.add_action(node_gz_bridge)
272 |     for node_republisher in node_image_republishers:
273 |         ld.add_action(node_republisher)
274 |     ld.add_action(group_spawn_gz)
275 |     ld.add_action(node_rviz2)
276 | 
277 |     # Generate the launch description  
278 |     return ld
279 | 
280 |     


--------------------------------------------------------------------------------
/launch/sim_control_station.launch.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | from ament_index_python.packages import get_package_share_directory
  3 | from launch import LaunchDescription
  4 | from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
  5 | from launch.launch_description_sources import PythonLaunchDescriptionSource
  6 | from launch_ros.actions import Node
  7 | from launch.substitutions import LaunchConfiguration, PythonExpression
  8 | from launch.conditions import IfCondition
  9 | 
 10 | def generate_launch_description():
 11 | 
 12 |     package_name= 'minibot'
 13 |     package_dir= get_package_share_directory(package_name) 
 14 | 
 15 |     use_sim_time = LaunchConfiguration('use_sim_time')
 16 |     map = LaunchConfiguration('map')
 17 |     use_slam_option = LaunchConfiguration('use_slam_option')
 18 |     
 19 |     declare_use_sim_time= DeclareLaunchArgument(
 20 |         'use_sim_time',
 21 |         default_value='true',
 22 |         description='If true, use simulated clock'
 23 |     )  
 24 | 
 25 |     declare_map= DeclareLaunchArgument(
 26 |         'map',
 27 |         default_value='./src/minibot/maps/sample_map.yaml',
 28 |         description='If true, use simulated clock'
 29 |     )
 30 | 
 31 |     declare_use_slam_option = DeclareLaunchArgument(
 32 |         'use_slam_option',
 33 |         default_value='online_async_slam',
 34 |         description='Choose SLAM option: amcl, mapper_params_localization, or online_async_slam'
 35 |     )  
 36 | 
 37 |     # Declare the path to files
 38 |     joy_params_file = os.path.join(
 39 |         get_package_share_directory(package_name), 
 40 |         'config', 
 41 |         'joystick_params.yaml' 
 42 |     )
 43 | 
 44 |     mapper_params_online_async_file = os.path.join(
 45 |         package_dir, 
 46 |         'config', 
 47 |         'mapper_params_online_async.yaml'
 48 |     )
 49 | 
 50 |     mapper_params_localization_file = os.path.join(
 51 |         package_dir, 
 52 |         'config', 
 53 |         'mapper_params_localization.yaml'
 54 |     )
 55 | 
 56 |     nav2_params_file = os.path.join(
 57 |         package_dir, 
 58 |         'config', 
 59 |         'nav2_params.yaml'
 60 |     )
 61 | 
 62 |     # joy node
 63 |     joy_node = Node(
 64 |         package='joy',
 65 |         executable='joy_node',
 66 |         parameters=[joy_params_file]
 67 |     )    
 68 | 
 69 |     # teleop node
 70 |     teleop_node = Node(
 71 |         package='teleop_twist_joy',
 72 |         executable='teleop_node',
 73 |         name= 'teleop_node',
 74 |         parameters=[joy_params_file],
 75 |         remappings=[('/cmd_vel','joy_vel')]
 76 |     )   
 77 |         
 78 |     # online_async_slam launch 
 79 |     online_async_slam = IncludeLaunchDescription(
 80 |                 PythonLaunchDescriptionSource([os.path.join(
 81 |                     get_package_share_directory('slam_toolbox'),
 82 |                     'launch',
 83 |                     'online_async_launch.py'
 84 |                 )]), 
 85 |                 launch_arguments={
 86 |                     'slam_params_file': mapper_params_online_async_file,
 87 |                     'use_sim_time': use_sim_time
 88 |                 }.items(),
 89 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'online_async_slam'"]))         
 90 |     )
 91 | 
 92 |     # nav2_nmapper_params_localization launch 
 93 |     mapper_params_localization = IncludeLaunchDescription(
 94 |                 PythonLaunchDescriptionSource([os.path.join(
 95 |                     get_package_share_directory('slam_toolbox'),
 96 |                     'launch',
 97 |                     'localization_launch.py'
 98 |                 )]), 
 99 |                 launch_arguments={
100 |                     'slam_params_file': mapper_params_localization_file,
101 |                     'use_sim_time': use_sim_time
102 |                 }.items(),
103 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'mapper_params_localization'"]))         
104 |     )
105 | 
106 |     # amcl launch 
107 |     amcl = IncludeLaunchDescription(
108 |                 PythonLaunchDescriptionSource([os.path.join(
109 |                     get_package_share_directory('nav2_bringup'),
110 |                     'launch',
111 |                     'localization_launch.py'
112 |                 )]), 
113 |                 launch_arguments={
114 |                     'map': map,
115 |                     'use_sim_time': use_sim_time
116 |                 }.items(),
117 |                 condition=IfCondition(PythonExpression(["'", use_slam_option, "' == 'amcl'"]))           
118 |     )
119 | 
120 |     # nav2_navigation launch 
121 |     navigation = IncludeLaunchDescription(
122 |                 PythonLaunchDescriptionSource([os.path.join(
123 |                     get_package_share_directory('nav2_bringup'),
124 |                     'launch',
125 |                     'navigation_launch.py'
126 |                 )]), 
127 |                 launch_arguments={
128 |                     'params_file': nav2_params_file,
129 |                     'use_sim_time': use_sim_time
130 |                 }.items()            
131 |     )
132 | 
133 |     
134 | 
135 |      # Create the launch description and populate
136 |     ld = LaunchDescription()
137 |     
138 |     # Add the launch arguments
139 |     ld.add_action(declare_use_sim_time)
140 |     ld.add_action(declare_map)
141 |     ld.add_action(declare_use_slam_option)
142 | 
143 |     # Add the nodes to the launch description
144 |     ld.add_action(joy_node)
145 |     ld.add_action(teleop_node)
146 | 
147 |     # Add SLAM options
148 |     ld.add_action(online_async_slam)
149 |     ld.add_action(mapper_params_localization)
150 |     ld.add_action(amcl)
151 | 
152 |     # Add navigation
153 |     ld.add_action(navigation)
154 | 
155 |     # Generate the launch description and 
156 |     return ld
157 | 
158 |     


