├── .github └── workflows │ ├── humble.yaml │ └── jazzy.yaml ├── .resources ├── floor_is_lava_map.png ├── floor_is_lava_world.png ├── parking_garage_map.png ├── parking_garage_world.png ├── tray_map.png └── tray_world.png ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── mesh_navigation_tutorials ├── CMakeLists.txt ├── config │ ├── ekf.yaml │ ├── mbf_mesh_nav.yaml │ └── rmcl_micpl.yaml ├── launch │ ├── mbf_mesh_navigation_server_launch.py │ └── mesh_navigation_tutorial_launch.py ├── maps │ ├── floor_is_lava.dae │ ├── floor_is_lava.h5 │ ├── floor_is_lava.ply │ ├── floor_is_lava_s3.dae │ ├── floor_is_lava_s3.h5 │ ├── floor_is_lava_s3.ply │ ├── parking_garage.dae │ ├── parking_garage.h5 │ ├── parking_garage.ply │ ├── parking_garage_s4.dae │ ├── parking_garage_s4.h5 │ ├── parking_garage_s4.ply │ ├── tray.dae │ ├── tray.h5 │ ├── tray.ply │ ├── tray_s4.dae │ ├── tray_s4.h5 │ └── tray_s4.ply ├── package.xml └── rviz │ └── default.rviz ├── mesh_navigation_tutorials_sim ├── CMakeLists.txt ├── config │ └── ros_gazebo_bridge.yaml ├── hooks │ ├── mesh_navigation_tutorials_sim.dsv.in │ └── mesh_navigation_tutorials_sim.sh.in ├── launch │ ├── ground_truth_localization_launch.xml │ └── simulation_launch.py ├── meshes │ └── wheel.stl ├── models │ ├── floor_is_lava │ │ ├── meshes │ │ │ ├── floor_is_lava.dae │ │ │ └── floor_is_lava.ply │ │ ├── model.config │ │ └── model.sdf │ ├── parking_garage │ │ ├── meshes │ │ │ ├── parking_garage.dae │ │ │ └── parking_garage_flipped.dae │ │ ├── model.config │ │ └── model.sdf │ └── tray │ │ ├── meshes │ │ ├── tray.dae │ │ └── tray.ply │ │ ├── model.config │ │ └── model.sdf ├── package.xml ├── src │ └── ground_truth_localization.cpp ├── urdf │ ├── ceres.urdf.xacro │ ├── common.urdf.xacro │ └── wheel.urdf.xacro └── worlds │ ├── floor_is_lava.sdf │ ├── parking_garage.sdf │ └── tray.sdf ├── pyproject.toml └── source_dependencies.yaml /.github/workflows/humble.yaml: -------------------------------------------------------------------------------- 1 | name: Humble CI 2 | 3 | on: 4 | push: 5 | branches: 6 | - 'main' 7 | pull_request: 8 | workflow_dispatch: 9 | branches: 10 | - '*' 11 | 12 | jobs: 13 | humble_build_and_test: 14 | uses: naturerobots/github_automation_public/.github/workflows/ros_ci.yaml@main 15 | secrets: inherit 16 | with: 17 | ros_distro: humble 18 | -------------------------------------------------------------------------------- /.github/workflows/jazzy.yaml: -------------------------------------------------------------------------------- 1 | name: Jazzy CI 2 | 3 | on: 4 | push: 5 | branches: 6 | - 'main' 7 | pull_request: 8 | workflow_dispatch: 9 | branches: 10 | - '*' 11 | 12 | jobs: 13 | jazzy_build_and_test: 14 | uses: naturerobots/github_automation_public/.github/workflows/ros_ci.yaml@main 15 | secrets: inherit 16 | with: 17 | ros_distro: jazzy 18 | -------------------------------------------------------------------------------- /.resources/floor_is_lava_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/floor_is_lava_map.png -------------------------------------------------------------------------------- /.resources/floor_is_lava_world.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/floor_is_lava_world.png -------------------------------------------------------------------------------- /.resources/parking_garage_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/parking_garage_map.png -------------------------------------------------------------------------------- /.resources/parking_garage_world.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/parking_garage_world.png -------------------------------------------------------------------------------- /.resources/tray_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/tray_map.png -------------------------------------------------------------------------------- /.resources/tray_world.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/.resources/tray_world.png -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | Any contribution that you make to this repository will 2 | be under the 3-Clause BSD License, as dictated by that 3 | [license](https://opensource.org/licenses/BSD-3-Clause). 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2024, Nature Robots 4 | 5 | Redistribution and use in source and binary forms, with or without 6 | modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this 9 | list of conditions and the following disclaimer. 10 | 11 | 2. Redistributions in binary form must reproduce the above copyright notice, 12 | this list of conditions and the following disclaimer in the documentation 13 | and/or other materials provided with the distribution. 14 | 15 | 3. Neither the name of the copyright holder nor the names of its 16 | contributors may be used to endorse or promote products derived from 17 | this software without specific prior written permission. 18 | 19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 23 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 24 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 25 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 26 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 27 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 28 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 29 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | [![Jazzy CI](https://github.com/naturerobots/mesh_navigation_tutorials/actions/workflows/jazzy.yaml/badge.svg)](https://github.com/naturerobots/mesh_navigation_tutorials/actions/workflows/jazzy.yaml) 2 | [![Humble CI](https://github.com/naturerobots/mesh_navigation_tutorials/actions/workflows/humble.yaml/badge.svg)](https://github.com/naturerobots/mesh_navigation_tutorials/actions/workflows/humble.yaml) 3 | 4 |
5 |

6 | Mesh Navigation Tutorials 7 |

8 |
9 | 10 |
11 | Mesh Navigation 12 |   •   13 | Documentation 14 |   •   15 | Videos 16 |   •   17 | Issues 18 |
19 |
20 | 21 | 22 |
23 | 24 | This repository contains a set of examples to quickly and easily start with [mesh_navigation](https://github.com/naturerobots/mesh_navigation). 25 | We provide different scenarios where our approach excels over state-of-the art 2D or 2.5D approaches. 26 | We will explain different parameter sets in more detail and show how to fine-tune [mesh_navigation](https://github.com/naturerobots/mesh_navigation) in various scenarios. 27 | Our example worlds consists of both real-world and hand-modelled scenarios. 28 | With the hand-modelled examples we particularly aim to support low-end computers or laptops. 29 | 30 | 31 | *Note*: Because of an great interest of people we talked to, we decided to release this repository in an unfinished state. It is still under construction and will be extended by more synthetic and real-world recorded worlds and detailed docs. It's open-source: Feel free to contribute. 32 | 33 | ## Requirements and Installation 34 | 35 | * You need a working ROS 2 installation. We target `humble` at the moment. 36 | * Go into a ROS 2 workspace's source directory `cd $YOUR_ROS_WS/src`. 37 | * Clone the tutorial code `git clone git@github.com:naturerobots/mesh_navigation_tutorials.git` 38 | * Get the tutorial's ROS 2 dependencies 39 | * Clone source dependencies: Run `vcs import --input mesh_navigation_tutorials/source_dependencies.yaml` in your ROS 2 workspace source directory. 40 | * Get packaged dependencies: Run `rosdep install --from-paths . --ignore-src -r -y` from within your ROS 2 workspace source directory. 41 | * Build: Go to workspace root `cd $YOUR_ROS_WS` and run `colcon build --packages-up-to mesh_navigation_tutorials`. 