[ { "path": ".github/workflows/lidarbot_ci_action.yml", "content": "name: ROS2 CI\n\non:\n pull_request:\n push:\n branches:\n - main\n\njobs:\n build:\n runs-on: ubuntu-22.04\n steps:\n - name: Setup ROS2\n uses: ros-tooling/setup-ros@v0.7\n with:\n required-ros-distributions: humble\n \n - name: Install WiringPi i2c library for RPi 4\n uses: actions/checkout@v4\n - run: |\n mkdir Downloads\n git clone https://github.com/wbeebe/WiringPi.git\n cd WiringPi/\n ./build\n \n - name: Install dependencies for MPU6050 C++ library\n run: sudo apt install libi2c-dev i2c-tools libi2c0\n \n - name: Build Lidarbot packages \n uses: ros-tooling/action-ros-ci@v0.4\n with:\n package-name: |\n lidarbot\n lidarbot_base\n lidarbot_bringup\n lidarbot_description\n lidarbot_gazebo\n lidarbot_gz\n lidarbot_navigation\n lidarbot_slam\n lidarbot_teleop\n target-ros2-distro: humble\n skip-tests: true\n\n - name: Upload Logs\n uses: actions/upload-artifact@v4\n with:\n name: colcon-logs\n path: ros_ws/log\n if: always()\n" }, { "path": ".gitignore", "content": ".vscode/\n.vale.ini\nstyles/\n" }, { "path": "LICENSE", "content": "BSD 3-Clause License\n\nCopyright (c) 2023, Chinedu Amadi\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice, this\n list of conditions and the following disclaimer.\n\n2. Redistributions in binary form must reproduce the above copyright notice,\n this list of conditions and the following disclaimer in the documentation\n and/or other materials provided with the distribution.\n\n3. Neither the name of the copyright holder nor the names of its\n contributors may be used to endorse or promote products derived from\n this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR\nSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\nCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\nOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n" }, { "path": "README.md", "content": "# Lidarbot\n\n\n\nA differential drive robot is controlled using ROS2 Humble running on a Raspberry Pi 4 (running Ubuntu server 22.04). The vehicle is equipped with a Raspberry Pi camera for visual feedback and an RPlidar A1 sensor used for Simultaneous Localization and Mapping (SLAM), autonomous navigation using the Nav2 stack. Additionally, an MPU6050 inertial measurement unit (IMU) is employed by the `robot_localization` package on the robot, to fuse IMU sensor data and the wheel encoders data, using an Extended Kalman Filter (EKF) node, to provide more accurate robot odometry estimates.\n\nHardware components are written for the Waveshare Motor Driver HAT and MPU6050 sensor to be accessed by the `ros2_control` differential drive controller and IMU sensor broadcaster respectively, via the `ros2_control` resource manager.\n\n