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/maps/map_01.pgm:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/map_01.pgm


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/maps/map_01.yaml:
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1 | image: map_01.pgm
2 | mode: trinary
3 | resolution: 0.05
4 | origin: [-0.225, -0.699, 0]
5 | negate: 0
6 | occupied_thresh: 0.65
7 | free_thresh: 0.25


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/maps/map_01_serial.data:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/map_01_serial.data


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/maps/map_01_serial.posegraph:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/map_01_serial.posegraph


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/maps/sample_map.pgm:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/sample_map.pgm


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/maps/sample_map.yaml:
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1 | image: sample_map.pgm
2 | mode: trinary
3 | resolution: 0.05
4 | origin: [-3.1, -5.6, 0]
5 | negate: 0
6 | occupied_thresh: 0.65
7 | free_thresh: 0.25


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/maps/sample_map_serial.data:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/sample_map_serial.data


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/maps/sample_map_serial.posegraph:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/maps/sample_map_serial.posegraph


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>minibot</name>
 5 |   <version>1.0.0</version>
 6 |   <description>Differerntial drive robot system using Jazzy Jalisco</description>
 7 |   <maintainer email="tyjun0528@gmail.com">yj0528</maintainer>
 8 |   <license>Apache-2.0</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 |   <depend>rclcpp</depend>
12 |   <depend>geometry_msgs</depend>
13 |   <test_depend>ament_lint_auto</test_depend>
14 |   <test_depend>ament_lint_common</test_depend>
15 | 
16 |   <export>
17 |     <build_type>ament_cmake</build_type>
18 |   </export>
19 | </package>
20 | 