42 | 43 | ## Run the Examples 44 | 45 | ### Launch 46 | ```console 47 | ros2 launch mesh_navigation_tutorials mesh_navigation_tutorial_launch.py world_name:=floor_is_lava 48 | ``` 49 | 50 | You change `floor_is_lava` by any world name that is available with this repository (see all by calling launch file with `--show-args`). Those are: 51 | 52 | | Name | World | Default Map | Description | 53 | |------|-------|-----|-------------| 54 | | tray | ![tray_world](.resources/tray_world.png) | ![tray_map](.resources/tray_map.png)| This world is a rectangular area with a wall around the perimeter. | 55 | | floor_is_lava | ![floor_is_lava_world](.resources/floor_is_lava_world.png) | ![floor_is_lava_map](.resources/floor_is_lava_map.png)| This world contains a square area with with two pits and a connecting section at a slightly higher elevation. 56 | | parking_garage | ![parking_garage_world](.resources/parking_garage_world.png) | ![parking_garage_map](.resources/parking_garage_map.png)| This world represents a parking garage with multiple floors connected by ramps. | 57 | 58 | When running a simulated world, you can save some resources by not running the gazebo GUI: Add the `start_gazebo_gui:=False` launch argument. 59 | 60 | ### Rviz GUI 61 | In rviz, you should be able to see the mesh map. 62 | This map is being used for navigation. 63 | 64 | In order to make the robot move, find the "Mesh Goal" tool at the top. 65 | With it, you can click on any part of the mesh. 66 | Click and hold to set a goal pose. 67 | The MbfGoalActions rviz plugin contains a very tiny state machine that performs the following actions: 68 | * subscribe to that goal pose 69 | * get a path to that pose 70 | * execute that path 71 | 72 | ## Detailed Instructions 73 | 74 | For more detailed instructions on how to parameterize things or what things can be changed see the [wiki](https://github.com/naturerobots/mesh_navigation_tutorials/wiki) 75 | 76 | 77 | ## Related Repositories 78 | - [Move Base Flex](https://github.com/magazino/move_base_flex) ([IROS 2018](https://doi.org/10.1109/IROS.2018.8593829)) 79 | - [Mesh Tools](https://github.com/naturerobots/mesh_tools) ([RAS 2021](https://doi.org/10.1016/j.robot.2020.103688)) 80 | - [Mesh Navigation](https://github.com/naturerobots/mesh_navigation) ([ICRA 2021 paper for Continuous Vector Field Planner, CVP](https://doi.org/10.1109/ICRA48506.2021.9560981)) 81 | - [Rmagine](https://github.com/uos/rmagine) ([ICRA 2023](https://doi.org/10.1109/ICRA48891.2023.10161388)) 82 | - [MICP-L](https://github.com/uos/rmcl) ([IROS 2024](https://arxiv.org/abs/2210.13904)) 83 | - [RMCL](https://github.com/uos/rmcl) 84 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(mesh_navigation_tutorials) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic -Werror) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | 11 | # install 12 | install(DIRECTORY config launch rviz maps 13 | DESTINATION share/${PROJECT_NAME} 14 | ) 15 | 16 | # test 17 | if(BUILD_TESTING) 18 | find_package(ament_lint_auto REQUIRED) 19 | ament_lint_auto_find_test_dependencies() 20 | endif() 21 | 22 | ament_package() 23 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/config/ekf.yaml: -------------------------------------------------------------------------------- 1 | ekf_filter_node: 2 | ros__parameters: 3 | frequency: 50.0 4 | two_d_mode: true 5 | 6 | debug: false 7 | 8 | map_frame: map # Defaults to "map" if unspecified 9 | odom_frame: odom # Defaults to "odom" if unspecified 10 | base_link_frame: base_footprint # Defaults to "base_link" if unspecified 11 | world_frame: odom # Defaults to the value of odom_frame if unspecified 12 | 13 | odom0: /odom 14 | odom0_config: [false, false, false, #xyz 15 | false, false, false, # rpy 16 | true, false, false, #vxyz 17 | false, false, true, #vrpy 18 | false, false, false] #axyz 19 | 20 | odom0_differential: false 21 | # odom0_relative: true 22 | 23 | imu0: /imu/data 24 | imu0_config: [false, false, false, #xyz 25 | false, false, false, # rpy 26 | false, false, false, #vxyz 27 | true, true, true, #vrpy 28 | false, false, false] #axyz 29 | imu0_differential: false 30 | 31 | use_control: false 32 | 33 | # Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to 34 | # false. 35 | stamped_control: true 36 | 37 | # The last issued control command will be used in prediction for this period. Defaults to 0.2. 38 | control_timeout: 0.2 39 | 40 | # Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. 41 | control_config: [true, false, false, false, false, true] 42 | 43 | # Places limits on how large the acceleration term will be. Should match your robot's kinematics. 44 | acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] 45 | 46 | # Acceleration and deceleration limits are not always the same for robots. 47 | deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] 48 | 49 | # If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these 50 | # gains 51 | acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] 52 | 53 | # If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these 54 | # gains 55 | deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] 56 | # imu0_relative: true 57 | 58 | # imu0_remove_gravitational_acceleration: true 59 | 60 | # process_noise_covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 61 | # 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 62 | # 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 63 | # 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 64 | # 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 65 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 66 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 67 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 68 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 69 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 70 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 71 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 72 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 73 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 74 | # 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1] 75 | 76 | # [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal 77 | # value (variance) to a large value will result in rapid convergence for initial measurements of the variable in 78 | # question. Users should take care not to use large values for variables that will not be measured directly. The values 79 | # are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the diagonal values below 80 | # if unspecified. In this example, we specify only the diagonal of the matrix. 81 | # initial_estimate_covariance: [1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9] -------------------------------------------------------------------------------- /mesh_navigation_tutorials/config/mbf_mesh_nav.yaml: -------------------------------------------------------------------------------- 1 | move_base_flex: 2 | ros__parameters: 3 | global_frame: 'map' 4 | robot_frame: 'base_footprint' 5 | odom_topic: 'odom' 6 | 7 | use_sim_time: true 8 | force_stop_at_goal: true 9 | force_stop_on_cancel: true 10 | 11 | planners: ['mesh_planner'] 12 | mesh_planner: 13 | type: 'cvp_mesh_planner/CVPMeshPlanner' 14 | cost_limit: 0.8 15 | publish_vector_field: true 16 | planner_patience: 10.0 17 | planner_max_retries: 2 18 | project_path_onto_mesh: false 19 | 20 | controllers: ['mesh_controller'] 21 | mesh_controller: 22 | type: 'mesh_controller/MeshController' 23 | ang_vel_factor: 7.0 24 | lin_vel_factor: 1.0 25 | 26 | controller_patience: 2.0 27 | controller_max_retries: 4 28 | dist_tolerance: 0.2 29 | angle_tolerance: 0.8 30 | cmd_vel_ignored_tolerance: 10.0 31 | 32 | mesh_map: 33 | # input 34 | # mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' 35 | mesh_part: '/' 36 | # storage 37 | # mesh_working_file: 'parking_garage.h5' 38 | mesh_working_part: 'mesh' 39 | 40 | # half-edge-mesh implementation 41 | hem: pmp # pmp (default), lvr 42 | 43 | layers: ['border', 'height_diff', 'roughness', 'inflation'] 44 | 45 | height_diff: 46 | type: 'mesh_layers/HeightDiffLayer' 47 | factor: 1.0 48 | threshold: 0.8 49 | 50 | border: 51 | type: 'mesh_layers/BorderLayer' 52 | factor: 1.0 53 | border_cost: 1.0 54 | threshold: 0.2 55 | 56 | roughness: 57 | type: 'mesh_layers/RoughnessLayer' 58 | factor: 1.0 59 | threshold: 0.8 60 | 61 | inflation: 62 | type: 'mesh_layers/InflationLayer' 63 | factor: 1.0 64 | inflation_radius: 0.2 65 | inscribed_radius: 0.4 66 | lethal_value: 1.0 67 | inscribed_value: 0.8 68 | repulsive_field: false 69 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/config/rmcl_micpl.yaml: -------------------------------------------------------------------------------- 1 | micp_localization: 2 | ros__parameters: 3 | 4 | # required 5 | base_frame: base_footprint 6 | map_frame: map 7 | odom_frame: odom 8 | 9 | # rate of broadcasting tf transformations 10 | tf_rate: 50.0 11 | 12 | micp: 13 | # merging on gpu or cpu 14 | combining_unit: cpu 15 | # maximum number of correction steps per second 16 | # lower this to decrease the correction speed but save energy 17 | corr_rate_max: 20.0 18 | 19 | # adjust max distance dependend of the state of localization 20 | adaptive_max_dist: True # enable adaptive max dist 21 | 22 | # DEBUGGING 23 | # corr = correspondences 24 | viz_corr: True 25 | # corr = correction 26 | print_corr_rate: False 27 | disable_corr: False 28 | 29 | # initial pose changes 30 | trans: [0.0, 0.0, 0.0] 31 | rot: [0.0, 0.0, 0.0] # euler angles (3) or quaternion (4) 32 | 33 | # describe your sensor setup here 34 | sensors: # list of range sensors - at least one is required 35 | laser3d: 36 | topic: cloud 37 | topic_type: sensor_msgs/msg/PointCloud2 38 | # normally it could also be a more memory-friendly spherical sensor model. 39 | # However, I dont trust the Gazebo sensor 40 | type: o1dn 41 | model: 42 | range_min: 0.5 43 | range_max: 130.0 44 | orig: [0.0, 0.0, 0.0] -------------------------------------------------------------------------------- /mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2024 Nature Robots GmbH 2 | # 3 | # Redistribution and use in source and binary forms, with or without 4 | # modification, are permitted provided that the following conditions are met: 5 | # 6 | # * Redistributions of source code must retain the above copyright 7 | # notice, this list of conditions and the following disclaimer. 8 | # 9 | # * Redistributions in binary form must reproduce the above copyright 10 | # notice, this list of conditions and the following disclaimer in the 11 | # documentation and/or other materials provided with the distribution. 12 | # 13 | # * Neither the name of the Nature Robots GmbH nor the names of its 14 | # contributors may be used to endorse or promote products derived from 15 | # this software without specific prior written permission. 16 | # 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | # POSSIBILITY OF SUCH DAMAGE. 28 | 29 | 30 | import os 31 | 32 | from ament_index_python.packages import get_package_share_directory 33 | 34 | from launch import LaunchDescription 35 | from launch.actions import DeclareLaunchArgument 36 | from launch.substitutions import LaunchConfiguration 37 | 38 | from launch_ros.actions import Node 39 | 40 | 41 | def generate_launch_description(): 42 | launch_args = [ 43 | DeclareLaunchArgument( 44 | "mesh_map_path", 45 | description="Path to the mesh file that defines the map." 46 | "Allowed formats are our internal HDF5 format and all" 47 | "standard mesh formats loadable by Assimp.", 48 | ), 49 | DeclareLaunchArgument( 50 | "mesh_map_working_path", 51 | description="Path to the mesh file used by the mesh navigation " 52 | "to store costs during operation. Only HDF5 formats are permitted.", 53 | ), 54 | ] 55 | mesh_map_path = LaunchConfiguration("mesh_map_path") 56 | mesh_map_working_path = LaunchConfiguration("mesh_map_working_path") 57 | 58 | mbf_mesh_nav_config = os.path.join( 59 | get_package_share_directory("mesh_navigation_tutorials"), "config", "mbf_mesh_nav.yaml" 60 | ) 61 | 62 | mesh_nav_server = Node( 63 | name="move_base_flex", 64 | package="mbf_mesh_nav", 65 | executable="mbf_mesh_nav", 66 | remappings=[ 67 | ("/move_base_flex/cmd_vel", "/cmd_vel"), 68 | ], 69 | parameters=[ 70 | mbf_mesh_nav_config, 71 | { 72 | "mesh_map.mesh_file": mesh_map_path, 73 | "mesh_map.mesh_working_file": mesh_map_working_path 74 | } 75 | ] 76 | ) 77 | 78 | return LaunchDescription( 79 | launch_args 80 | + [ 81 | mesh_nav_server, 82 | ] 83 | ) 84 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2024 Nature Robots GmbH 2 | # 3 | # Redistribution and use in source and binary forms, with or without 4 | # modification, are permitted provided that the following conditions are met: 5 | # 6 | # * Redistributions of source code must retain the above copyright 7 | # notice, this list of conditions and the following disclaimer. 8 | # 9 | # * Redistributions in binary form must reproduce the above copyright 10 | # notice, this list of conditions and the following disclaimer in the 11 | # documentation and/or other materials provided with the distribution. 12 | # 13 | # * Neither the name of the Nature Robots GmbH nor the names of its 14 | # contributors may be used to endorse or promote products derived from 15 | # this software without specific prior written permission. 16 | # 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | # POSSIBILITY OF SUCH DAMAGE. 28 | 29 | 30 | import os 31 | 32 | from ament_index_python.packages import get_package_share_directory 33 | 34 | from launch import LaunchDescription 35 | from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument 36 | from launch.conditions import IfCondition 37 | from launch.substitutions import PathJoinSubstitution, PythonExpression, LaunchConfiguration 38 | from launch.launch_description_sources import PythonLaunchDescriptionSource 39 | 40 | from launch_ros.actions import Node 41 | 42 | 43 | def generate_launch_description(): 44 | # path to this pkg 45 | pkg_mesh_navigation_tutorials_sim = get_package_share_directory( 46 | "mesh_navigation_tutorials_sim" 47 | ) 48 | pkg_mesh_navigation_tutorials = get_package_share_directory("mesh_navigation_tutorials") 49 | 50 | # Comment Alex: One can have different maps for same worlds 51 | # Is this to much choice for a tutorial? 52 | 53 | # Loading a map files with the following extension 54 | mesh_nav_map_ext = ".ply" 55 | 56 | available_map_names = [ 57 | f[:-len(mesh_nav_map_ext)] 58 | for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps")) 59 | if f.endswith(mesh_nav_map_ext) 60 | ] 61 | 62 | # Launch arguments 63 | launch_args = [ 64 | DeclareLaunchArgument( 65 | "map_name", 66 | description="Name of the map to be used for navigation" 67 | + '(see mesh_navigation_tutorials\' "maps" directory).', 68 | default_value=LaunchConfiguration("world_name"), 69 | choices=available_map_names, 70 | ), 71 | DeclareLaunchArgument( 72 | "localization_type", 73 | description="How the robot shall localize itself", 74 | default_value="ground_truth", 75 | choices=["ground_truth", "rmcl_micpl"], 76 | ), 77 | DeclareLaunchArgument( 78 | "start_rviz", 79 | description="Whether rviz shall be started.", 80 | default_value="True", 81 | choices=["True", "False"], 82 | ), 83 | ] 84 | map_name = LaunchConfiguration("map_name") 85 | world_name = LaunchConfiguration("world_name") 86 | start_rviz = LaunchConfiguration("start_rviz") 87 | localization_type = LaunchConfiguration("localization_type") 88 | 89 | # suggestion: 90 | # - every world has one map with same name as default 91 | # - only if map_name is specified another map than default is loaded 92 | # map_name = world_name 93 | 94 | # Launch simulation environment and robot 95 | simulation = IncludeLaunchDescription( 96 | PythonLaunchDescriptionSource( 97 | PathJoinSubstitution( 98 | [pkg_mesh_navigation_tutorials_sim, "launch", "simulation_launch.py"] 99 | ) 100 | ) 101 | ) 102 | 103 | # odom -> base_footprint 104 | ekf = Node( 105 | package="robot_localization", 106 | executable="ekf_node", 107 | name="ekf_filter_node", 108 | output="screen", 109 | parameters=[ 110 | {"use_sim_time": True}, 111 | PathJoinSubstitution([pkg_mesh_navigation_tutorials, "config", "ekf.yaml"]), 112 | ], 113 | ) 114 | 115 | # Ground truth map localization 116 | map_loc_gt = Node( 117 | package="mesh_navigation_tutorials_sim", 118 | executable="ground_truth_localization_node", 119 | name="ground_truth_localization_node", 120 | output="screen", 121 | parameters=[ 122 | { 123 | "use_sim_time": True, 124 | "gz_parent_frame": world_name, 125 | "gz_child_frame": "robot", 126 | "ros_parent_frame": "map", 127 | "ros_child_frame": "base_footprint", 128 | "ros_odom_frame": "odom", 129 | } 130 | ], 131 | condition=IfCondition(PythonExpression(['"', localization_type, '" == "ground_truth"'])), 132 | ) 133 | 134 | # RMCL Localization 135 | map_loc_rmcl_micp = Node( 136 | package="rmcl", 137 | executable="micp_localization", 138 | name="micp_localization", 139 | output="screen", 140 | remappings=[ 141 | ("pose_wc", "/initialpose"), 142 | ], 143 | parameters=[ 144 | { 145 | "use_sim_time": True, 146 | "map_file": PathJoinSubstitution( 147 | [ 148 | pkg_mesh_navigation_tutorials, 149 | "maps", 150 | PythonExpression(['"', map_name, '" + ".dae"']), 151 | ] 152 | ), 153 | }, 154 | PathJoinSubstitution([pkg_mesh_navigation_tutorials, "config", "rmcl_micpl.yaml"]), 155 | ], 156 | condition=IfCondition(PythonExpression(['"', localization_type, '" == "rmcl_micpl"'])), 157 | ) 158 | 159 | # Move Base Flex 160 | move_base_flex = IncludeLaunchDescription( 161 | PythonLaunchDescriptionSource( 162 | PathJoinSubstitution( 163 | [pkg_mesh_navigation_tutorials, "launch", "mbf_mesh_navigation_server_launch.py"] 164 | ) 165 | ), 166 | launch_arguments={ 167 | "mesh_map_path": PathJoinSubstitution( 168 | [ 169 | pkg_mesh_navigation_tutorials, 170 | "maps", 171 | PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), 172 | ] 173 | ), 174 | "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) 175 | }.items(), 176 | ) 177 | 178 | # Start rviz, if desired 179 | rviz = Node( 180 | package="rviz2", 181 | executable="rviz2", 182 | parameters=[ 183 | {"use_sim_time": True}, 184 | ], 185 | arguments=[ 186 | "-d", 187 | PathJoinSubstitution([pkg_mesh_navigation_tutorials, "rviz", "default.rviz"]), 188 | ], 189 | condition=IfCondition(start_rviz), 190 | ) 191 | 192 | return LaunchDescription( 193 | launch_args 194 | + [ 195 | simulation, 196 | ekf, 197 | map_loc_gt, 198 | map_loc_rmcl_micp, 199 | move_base_flex, 200 | rviz, 201 | ] 202 | ) 203 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/maps/floor_is_lava.h5: 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https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/mesh_navigation_tutorials/maps/tray_s4.h5 -------------------------------------------------------------------------------- /mesh_navigation_tutorials/maps/tray_s4.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/mesh_navigation_tutorials/maps/tray_s4.ply -------------------------------------------------------------------------------- /mesh_navigation_tutorials/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | mesh_navigation_tutorials 5 | 0.0.1 6 | Tutorials for mobile robot navigation in 3D, using mesh maps. 7 | 8 | Matthias Holoch 9 | Alexander Mock 10 | 11 | BSD-3-Clause 12 | 13 | ament_cmake 14 | 15 | cvp_mesh_planner 16 | mbf_mesh_nav 17 | mesh_controller 18 | mesh_layers 19 | mesh_map 20 | mesh_navigation_tutorials_sim 21 | robot_localization 22 | rviz_mbf_plugins 23 | rviz_mesh_tools_plugins 24 | tf2_ros 25 | 26 | ament_lint_auto 27 | ament_cmake_copyright 28 | ament_cmake_cppcheck 29 | ament_cmake_pep257 30 | ament_cmake_uncrustify 31 | 32 | 33 | ament_cmake 34 | 35 | 36 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials/rviz/default.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 108 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Move Base Flex1 8 | - /Move Base Flex1/Mesh Map1/Display Type1/Vertex Colors Topic1 9 | - /Move Base Flex1/Planner Debug Marker1/Namespaces1 10 | Splitter Ratio: 0.7377892136573792 11 | Tree Height: 671 12 | - Class: rviz_common/Selection 13 | Name: Selection 14 | - Class: rviz_common/Tool Properties 15 | Expanded: 16 | - /Mesh Goal1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.6294963955879211 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: PointCloud2 29 | - Class: rviz_mbf_plugins/MbfGoalActions 30 | Name: MbfGoalActions 31 | exe_path_action_server_path: /move_base_flex/exe_path 32 | get_path_action_server_path: /move_base_flex/get_path 33 | goal_input_topic: /rviz/goal_pose 34 | Visualization Manager: 35 | Class: "" 36 | Displays: 37 | - Class: rviz_default_plugins/TF 38 | Enabled: false 39 | Frame Timeout: 15 40 | Frames: 41 | All Enabled: true 42 | Marker Scale: 1 43 | Name: TF 44 | Show Arrows: true 45 | Show Axes: true 46 | Show Names: true 47 | Tree: 48 | {} 49 | Update Interval: 0 50 | Value: false 51 | - Alpha: 0.5 52 | Cell Size: 1 53 | Class: rviz_default_plugins/Grid 54 | Color: 160; 160; 164 55 | Enabled: false 56 | Line Style: 57 | Line Width: 0.029999999329447746 58 | Value: Lines 59 | Name: Grid 60 | Normal Cell Count: 0 61 | Offset: 62 | X: 0 63 | Y: 0 64 | Z: 0 65 | Plane: XY 66 | Plane Cell Count: 10 67 | Reference Frame: 68 | Value: false 69 | - Class: rviz_common/Group 70 | Displays: 71 | - Alpha: 1 72 | Axes Length: 1 73 | Axes Radius: 0.10000000149011612 74 | Class: rviz_default_plugins/Pose 75 | Color: 255; 25; 0 76 | Enabled: true 77 | Head Length: 0.30000001192092896 78 | Head Radius: 0.10000000149011612 79 | Name: Goal Pose 80 | Shaft Length: 1 81 | Shaft Radius: 0.05000000074505806 82 | Shape: Arrow 83 | Topic: 84 | Depth: 5 85 | Durability Policy: Volatile 86 | Filter size: 10 87 | History Policy: Keep Last 88 | Reliability Policy: Reliable 89 | Value: /move_base_flex/current_goal 90 | Value: true 91 | - Alpha: 1 92 | Buffer Length: 1 93 | Class: rviz_default_plugins/Path 94 | Color: 255; 0; 0 95 | Enabled: true 96 | Head Diameter: 0.30000001192092896 97 | Head Length: 0.20000000298023224 98 | Length: 0.30000001192092896 99 | Line Style: Billboards 100 | Line Width: 0.029999999329447746 101 | Name: Latest Path 102 | Offset: 103 | X: 0 104 | Y: 0 105 | Z: 0 106 | Pose Color: 255; 85; 255 107 | Pose Style: None 108 | Radius: 0.029999999329447746 109 | Shaft Diameter: 0.10000000149011612 110 | Shaft Length: 0.10000000149011612 111 | Topic: 112 | Depth: 5 113 | Durability Policy: Volatile 114 | Filter size: 10 115 | History Policy: Keep Last 116 | Reliability Policy: Reliable 117 | Value: /move_base_flex/path 118 | Value: true 119 | - Buffer Size: 1 120 | Class: rviz_mesh_tools_plugins/Mesh 121 | Display Type: 122 | Color Scale: Red Green 123 | Faces Alpha: 0.30000001192092896 124 | Faces Color: 255; 255; 255 125 | Material Service Name: get_materials 126 | Show textured faces only: false 127 | Texture Service Name: get_texture 128 | Use Custom limits: 129 | Value: false 130 | Vertex Costs Lower Limit: 0 131 | Vertex Costs Upper Limit: 1 132 | Value: Vertex Costs 133 | Vertex Color Service Name: get_vertex_colors 134 | Vertex Colors Topic: 135 | Depth: 1 136 | Durability Policy: Transient Local 137 | History Policy: Keep Last 138 | Reliability Policy: Reliable 139 | Value: /move_base_flex/vertex_colors 140 | Vertex Costs Topic: 141 | Depth: 1 142 | Durability Policy: System Default 143 | History Policy: Keep All 144 | Reliability Policy: System Default 145 | Value: /move_base_flex/vertex_costs 146 | Vertex Costs Type: Combined Costs 147 | Enabled: true 148 | Geometry Topic: 149 | Depth: 1 150 | Durability Policy: Transient Local 151 | History Policy: Keep Last 152 | Reliability Policy: Reliable 153 | Value: /move_base_flex/mesh 154 | Name: Mesh Map 155 | Show Normals: 156 | Normals Alpha: 1 157 | Normals Color: 255; 0; 255 158 | Normals Scaling Factor: 1 159 | Value: false 160 | Show Wireframe: 161 | Value: true 162 | Wireframe Alpha: 1 163 | Wireframe Color: 0; 0; 0 164 | Value: true 165 | - Class: rviz_default_plugins/Marker 166 | Enabled: true 167 | Name: Planner Vectorfield 168 | Namespaces: 169 | {} 170 | Topic: 171 | Depth: 5 172 | Durability Policy: Volatile 173 | Filter size: 10 174 | History Policy: Keep Last 175 | Reliability Policy: Reliable 176 | Value: /move_base_flex/vector_field 177 | Value: true 178 | - Class: rviz_default_plugins/Marker 179 | Enabled: false 180 | Name: Planner Debug Marker 181 | Namespaces: 182 | {} 183 | Topic: 184 | Depth: 5 185 | Durability Policy: Volatile 186 | Filter size: 10 187 | History Policy: Keep All 188 | Reliability Policy: Reliable 189 | Value: /move_base_flex/marker 190 | Value: false 191 | Enabled: true 192 | Name: Move Base Flex 193 | - Alpha: 1 194 | Class: rviz_default_plugins/RobotModel 195 | Collision Enabled: false 196 | Description File: "" 197 | Description Source: Topic 198 | Description Topic: 199 | Depth: 5 200 | Durability Policy: Volatile 201 | History Policy: Keep Last 202 | Reliability Policy: Reliable 203 | Value: /robot_description 204 | Enabled: true 205 | Links: 206 | All Links Enabled: true 207 | Expand Joint Details: false 208 | Expand Link Details: false 209 | Expand Tree: false 210 | Link Tree Style: Links in Alphabetic Order 211 | base_footprint: 212 | Alpha: 1 213 | Show Axes: false 214 | Show Trail: false 215 | base_link: 216 | Alpha: 1 217 | Show Axes: false 218 | Show Trail: false 219 | Value: true 220 | imu: 221 | Alpha: 1 222 | Show Axes: false 223 | Show Trail: false 224 | Value: true 225 | laser2d: 226 | Alpha: 1 227 | Show Axes: false 228 | Show Trail: false 229 | Value: true 230 | laser3d: 231 | Alpha: 1 232 | Show Axes: false 233 | Show Trail: false 234 | Value: true 235 | left_front_wheel_link: 236 | Alpha: 1 237 | Show Axes: false 238 | Show Trail: false 239 | Value: true 240 | left_rear_wheel_link: 241 | Alpha: 1 242 | Show Axes: false 243 | Show Trail: false 244 | Value: true 245 | right_front_wheel_link: 246 | Alpha: 1 247 | Show Axes: false 248 | Show Trail: false 249 | Value: true 250 | right_rear_wheel_link: 251 | Alpha: 1 252 | Show Axes: false 253 | Show Trail: false 254 | Value: true 255 | Mass Properties: 256 | Inertia: false 257 | Mass: false 258 | Name: RobotModel 259 | TF Prefix: "" 260 | Update Interval: 0 261 | Value: true 262 | Visual Enabled: true 263 | - Alpha: 1 264 | Autocompute Intensity Bounds: true 265 | Autocompute Value Bounds: 266 | Max Value: 1.0365432500839233 267 | Min Value: -0.8400940895080566 268 | Value: true 269 | Axis: Z 270 | Channel Name: intensity 271 | Class: rviz_default_plugins/PointCloud2 272 | Color: 255; 255; 255 273 | Color Transformer: AxisColor 274 | Decay Time: 0 275 | Enabled: true 276 | Invert Rainbow: false 277 | Max Color: 255; 255; 255 278 | Max Intensity: 0 279 | Min Color: 0; 0; 0 280 | Min Intensity: 0 281 | Name: PointCloud2 282 | Position Transformer: XYZ 283 | Selectable: true 284 | Size (Pixels): 3 285 | Size (m): 0.009999999776482582 286 | Style: Points 287 | Topic: 288 | Depth: 5 289 | Durability Policy: Volatile 290 | Filter size: 10 291 | History Policy: Keep Last 292 | Reliability Policy: Reliable 293 | Value: /cloud 294 | Use Fixed Frame: true 295 | Use rainbow: true 296 | Value: true 297 | Enabled: true 298 | Global Options: 299 | Background Color: 48; 48; 48 300 | Fixed Frame: map 301 | Frame Rate: 30 302 | Name: root 303 | Tools: 304 | - Class: rviz_default_plugins/Interact 305 | Hide Inactive Objects: true 306 | - Class: rviz_default_plugins/MoveCamera 307 | - Class: rviz_default_plugins/FocusCamera 308 | - Class: rviz_default_plugins/Measure 309 | Line color: 128; 128; 0 310 | - Class: rviz_mesh_tools_plugins/MeshGoal 311 | Switch Bottom/Top: false 312 | Topic: /rviz/goal_pose 313 | - Class: rviz_mesh_tools_plugins/MeshPoseGuess 314 | Covariance orientation x: 0.010000000707805157 315 | Covariance orientation y: 0.010000000707805157 316 | Covariance orientation z: 0.06853891909122467 317 | Covariance position x: 0.25 318 | Covariance position y: 0.25 319 | Covariance position z: 0.010000000707805157 320 | Switch Bottom/Top: false 321 | Topic: 322 | Depth: 5 323 | Durability Policy: Volatile 324 | History Policy: Keep Last 325 | Reliability Policy: Reliable 326 | Value: initialpose 327 | - Class: rviz_mesh_tools_plugins/ClusterLabel 328 | Transformation: 329 | Current: 330 | Class: rviz_default_plugins/TF 331 | Value: true 332 | Views: 333 | Current: 334 | Class: rviz_default_plugins/Orbit 335 | Distance: 17.99980926513672 336 | Enable Stereo Rendering: 337 | Stereo Eye Separation: 0.05999999865889549 338 | Stereo Focal Distance: 1 339 | Swap Stereo Eyes: false 340 | Value: false 341 | Focal Point: 342 | X: 6.068273544311523 343 | Y: -0.9949296712875366 344 | Z: 0.17818385362625122 345 | Focal Shape Fixed Size: false 346 | Focal Shape Size: 0.05000000074505806 347 | Invert Z Axis: false 348 | Name: Current View 349 | Near Clip Distance: 0.009999999776482582 350 | Pitch: 0.6403999924659729 351 | Target Frame: 352 | Value: Orbit (rviz) 353 | Yaw: 3.140411138534546 354 | Saved: ~ 355 | Window Geometry: 356 | Displays: 357 | collapsed: false 358 | Height: 1011 359 | Hide Left Dock: false 360 | Hide Right Dock: false 361 | MbfGoalActions: 362 | collapsed: false 363 | QMainWindow State: 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364 | Selection: 365 | collapsed: false 366 | Time: 367 | collapsed: false 368 | Tool Properties: 369 | collapsed: false 370 | Views: 371 | collapsed: false 372 | Width: 1920 373 | X: 0 374 | Y: 32 375 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(mesh_navigation_tutorials_sim) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic -Werror) 6 | endif() 7 | 8 | if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt) 9 | if (NOT CMAKE_BUILD_TYPE) 10 | set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) 11 | endif() 12 | endif() 13 | 14 | 15 | # find dependencies 16 | find_package(ament_cmake REQUIRED) 17 | find_package(rclcpp REQUIRED) 18 | find_package(rclcpp_components REQUIRED) 19 | find_package(geometry_msgs REQUIRED) 20 | find_package(tf2_ros REQUIRED) 21 | find_package(tf2_eigen REQUIRED) 22 | find_package(tf2_geometry_msgs REQUIRED) 23 | find_package(Eigen3 3.3 REQUIRED NO_MODULE) 24 | 25 | 26 | # set env var such that gazebo simulation finds this packages' resources 27 | ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") 28 | ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in") 29 | 30 | # install 31 | install(DIRECTORY config launch models worlds meshes urdf 32 | DESTINATION share/${PROJECT_NAME} 33 | ) 34 | 35 | 36 | 37 | # Ground Truth Localization Node 38 | add_library(ground_truth_localization SHARED 39 | src/ground_truth_localization.cpp) 40 | 41 | target_include_directories(ground_truth_localization 42 | PRIVATE 43 | $ 44 | $) 45 | 46 | target_link_libraries(ground_truth_localization 47 | Eigen3::Eigen 48 | ) 49 | 50 | ament_target_dependencies(ground_truth_localization 51 | rclcpp 52 | rclcpp_components 53 | geometry_msgs 54 | tf2_ros 55 | tf2_eigen 56 | tf2_geometry_msgs 57 | ) 58 | 59 | rclcpp_components_register_node(ground_truth_localization PLUGIN "mesh_navigation_tutorials_sim::GroundTruthLocalizationNode" EXECUTABLE ground_truth_localization_node) 60 | 61 | install(TARGETS ground_truth_localization 62 | ARCHIVE DESTINATION lib 63 | LIBRARY DESTINATION lib 64 | RUNTIME DESTINATION bin 65 | ) 66 | 67 | 68 | 69 | # test 70 | if(BUILD_TESTING) 71 | find_package(ament_lint_auto