\n \n

\n\nA preprint of this work is available [here](http://dx.doi.org/10.13140/RG.2.2.15748.54408).\n\n- [Lidarbot](#lidarbot)\n - [πŸ—ƒοΈ Package Overview](#️-package-overview)\n - [🧰\tHardware](#hardware)\n - [Part list](#part-list)\n - [Project Wiring and Assembly](#project-wiring-and-assembly)\n - [πŸ”Œ\t Installation](#-installation)\n - [Development Machine setup](#development-machine-setup)\n - [WiringPi](#wiringpi)\n - [MPU6050 library](#mpu6050-library)\n - [Sourcing ROS Installation](#sourcing-ros-installation)\n - [Gazebo Fortress](#gazebo-fortress)\n - [Display lidarbot model in RViz](#display-lidarbot-model-in-rviz)\n - [Teleoperation](#teleoperation)\n - [Twist mux](#twist-mux)\n - [Lidarbot setup](#lidarbot-setup)\n - [Motor Driver HAT](#motor-driver-hat)\n - [Raspberry Pi Camera](#raspberry-pi-camera)\n - [MPU6050 offsets](#mpu6050-offsets)\n - [Network Configuration](#network-configuration)\n - [ros2 control Framework](#ros2-control-framework)\n - [Hardware components](#hardware-components)\n - [System](#system)\n - [Sensor](#sensor)\n - [Actuator](#actuator)\n - [Resource Manager](#resource-manager)\n - [Controllers](#controllers)\n - [Differential Drive Controller](#differential-drive-controller)\n - [Joint State Broadcaster](#joint-state-broadcaster)\n - [IMU Sensor Broadcaster](#imu-sensor-broadcaster)\n - [Controller Manager](#controller-manager)\n - [Test Drive](#test-drive)\n - [Robot localization](#robot-localization)\n - [Gazebo](#gazebo)\n - [Physical](#physical)\n - [Mapping](#mapping)\n - [Gazebo](#gazebo-1)\n - [Physical](#physical-1)\n - [Navigation](#navigation)\n - [Gazebo](#gazebo-2)\n - [Physical](#physical-2)\n - [ArUco package](#aruco-package)\n - [Generate ArUco marker](#generate-aruco-marker)\n - [Webcam calibration](#webcam-calibration)\n - [Aruco trajectory visualizer node](#aruco-trajectory-visualizer-node)\n - [Acknowledgment](#acknowledgment)\n\n\n## πŸ—ƒοΈ Package Overview\n- [`lidarbot_aruco`](./lidarbot_aruco/) : Contains configuration, launch and node files to use ArUco markers with lidarbot.\n- [`lidarbot_base`](./lidarbot_base/) : Contains the ROS2 control hardware component for the lidarbot with low-level code for the Waveshare Motor Driver HAT.\n- [`lidarbot_bringup`](./lidarbot_bringup/) : Contains hardware component for the MPU6050 module, launch files to bring up the camera, lidar and the real lidarbot.\n- [`lidarbot_description`](./lidarbot_description/) : Contains the URDF description files for lidarbot, sensors and `ros2 control`.\n- [`lidarbot_gazebo`](./lidarbot_gazebo/) : Contains configuration, launch and world files needed to simulate lidarbot in Gazebo Classic.\n- [`lidarbot_gz`](./lidarbot_gz/) : Contains urdf, launch and world files needed to simulate lidarbot in Gazebo Fortress.\n- [`lidarbot_navigation`](./lidarbot_navigation/) : Contains launch, configuration and map files used for lidarbot navigation.\n- [`lidarbot_slam`](./lidarbot_slam/) : Contains configuration files for the slam toolbox and RViz, launch file to generate maps using SLAM.\n- [`lidarbot_teleop`](./lidarbot_teleop/) : Contains configuration and launch files used to enable joystick control of the lidarbot in simulation and physically.\n\n## 🧰\tHardware\n### Part list\nThe following components were used in this project:\n\n| | Part |\n| --| --|\n|1| Raspberry Pi 4 (4 GB)|\n|2| SanDisk 32 GB SD Card (minimum)|\n|3| [Two wheel drive robot chassis kit](https://www.amazon.com/perseids-Chassis-Encoder-Wheels-Battery/dp/B07DNYQ3PX/ref=sr_1_9?crid=3T8FVRRMPFCIX&keywords=two+wheeled+drive+robot+chassis&qid=1674141374&sprefix=two+wheeled+drive+robot+chas%2Caps%2C397&sr=8-9)|\n|4| [Waveshare Motor Driver HAT](https://www.waveshare.com/wiki/Motor_Driver_HAT)|\n|5| 2 x [Motors with encoders and wire harness](https://s.click.aliexpress.com/e/_DBL19Mr)|\n|6| MPU6050 board|\n|7| [RPlidar A1](https://s.click.aliexpress.com/e/_DdPdRS7)|\n|8| Raspberry Pi camera v1.3|\n|9| [3D printed stands for RPlidar A1 and RPi 4](https://www.thingiverse.com/thing:3970110)|\n|10| Mount for Raspberry Pi camera|\n|11| Powerbank for RPi 4 (minimum output: 5V 3A)|\n|12| Gamepad|\n|13| [Mini Travel Router (optional)](https://s.click.aliexpress.com/e/_DcgfT61)|\n|14| 3 Slot 18650 battery holder|\n|15| 3 x 18650 batteries to power Motor Driver HAT|\n|16| Female to Female Dupont jumper cables|\n|17| Spare wires|\n|18| Logitech C270 webcam (optional)|\n\nSome other tools or parts used in the project are as follows:\n\n| | Tool/Part |\n| --| --|\n|1| Soldering iron|\n|2| 3D printer|\n|3| Screwdriver set|\n|4| Double-sided tape|\n\nAdditionally, some nylon stand-offs were used in between the Raspberry Pi 4 and its 3D printed stand to make it easier to plug in the USB power cable from the powerbank.\n\n### Project Wiring and Assembly\n\nThe electronic components of the lidarbot are connected as shown below.\n\n