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/visual_demos/Nav2_demostration-ezgif.com-video-to-gif-converter.gif:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/visual_demos/Nav2_demostration-ezgif.com-video-to-gif-converter.gif


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/visual_demos/SLAM_demostration-ezgif.com-video-to-gif-converter.gif:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/visual_demos/SLAM_demostration-ezgif.com-video-to-gif-converter.gif


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/visual_demos/robot_hardware.jpg:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/visual_demos/robot_hardware.jpg


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/visual_demos/robot_visual.jpg:
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https://raw.githubusercontent.com/YJ0528/minibot/349140cfcdfd9b79d6a6c96f9aa2ac924f9f5378/visual_demos/robot_visual.jpg


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/worlds/empty.sdf:
--------------------------------------------------------------------------------
 1 | <sdf version='1.10'>
 2 |   <world name='empty'>
 3 |     <physics name='1ms' type='ignored'>
 4 |       <max_step_size>0.001</max_step_size>
 5 |       <real_time_factor>1</real_time_factor>
 6 |       <real_time_update_rate>1000</real_time_update_rate>
 7 |     </physics>
 8 |     <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
 9 |     <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
10 |     <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
11 |     <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
12 |     <gravity>0 0 -9.8000000000000007</gravity>
13 |     <magnetic_field>5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05</magnetic_field>
14 |     <atmosphere type='adiabatic'/>
15 |     <scene>
16 |       <ambient>0.400000006 0.400000006 0.400000006 1</ambient>
17 |       <background>0.699999988 0.699999988 0.699999988 1</background>
18 |       <shadows>true</shadows>
19 |     </scene>
20 |     <model name='ground_plane'>
21 |       <static>true</static>
22 |       <link name='link'>
23 |         <collision name='collision'>
24 |           <geometry>
25 |             <plane>
26 |               <normal>0 0 1</normal>
27 |               <size>100 100</size>
28 |             </plane>
29 |           </geometry>
30 |           <surface>
31 |             <friction>
32 |               <ode/>
33 |             </friction>
34 |             <bounce/>
35 |             <contact/>
36 |           </surface>
37 |         </collision>
38 |         <visual name='visual'>
39 |           <geometry>
40 |             <plane>
41 |               <normal>0 0 1</normal>
42 |               <size>100 100</size>
43 |             </plane>
44 |           </geometry>
45 |           <material>
46 |             <ambient>0.800000012 0.800000012 0.800000012 1</ambient>
47 |             <diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
48 |             <specular>0.800000012 0.800000012 0.800000012 1</specular>
49 |           </material>
50 |         </visual>
51 |         <pose>0 0 0 0 0 0</pose>
52 |         <inertial>
53 |           <pose>0 0 0 0 0 0</pose>
54 |           <mass>1</mass>
55 |           <inertia>
56 |             <ixx>1</ixx>
57 |             <ixy>0</ixy>
58 |             <ixz>0</ixz>
59 |             <iyy>1</iyy>
60 |             <iyz>0</iyz>
61 |             <izz>1</izz>
62 |           </inertia>
63 |         </inertial>
64 |         <enable_wind>false</enable_wind>
65 |       </link>
66 |       <pose>0 0 0 0 0 0</pose>
67 |       <self_collide>false</self_collide>
68 |     </model>
69 |     <light name='sun' type='directional'>
70 |       <pose>0 0 10 0 0 0</pose>
71 |       <cast_shadows>true</cast_shadows>
72 |       <intensity>1</intensity>
73 |       <direction>-0.5 0.10000000000000001 -0.90000000000000002</direction>
74 |       <diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
75 |       <specular>0.200000003 0.200000003 0.200000003 1</specular>
76 |       <attenuation>
77 |         <range>1000</range>
78 |         <linear>0.01</linear>
79 |         <constant>0.90000000000000002</constant>
80 |         <quadratic>0.001</quadratic>
81 |       </attenuation>
82 |       <spot>
83 |         <inner_angle>0</inner_angle>
84 |         <outer_angle>0</outer_angle>
85 |         <falloff>0</falloff>
86 |       </spot>
87 |     </light>
88 |   </world>
89 | </sdf>
90 | 