REQUIRED) 72 | ament_lint_auto_find_test_dependencies() 73 | endif() 74 | 75 | ament_package() 76 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/config/ros_gazebo_bridge.yaml: -------------------------------------------------------------------------------- 1 | - topic_name: "/clock" 2 | ros_type_name: "rosgraph_msgs/msg/Clock" 3 | gz_type_name: "ignition.msgs.Clock" 4 | direction: GZ_TO_ROS 5 | 6 | - ros_topic_name: "/odom" 7 | gz_topic_name: "model/robot/odometry" 8 | ros_type_name: "nav_msgs/msg/Odometry" 9 | gz_type_name: "ignition.msgs.Odometry" 10 | direction: GZ_TO_ROS 11 | 12 | - ros_topic_name: "/imu/data" 13 | ros_type_name: "sensor_msgs/msg/Imu" 14 | gz_topic_name: "/model/robot/imu" 15 | gz_type_name: "ignition.msgs.IMU" 16 | direction: GZ_TO_ROS 17 | 18 | - ros_topic_name: "/scan" 19 | ros_type_name: "sensor_msgs/msg/LaserScan" 20 | gz_topic_name: "/model/robot/scan" 21 | gz_type_name: "ignition.msgs.LaserScan" 22 | direction: GZ_TO_ROS 23 | 24 | - ros_topic_name: "/cloud" 25 | ros_type_name: "sensor_msgs/msg/PointCloud2" 26 | gz_topic_name: "/model/robot/cloud/points" 27 | gz_type_name: "ignition.msgs.PointCloudPacked" 28 | direction: GZ_TO_ROS 29 | 30 | - ros_topic_name: "/joint_states" 31 | ros_type_name: "sensor_msgs/msg/JointState" 32 | gz_topic_name: "/model/robot/joint_states" 33 | gz_type_name: "ignition.msgs.Model" 34 | direction: GZ_TO_ROS 35 | 36 | # Teleop nodes need 'Twist' 37 | # - ros_topic_name: "/cmd_vel" 38 | # ros_type_name: "geometry_msgs/msg/Twist" 39 | # gz_topic_name: "/model/robot/cmd_vel" 40 | # gz_type_name: "ignition.msgs.Twist" 41 | # direction: ROS_TO_GZ 42 | 43 | # Mesh Nav publishes 'TwistStamped' 44 | - ros_topic_name: "/cmd_vel" 45 | ros_type_name: "geometry_msgs/msg/TwistStamped" 46 | gz_topic_name: "/model/robot/cmd_vel" 47 | gz_type_name: "ignition.msgs.Twist" 48 | direction: ROS_TO_GZ 49 | 50 | # GT Poses 51 | - ros_topic_name: "/tf_gt" 52 | gz_topic_name: "model/robot/pose_static" 53 | ros_type_name: "tf2_msgs/msg/TFMessage" 54 | gz_type_name: "gz.msgs.Pose_V" 55 | direction: GZ_TO_ROS 56 | 57 | # DiffDrive Odom TF 58 | - ros_topic_name: "/tf_odom" 59 | gz_topic_name: "model/robot/tf_odom" 60 | ros_type_name: "tf2_msgs/msg/TFMessage" 61 | gz_type_name: "gz.msgs.Pose_V" 62 | direction: GZ_TO_ROS -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/hooks/mesh_navigation_tutorials_sim.dsv.in: -------------------------------------------------------------------------------- 1 | prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/models -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/hooks/mesh_navigation_tutorials_sim.sh.in: -------------------------------------------------------------------------------- 1 | ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/models" -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/launch/ground_truth_localization_launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/launch/simulation_launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2024 Nature Robots GmbH 2 | # 3 | # Redistribution and use in source and binary forms, with or without 4 | # modification, are permitted provided that the following conditions are met: 5 | # 6 | # * Redistributions of source code must retain the above copyright 7 | # notice, this list of conditions and the following disclaimer. 8 | # 9 | # * Redistributions in binary form must reproduce the above copyright 10 | # notice, this list of conditions and the following disclaimer in the 11 | # documentation and/or other materials provided with the distribution. 12 | # 13 | # * Neither the name of the Nature Robots GmbH nor the names of its 14 | # contributors may be used to endorse or promote products derived from 15 | # this software without specific prior written permission. 16 | # 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | # POSSIBILITY OF SUCH DAMAGE. 28 | 29 | 30 | import os 31 | 32 | from ament_index_python.packages import get_package_share_directory 33 | 34 | from launch import LaunchDescription 35 | from launch_ros.actions import Node 36 | from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument 37 | from launch.launch_description_sources import PythonLaunchDescriptionSource 38 | from launch.substitutions import Command, FindExecutable 39 | from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoinSubstitution 40 | 41 | 42 | def generate_launch_description(): 43 | # path to this pkg 44 | pkg_mesh_navigation_tutorials_sim = get_package_share_directory( 45 | "mesh_navigation_tutorials_sim" 46 | ) 47 | 48 | # Launch arguments 49 | available_world_names = [ 50 | f[:-4] 51 | for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials_sim, "worlds")) 52 | if f.endswith(".sdf") 53 | ] 54 | 55 | # Launch arguments 56 | launch_args = [ 57 | DeclareLaunchArgument( 58 | "world_name", 59 | description="Name of the world to simulate" 60 | + '(see mesh_navigation_tutorials\' "worlds" directory).', 61 | default_value=available_world_names[0], 62 | choices=available_world_names, 63 | ), 64 | DeclareLaunchArgument( 65 | "start_gazebo_gui", 66 | description="Start Gazebo GUI", 67 | default_value="True", 68 | choices=["True", "False"], 69 | ), 70 | ] 71 | world_name = LaunchConfiguration("world_name") 72 | world_path = PathJoinSubstitution( 73 | [ 74 | pkg_mesh_navigation_tutorials_sim, 75 | "worlds", 76 | PythonExpression(['"', world_name, '" + ".sdf"']), 77 | ] 78 | ) 79 | start_gazebo_gui = LaunchConfiguration("start_gazebo_gui") 80 | 81 | robot_description = Command( 82 | [ 83 | PathJoinSubstitution([FindExecutable(name="xacro")]), 84 | " ", 85 | PathJoinSubstitution([pkg_mesh_navigation_tutorials_sim, "urdf/ceres.urdf.xacro"]), 86 | " name:=robot", 87 | " prefix:='robot'", 88 | " is_sim:=true", 89 | ] 90 | ) 91 | 92 | robot_state_publisher = Node( 93 | package="robot_state_publisher", 94 | executable="robot_state_publisher", 95 | output="screen", 96 | parameters=[ 97 | { 98 | "use_sim_time": True, 99 | "publish_frequency": 100.0, 100 | "robot_description": robot_description, 101 | } 102 | ], 103 | ) 104 | 105 | gz_sim = IncludeLaunchDescription( 106 | PythonLaunchDescriptionSource( 107 | PathJoinSubstitution( 108 | [get_package_share_directory("ros_gz_sim"), "launch", "gz_sim.launch.py"] 109 | ) 110 | ), 111 | launch_arguments={ 112 | "gz_args": [ 113 | "-r ", 114 | world_path, # which world to load 115 | PythonExpression( 116 | ['"" if ', start_gazebo_gui, ' else " -s"'] 117 | ), # whether to start gui 118 | ] 119 | }.items(), 120 | ) 121 | 122 | spawn_robot = Node( 123 | package="ros_gz_sim", 124 | executable="create", 125 | name="spawn_robot", 126 | output="screen", 127 | arguments=[ 128 | "-topic", 129 | "robot_description", 130 | "-name", 131 | # The robot's name in simulation is always "robot", regardless of which model is chosen 132 | # This facilitates easier topic bridging. 133 | "robot", 134 | "-z", 135 | "1", 136 | ], 137 | parameters=[ 138 | {"use_sim_time": True}, 139 | ], 140 | ) 141 | 142 | # Bridge between ROS and Gazebo 143 | bridge = Node( 144 | package="ros_gz_bridge", 145 | executable="parameter_bridge", 146 | parameters=[ 147 | { 148 | "config_file": PathJoinSubstitution( 149 | [pkg_mesh_navigation_tutorials_sim, "config", "ros_gazebo_bridge.yaml"] 150 | ), 151 | } 152 | ], 153 | output="screen", 154 | ) 155 | 156 | return LaunchDescription(launch_args + [gz_sim, spawn_robot, bridge, robot_state_publisher]) 157 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/meshes/wheel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/mesh_navigation_tutorials_sim/meshes/wheel.stl -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/floor_is_lava/meshes/floor_is_lava.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 3.0.1 7 | 8 | 2024-06-21T15:25:26 9 | 2024-06-21T15:25:26 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 39.59775 19 | 1.777778 20 | 0.1 21 | 100 22 | 23 | 24 | 25 | 26 | 27 | 0 28 | 0 29 | 10 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 1000 1000 1000 39 | 1 40 | 0 41 | 0.00111109 42 | 43 | 44 | 45 | 46 | 0 47 | 0 48 | 1 49 | 1 50 | 1 51 | 1 52 | 1 53 | 0 54 | 0 55 | 0 56 | 1000 57 | 29.99998 58 | 75 59 | 0.15 60 | 0 61 | 1 62 | 2 63 | 0.04999995 64 | 30.002 65 | 1 66 | 3 67 | 2880 68 | 3 69 | 1 70 | 1 71 | 0.1 72 | 0.1 73 | 1 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 0 0 0 1 85 | 86 | 87 | 0.8 0.8 0.8 1 88 | 89 | 90 | 1.45 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 7.5 1 1 7.5 -8 1 -1.5 1 1 -1.5 -8 1 -1.5 -1.047931 -1 7.5 -1.047931 1 -1.5 -1.047931 1 7.5 -6.329365 1 -1.5 -6.329365 1 7.5 -6.329365 -1 5.90547 -8 1 5.90547 1 1 5.90547 -1.047931 -1 5.90547 -6.329365 -1 -1.5 -3.082396 1 -1.5 -3.082396 -1 7.5 -3.082396 1 5.90547 -3.082396 -1 7.5 -4.70588 1 5.90547 -4.70588 -1 -1.5 -4.70588 1 7.5 -4.70588 -1 7.5 1 -0.1104816 -1.5 -8 -0.1104816 7.5 -8 -0.1104816 -1.5 1 -0.1104816 7.5 -1.047931 -0.1104816 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136 | 137 | 138 | 139 | 140 | 141 | 142 |