\n \n

\n\nThe MPU6050 board pins were connected to the Raspberry Pi 4 GPIO pins as follows for use with the I2C communication protocol:\n\n| MPU6050 board | GPIO.BOARD| GPIO.BCM|\n| ----------- | ------------| ------ |\n| VCC | 3.3V | 3.3V |\n| GND | GND | GND |\n| SCL | 05 | GPIO03 |\n| SDA | 03 | GPIO02 |\n\nIn a previous hardware version of lidarbot, photo interrupters were used with encoder disks with 20 slots (included in the robot chassis kit). However, this setup proved restrictive in yielding satisfactory results in navigation due to the low number of encoder ticks, which was only **20** for a **360 degree** turn of the motor. Therefore, the robot chassis kit motors were replaced with the ones below with built-in encoders --- which have encoder ticks of approximately **1084**, calculated using this [guide](https://automaticaddison.com/calculate-pulses-per-revolution-for-a-dc-motor-with-encoder/) from Automatic Addison.\n\nThese are the new motors used for lidarbot:\n\n

\n \n \n

\n\nThe pins on right and left motors are connected to the GPIO pins as follows:\n\n| Right motor pins | GPIO.BOARD | GPIO.BCM|\n| ----------- | ------------| ------ |\n| C1 (or Encoder A) | 22 | GPIO25 |\n| C2 (or Encoder B) | 16 | GPIO23 |\n| VCC | 5V | 5V |\n| GND | GND | GND |\n\n| Left motor pins| GPIO.BOARD | GPIO.BCM|\n| ----------- | ------------| ------ |\n| C1 (or Encoder A) | 18 | GPIO24 |\n| C2 (or Encoder B) | 15 | GPIO22 |\n| VCC | 5V | 5V |\n| GND | GND | GND |\n\nWhere, \n\nC1 - counts the respective motor pulses and\n\nC2 - checks the direction of motion of the respective motor, that is, forward or reverse.\n\n

\n \n \n

\n\nThe screw terminal blocks on the Motor Driver HAT ([shown below](https://www.waveshare.com/wiki/Motor_Driver_HAT)) are connected to the motor pins, M+ and M-, and battery holder cables as follows: \n\n| Motor Driver HAT pin | Connected to| \n| -- | -- |\n| MA1 | Red wire (Left motor)| \n| MA2 | Black wire (Left motor)| \n| GND | Black wire (battery holder) | \n| VIN | Red wire (battery holder) | \n| MB1 | Red wire(Right motor)| \n| MB2 | Black wire (Right motor)| \n\n

\n \n

\n\nSolder the cables (provided) to the motors. Spare wires might be needed if the provided ones are too short to reach the Motor Driver Hat. Should the wheel(s) move in the direction opposite of what is expected, exchange the respective motor cables screwed into the terminal blocks.\n\nFinally, the Raspberry Pi camera is connected to the ribbon slot on the Raspberry Pi 4 and the RPlidar A1 sensor is plugged into one of the RPi 4's USB ports.\n\n