--------------------------------------------------------------------------------
/worlds/playground.sdf:
--------------------------------------------------------------------------------
 1 | <sdf version='1.10'>
 2 |   <world name='empty'>
 3 |     <physics name='1ms' type='ignored'>
 4 |       <max_step_size>0.001</max_step_size>
 5 |       <real_time_factor>1</real_time_factor>
 6 |       <real_time_update_rate>1000</real_time_update_rate>
 7 |     </physics>
 8 |     <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
 9 |     <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
10 |     <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
11 |     <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
12 |     <gravity>0 0 -9.8000000000000007</gravity>
13 |     <magnetic_field>5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05</magnetic_field>
14 |     <atmosphere type='adiabatic'/>
15 |     <scene>
16 |       <ambient>0.400000006 0.400000006 0.400000006 1</ambient>
17 |       <background>0.699999988 0.699999988 0.699999988 1</background>
18 |       <shadows>true</shadows>
19 |     </scene>
20 |     <model name='ground_plane'>
21 |       <static>true</static>
22 |       <link name='link'>
23 |         <collision name='collision'>
24 |           <geometry>
25 |             <plane>
26 |               <normal>0 0 1</normal>
27 |               <size>100 100</size>
28 |             </plane>
29 |           </geometry>
30 |           <surface>
31 |             <friction>
32 |               <ode/>
33 |             </friction>
34 |             <bounce/>
35 |             <contact/>
36 |           </surface>
37 |         </collision>
38 |         <visual name='visual'>
39 |           <geometry>
40 |             <plane>
41 |               <normal>0 0 1</normal>
42 |               <size>100 100</size>
43 |             </plane>
44 |           </geometry>
45 |           <material>
46 |             <ambient>0.800000012 0.800000012 0.800000012 1</ambient>
47 |             <diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
48 |             <specular>0.800000012 0.800000012 0.800000012 1</specular>
49 |           </material>
50 |         </visual>
51 |         <pose>0 0 0 0 0 0</pose>
52 |         <inertial>
53 |           <pose>0 0 0 0 0 0</pose>
54 |           <mass>1</mass>
55 |           <inertia>
56 |             <ixx>1</ixx>
57 |             <ixy>0</ixy>
58 |             <ixz>0</ixz>
59 |             <iyy>1</iyy>
60 |             <iyz>0</iyz>
61 |             <izz>1</izz>
62 |           </inertia>
63 |         </inertial>
64 |         <enable_wind>false</enable_wind>
65 |       </link>
66 |       <pose>0 0 0 0 0 0</pose>
67 |       <self_collide>false</self_collide>
68 |     </model>
69 |     <light name='sun' type='directional'>
70 |       <pose>0 0 10 0 0 0</pose>
71 |       <cast_shadows>true</cast_shadows>
72 |       <intensity>1</intensity>
73 |       <direction>-0.5 0.10000000000000001 -0.90000000000000002</direction>
74 |       <diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
75 |       <specular>0.200000003 0.200000003 0.200000003 1</specular>
76 |       <attenuation>
77 |         <range>1000</range>
78 |         <linear>0.01</linear>
79 |         <constant>0.90000000000000002</constant>
80 |         <quadratic>0.001</quadratic>
81 |       </attenuation>
82 |       <spot>
83 |         <inner_angle>0</inner_angle>
84 |         <outer_angle>0</outer_angle>
85 |         <falloff>0</falloff>
86 |       </spot>
87 |     </light>
88 | 
89 |     <include>
90 |       <pose>0 0 0 0 0 1.57</pose>
91 |       <uri>
92 |       https://fuel.gazebosim.org/1.0/OpenRobotics/models/Playground
93 |       </uri>
94 |     </include>
95 | 
96 |   </world>
97 | </sdf>
98 | 


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