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143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 151 | 152 | 153 | 154 | -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 155 | 156 | 157 | 158 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/floor_is_lava/meshes/floor_is_lava.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/mesh_navigation_tutorials_sim/models/floor_is_lava/meshes/floor_is_lava.ply -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/floor_is_lava/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Floor is Lava 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Alexander Mock 10 | amock@uos.de 11 | 12 | 13 | 14 | floor is lava 15 | 16 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/floor_is_lava/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 1 1 1 10 | meshes/floor_is_lava.dae 11 | 12 | 13 | 14 | 15 | 16 | 17 | 1 1 1 18 | meshes/floor_is_lava.dae 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/parking_garage/meshes/parking_garage.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 4.2.3 LTS commit 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119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 127 | 128 | 129 | 130 | 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 131 | 132 | 133 | 134 | -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/parking_garage/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Parking Garage 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Alexander Mock 10 | amock@uos.de 11 | 12 | 13 | 14 | Parking Garage 15 | 16 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/parking_garage/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 1 1 1 10 | meshes/parking_garage.dae 11 | 12 | 13 | 14 | 15 | 16 | 17 | 1 1 1 18 | meshes/parking_garage.dae 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/tray/meshes/tray.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936 7 | 8 | 2022-10-20T21:46:39 9 | 2022-10-20T21:46:39 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 39.59775 19 | 1.777778 20 | 0.1 21 | 100 22 | 23 | 24 | 25 | 26 | 27 | 0 28 | 0 29 | 10 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 1000 1000 1000 39 | 1 40 | 0 41 | 0.00111109 42 | 43 | 44 | 45 | 46 | 0 47 | 0 48 | 1 49 | 1 50 | 1 51 | 1 52 | 1 53 | 0 54 | 0 55 | 0 56 | 1000 57 | 29.99998 58 | 75 59 | 0.15 60 | 0 61 | 1 62 | 2 63 | 0.04999995 64 | 30.002 65 | 1 66 | 3 67 | 2880 68 | 3 69 | 1 70 | 1 71 | 0.1 72 | 0.1 73 | 1 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 0 0 0 1 85 | 86 | 87 | 0.8 0.8 0.8 1 88 | 89 | 90 | 1.45 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 0 1 0 1 0 0 0 0 1 -1 0 0 0 -1 0 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 0.375 1 0.625 0.75 0.375 0.75 0.375 0.25 0.625 0 0.375 0 0.125 0.75 0.375 0.5 0.125 0.5 0.375 0.75 0.625 0.5 0.375 0.5 0.375 0.5 0.625 0.25 0.375 0.25 0.375 1 0.625 1 0.625 0.75 0.375 0.25 0.625 0.25 0.625 0 0.125 0.75 0.375 0.75 0.375 0.5 0.375 0.75 0.625 0.75 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.25 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 |

7 0 0 2 0 1 3 0 2 5 1 3 6 1 4 7 1 5 7 2 6 1 2 7 5 2 8 3 3 9 0 3 10 1 3 11 1 4 12 4 4 13 5 4 14 7 0 15 6 0 16 2 0 17 5 1 18 4 1 19 6 1 20 7 2 21 3 2 22 1 2 23 3 3 24 2 3 25 0 3 26 1 4 27 0 4 28 4 4 29

143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 151 | 152 | 153 | 154 | -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 155 | 156 | 157 | 158 | 10 0 0 0 0 5 0 0 0 0 0.5000001 0.5 0 0 0 1 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/tray/meshes/tray.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/naturerobots/mesh_navigation_tutorials/81d9c97468f9db5027fbbd0db75307da1cd8679e/mesh_navigation_tutorials_sim/models/tray/meshes/tray.ply -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/tray/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Tray 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Alexander Mock 10 | amock@uos.de 11 | 12 | 13 | 14 | Tray 15 | 16 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/models/tray/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 1 1 1 10 | meshes/tray.dae 11 | 12 | 13 | 14 | 15 | 16 | 17 | 1 1 1 18 | meshes/tray.dae 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | mesh_navigation_tutorials_sim 5 | 0.0.1 6 | Tutorials for mobile robot navigation in 3D, using mesh maps. 7 | 8 | Matthias Holoch 9 | Alexander Mock 10 | 11 | BSD-3-Clause 12 | 13 | ament_cmake 14 | 15 | rclcpp 16 | geometry_msgs 17 | tf2_ros 18 | tf2_geometry_msgs 19 | 20 | ros_gz_bridge 21 | ros_gz_sim 22 | xacro 23 | 24 | ament_lint_auto 25 | ament_cmake_copyright 26 | ament_cmake_cppcheck 27 | ament_cmake_pep257 28 | ament_cmake_uncrustify 29 | 30 | 31 | ament_cmake 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/src/ground_truth_localization.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2024 Nature Robots GmbH 2 | // 3 | // Redistribution and use in source and binary forms, with or without 4 | // modification, are permitted provided that the following conditions are met: 5 | // 6 | // * Redistributions of source code must retain the above copyright 7 | // notice, this list of conditions and the following disclaimer. 8 | // 9 | // * Redistributions in binary form must reproduce the above copyright 10 | // notice, this list of conditions and the following disclaimer in the 11 | // documentation and/or other materials provided with the distribution. 12 | // 13 | // * Neither the name of the Nature Robots GmbH nor the names of its 14 | // contributors may be used to endorse or promote products derived from 15 | // this software without specific prior written permission. 16 | // 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | // POSSIBILITY OF SUCH DAMAGE. 