\n \n

\n\n

\n \n

\n\n## πŸ”Œ\t Installation\n\n### Development Machine setup\n\nA development machine or PC (laptop or desktop) is used to run more computationally intensive applications like Gazebo and Rviz. Additionally, the PC can be used to remotely control lidarbot. \n\nUbuntu 22.04 LTS is required for this project to work with ROS2 Humble. Ubuntu 22.04 LTS can be installed on a PC by following [this guide](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview). The ROS2 Humble installation procedure is available [here](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). The Desktop version is installed on the PC (which includes RViz):\n\n```\nsudo apt install ros-humble-desktop\n```\n\nThen install the ROS development tools:\n\n```\nsudo apt install ros-dev-tools\n```\n\nAfter the ROS2 Humble installation, create a workspace on the PC/development machine and clone this repository:\n\n```\nmkdir -p ~/dev_ws/src\ncd ~/dev_ws/src\ngit clone https://github.com/TheNoobInventor/lidarbot.git .\n```\n\nNext install all the [ROS dependencies](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) for the lidarbot packages:\n\n```\ncd ~/dev_ws\nsudo rosdep init\nrosdep update\nrosdep install --from-paths src --ignore-src --rosdistro humble -r -y\n```\n\nAny ROS packages referred to subsequently are assumed to be installed using the `rosdep install` command above unless it is explicitly specified. \n\nTwo more dependencies need to be met before building the workspace: installing the WiringPi i2c library to use the Raspberry Pi 4 GPIO pins and dependencies for the MPU6050 RPi 4 C++ library.\n\n#### WiringPi\n\nTo be able to utilize the GPIO pins of the Raspberry Pi 4 and program them using C/C++, an unofficial WiringPi was installed. This is required as hardware interfaces used by `ros2_control` are currently written only in C++ and low-level communication between Waveshare's Motor Driver HAT and `ros2_control` is needed. \n\nThe library is installed by executing the following commands in a terminal:\n\n```\ncd ~/Downloads\ngit clone https://github.com/wbeebe/WiringPi.git\ncd WiringPi/\n./build\n```\nTo check the current gpio version run this:\n```\ngpio -v\n```\n\nThe reference article for the WiringPi library can be found [here](https://arcanesciencelab.wordpress.com/2020/10/29/getting-wiringpi-to-work-under-ubuntu-20-10-on-a-raspberry-pi-4b-w-4gb/).\n\n\n#### MPU6050 library\n\nAlex Mous' [C/C++ MPU6050 library](https://github.com/alex-mous/MPU6050-C-CPP-Library-for-Raspberry-Pi\n) for Raspberry Pi 4, with modifications to incorporate quaternions, was used to setup the `ros2_control` IMU sensor broadcaster in the [`lidarbot_bringup`](./lidarbot_bringup/) package.\n\nRecall that the MPU6050 module uses the I2C communication protocol, the I2C dependencies for using this library are installed with:\n\n```\nsudo apt install libi2c-dev i2c-tools libi2c0\n```\n\n#### Sourcing ROS Installation\n\nTo avoid manually sourcing the ROS installation (or underlay) in each terminal window opened, and if ROS2 Humble is the only distribution on the PC, the command to source the underlay is added to the respective shell configuration file. \n\nUsing bash:\n```\necho \"source /opt/ros/humble/setup.bash\" >> $HOME/.bashrc\n```\n\nUsing zsh:\n```\necho \"source /opt/ros/humble/setup.zsh\" >> $HOME/.zshrc\n```\n\nAdditionally, to avoid manually sourcing our workspace (or overlay), add the command to source the workspace to the respective configuration file. \n\nUsing bash:\n```\necho \"source ~/dev_ws/install/setup.bash\" >> $HOME/.bashrc\nsource $HOME/.bashrc\n```\n\nUsing zsh:\n```\necho \"source ~/dev_ws/install/setup.zsh\" >> $HOME/.zshrc\nsource $HOME/.zshrc\n```\n\nThe command: `source $HOME/.zshrc` sources the configuration file for use in the current terminal. However, this step is not necessary for terminal windows opened hereafter.\n\n---\n\nFinally, navigate to the workspace directory and run the build command:\n\n```\ncd ~/dev_ws\ncolcon build --symlink-install\n```\n\nThe `--symlink-install` argument uses symlinks instead of copies which saves you from having to rebuild every time you [tweak certain files](https://articulatedrobotics.xyz/ready-for-ros-5-packages/).\n\n#### Gazebo Fortress\n\n*UPDATE: Previously, [Gazebo Classic](https://classic.gazebosim.org/) was used as the simulator for the project but Gazebo Classic has been [deprecated](https://gazebosim.org/docs/latest/gazebo_classic_migration/). The Gazebo Classic lidarbot package is still available here, [`lidarbot_gazebo`](./lidarbot_gazebo/), however, you might encounter installation issues with Classic. It is recommended to [migrate to Gazebo](https://gazebosim.org/docs/latest/gazebo_classic_migration/ ), formerly called \"Ignition\", and choosing the Fortress release for use with Ubuntu 22.04.*\n\nGazebo Fortress is used as the simulator for lidarbot. It can be installed with ROS following the steps outlined in this [guide](https://gazebosim.org/docs/fortress/ros_installation/).\n\n#### Display lidarbot model in RViz\n\nThe installed [xacro](https://index.ros.org/p/xacro/github-ros-xacro/#humble) tool dependency is used to process the lidarbot URDF files and combine them into a single complete URDF file.\n\nThe `description_launch.py` launch file displays the model in RViz:\n\n```\nros2 launch lidarbot_description description_launch.py\n```\n\n