28 | 29 | 30 | #include 31 | #include 32 | 33 | #include 34 | 35 | 36 | #include "tf2/exceptions.h" 37 | #include "tf2_ros/transform_listener.h" 38 | #include "tf2_ros/buffer.h" 39 | #include "tf2/convert.h" 40 | #include "tf2_eigen/tf2_eigen.hpp" 41 | 42 | #include "tf2/LinearMath/Quaternion.h" 43 | #include "tf2_ros/transform_broadcaster.h" 44 | 45 | #include 46 | 47 | 48 | #include 49 | 50 | 51 | namespace mesh_navigation_tutorials_sim 52 | { 53 | 54 | class GroundTruthLocalizationNode : public rclcpp::Node 55 | { 56 | public: 57 | explicit GroundTruthLocalizationNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) 58 | : rclcpp::Node("ground_truth_localization_node", options) 59 | { 60 | std::cout << "GroundTruthLocalizationNode" << std::endl; 61 | 62 | this->declare_parameter("gz_parent_frame", "tray"); 63 | this->declare_parameter("gz_child_frame", "robot"); 64 | this->declare_parameter("ros_parent_frame", "map"); 65 | this->declare_parameter("ros_child_frame", "base_footprint"); 66 | this->declare_parameter("ros_odom_frame", "odom"); 67 | 68 | gz_parent_frame_ = this->get_parameter("gz_parent_frame").as_string(); 69 | gz_child_frame_ = this->get_parameter("gz_child_frame").as_string(); 70 | ros_parent_frame_ = this->get_parameter("ros_parent_frame").as_string(); 71 | ros_child_frame_ = this->get_parameter("ros_child_frame").as_string(); 72 | ros_odom_frame_ = this->get_parameter("ros_odom_frame").as_string(); 73 | skip_odom_frame_ = (ros_odom_frame_ != ""); 74 | 75 | // Initialize the transform broadcaster 76 | tf_broadcaster_ = 77 | std::make_unique(*this); 78 | tf_buffer_ = 79 | std::make_unique(this->get_clock()); 80 | tf_listener_ = 81 | std::make_shared(*tf_buffer_); 82 | 83 | // subscribe to tf messages coming from gazebo 84 | sub_tf_ = this->create_subscription( 85 | "/tf_gt", 10, 86 | [ = ](const tf2_msgs::msg::TFMessage::ConstSharedPtr & msgs) -> void 87 | { 88 | tf_cb(msgs); 89 | }); 90 | 91 | std::cout << "Searching for Gazebo Transform " << gz_child_frame_ << " -> " << 92 | gz_parent_frame_ << std::endl; 93 | } 94 | 95 | void tf_cb(const tf2_msgs::msg::TFMessage::ConstSharedPtr & msgs) 96 | { 97 | for (geometry_msgs::msg::TransformStamped Tbm : msgs->transforms) { 98 | if (Tbm.header.frame_id == gz_parent_frame_) { 99 | if (Tbm.child_frame_id == gz_child_frame_) { 100 | if (skip_odom_frame_) { 101 | // plan: 102 | // get last tf from base_footprint -> odom 103 | geometry_msgs::msg::TransformStamped Tbo; 104 | 105 | // Look up for the transformation between target_frame and turtle2 frames 106 | // and send velocity commands for turtle2 to reach target_frame 107 | try { 108 | Tbo = tf_buffer_->lookupTransform( 109 | ros_odom_frame_, ros_child_frame_, 110 | tf2::TimePointZero); 111 | } catch (const tf2::TransformException & ex) { 112 | RCLCPP_INFO( 113 | this->get_logger(), "Could not transform %s to %s: %s", 114 | ros_child_frame_.c_str(), ros_odom_frame_.c_str(), ex.what()); 115 | return; 116 | } 117 | 118 | geometry_msgs::msg::TransformStamped Tom; 119 | // Tom = Tbm * ~Tbo; 120 | Tom.header.frame_id = ros_parent_frame_; 121 | Tom.header.stamp = Tbo.header.stamp; // what time to use? I think it should be the odom time since we are correcting it 122 | Tom.child_frame_id = ros_odom_frame_; 123 | 124 | tf2::Transform Tbm_tf; 125 | tf2::fromMsg(Tbm.transform, Tbm_tf); 126 | 127 | tf2::Transform Tbo_tf; 128 | tf2::fromMsg(Tbo.transform, Tbo_tf); 129 | 130 | tf2::Transform Tom_tf = Tbm_tf * Tbo_tf.inverse(); 131 | tf2::toMsg(Tom_tf, Tom.transform); 132 | 133 | // send T odom -> map as correction of odom only 134 | 135 | tf_broadcaster_->sendTransform(Tom); 136 | } else { 137 | // if odom doesnt exist, send T base -> map 138 | Tbm.header.frame_id = ros_parent_frame_; 139 | Tbm.child_frame_id = ros_child_frame_; 140 | tf_broadcaster_->sendTransform(Tbm); 141 | } 142 | } 143 | } 144 | } 145 | } 146 | 147 | 148 | std::string gz_parent_frame_; 149 | std::string gz_child_frame_; 150 | std::string ros_parent_frame_; 151 | std::string ros_child_frame_; 152 | 153 | // frame to skip 154 | std::string ros_odom_frame_; 155 | bool skip_odom_frame_; 156 | 157 | // TF stuff 158 | std::unique_ptr tf_broadcaster_; 159 | std::shared_ptr tf_listener_{nullptr}; 160 | std::unique_ptr tf_buffer_; 161 | 162 | rclcpp::Subscription::SharedPtr sub_tf_; 163 | 164 | }; 165 | 166 | } // namespace mesh_navigation_tutorials_sim 167 | 168 | #include "rclcpp_components/register_node_macro.hpp" 169 | RCLCPP_COMPONENTS_REGISTER_NODE(mesh_navigation_tutorials_sim::GroundTruthLocalizationNode) 170 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/urdf/ceres.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 1 178 | 100 179 | false 180 | /model/robot/imu 181 | imu 182 | imu 183 | imu 184 | 185 | 186 | 187 | 188 | " 189 | 0 0 0 0 0 0 190 | /model/robot/scan 191 | 10 192 | 193 | 194 | 195 | 270 196 | 1 197 | -2.356194 198 | 2.356194 199 | 200 | 201 | 1 202 | 0.01 203 | 0 204 | 0 205 | 206 | 207 | 208 | 0.08 209 | 15.0 210 | 0.01 211 | 212 | 213 | 1 214 | true 215 | laser2d 216 | laser2d 217 | laser2d 218 | 219 | 220 | 221 | 222 | " 223 | 0 0 0 0 0 0 224 | /model/robot/cloud 225 | 10 226 | 227 | 228 | 229 | 128 230 | 0.01 231 | ${-M_PI} 232 | ${M_PI} 233 | 234 | 235 | 32 236 | 0.01 237 | ${-M_PI / 16.0} 238 | ${M_PI / 4.0} 239 | 240 | 241 | 242 | 0.2 243 | 100.0 244 | 0.01 245 | 246 | 247 | 1 248 | true 249 | laser3d 250 | laser3d 251 | laser3d 252 | 253 | 254 | 255 | 256 | 259 | 260 | 2 261 | 262 | left_front_wheel 263 | right_front_wheel 264 | ${axis_length} 265 | ${wheel_radius} 266 | 267 | 268 | left_rear_wheel 269 | right_rear_wheel 270 | ${axis_length} 271 | ${wheel_radius} 272 | 273 | 50 274 | odom 275 | base_footprint 276 | /model/robot/tf_odom 277 | 278 | 279 | 280 | 281 | 284 | right_front_wheel 285 | /model/robot/joint_states 286 | 287 | 288 | 291 | left_front_wheel 292 | /model/robot/joint_states 293 | 294 | 295 | 298 | right_rear_wheel 299 | /model/robot/joint_states 300 | 301 | 302 | 305 | left_rear_wheel 306 | /model/robot/joint_states 307 | 308 | 309 | 310 | 311 | 312 | 315 | true 316 | true 317 | true 318 | 319 | 320 | 321 | 322 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/urdf/common.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 67 | 68 | 69 | 70 | 71 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/urdf/wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 33 | 34 | Gazebo/DarkGrey 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/worlds/floor_is_lava.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0.001 6 | 1.0 7 | 8 | 9 | 12 | 13 | 16 | ogre2 17 | 18 | 21 | 22 | 25 | 26 | 29 | 30 | 31 | 32 | true 33 | 0 0 10 0 0 0 34 | 1 1 1 1 35 | 0.5 0.5 0.5 1 36 | 37 | 1000 38 | 0.9 39 | 0.01 40 | 0.001 41 | 42 | -0.5 0.1 -0.9 43 | 44 | 45 | 46 | model://floor_is_lava 47 | 48 | 49 | 50 | false 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/worlds/parking_garage.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0.001 6 | 1.0 7 | 8 | 9 | 12 | 13 | 16 | ogre2 17 | 18 | 21 | 22 | 25 | 26 | 29 | 30 | 31 | 32 | true 33 | 0 0 10 0 0 0 34 | 1 1 1 1 35 | 0.5 0.5 0.5 1 36 | 37 | 1000 38 | 0.9 39 | 0.01 40 | 0.001 41 | 42 | -0.5 0.1 -0.9 43 | 44 | 45 | 46 | model://parking_garage 47 | 48 | 49 | 50 | false 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /mesh_navigation_tutorials_sim/worlds/tray.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0.001 6 | 1.0 7 | 8 | 9 | 12 | 13 | 16 | ogre2 17 | 18 | 21 | 22 | 25 | 26 | 29 | 30 | 31 | 32 | true 33 | 0 0 10 0 0 0 34 | 1 1 1 1 35 | 0.5 0.5 0.5 1 36 | 37 | 1000 38 | 0.9 39 | 0.01 40 | 0.001 41 | 42 | -0.5 0.1 -0.9 43 | 44 | 45 | 46 | model://tray 47 | 48 | 49 | 50 | false 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- 1 | [tool.ruff] 2 | line-length = 99 3 | 4 | target-version = "py310" 5 | 6 | [tool.ruff.lint] 7 | select = ["E", "W", "F"] 8 | ignore = [] 9 | -------------------------------------------------------------------------------- /source_dependencies.yaml: -------------------------------------------------------------------------------- 1 | # Every repository listed here will get cloned and built during CI runs. 2 | # Use this for repositories that cannot be installed via rosdep. 3 | repositories: 4 | lvr2: 5 | type: git 6 | url: https://github.com/uos/lvr2.git 7 | version: main 8 | mesh_tools: 9 | type: git 10 | url: https://github.com/naturerobots/mesh_tools.git 11 | version: main 12 | mesh_navigation: 13 | type: git 14 | url: https://github.com/naturerobots/mesh_navigation.git 15 | version: main 16 | move_base_flex: 17 | type: git 18 | url: https://github.com/naturerobots/move_base_flex.git 19 | version: humble 20 | --------------------------------------------------------------------------------