\n \n

\n\nThe [joint_state_publisher_gui](https://index.ros.org/p/joint_state_publisher_gui/github-ros-joint_state_publisher/#humble) package is used to bringup a window with sliders to move non-static links in RViz. Set the `use_gui` argument to `true` to turn the left and right wheels of lidarbot:\n\n```\nros2 launch lidarbot_description description_launch.py use_gui:=true\n```\n\n

\n \n

\n\nThe different arguments for the launch file, and their default values, can be viewed by adding `--show-args` at the end of launch command:\n\n```\nros2 launch lidarbot_description description_launch.py --show-args\n```\n\n#### Teleoperation\n\nA wireless gamepad, like the one shown below, is used to control lidarbot both in simulation and physically. \n\n

\n \n

\n\nThe [joy_tester](https://index.ros.org/p/joy_tester/#humble) package is used to test and map the gamepad (joystick) keys to control lidarbot. To use it, plug in the USB dongle in the PC, then run:\n\n```\nros2 run joy joy_node\n``` \n\nAnd the following, in a new terminal:\n```\nros2 run joy_tester test_joy\n```\n\nThis opens a GUI window like the one shown below,\n\n

\n \n

\n\nClick each button and move each stick of the gamepad to confirm that the actions are shown in GUI. The numbers correspond to the axis of the buttons and joystics (sticks) that will be used in mapping the movements of lidarbot. \n\nThe gamepad configuration for this project is in [`joystick.yaml`](./lidarbot_teleop/config/joystick.yaml), where:\n\n| Button/stick | Button/stick axis | Function | \n| :--: | :--: | -- |\n| L1 button | 4 | Hold this enable button to move robot at normal speed| \n| Left stick | 2 | Move stick forward or backward for linear motion of the robot | \n| Right stick | 1 | Move stick left or right for angular motion of the robot| \n\nSetting `require_enable_button` to `true` ensures that L1 has to be held before using the sticks to move the robot and stops the robot once L1 is no longer pressed. \n\nTo enable turbo mode for faster speed, the `enable_turbo_button` option in the config file can be set to an unused button axis.\n\nThe `joy_node` parameter, `deadzone`, specifies the amount a joystick has to be moved for it to be [considered to be away from the center](https://github.com/ros-drivers/joystick_drivers/blob/ros2/joy/README.md). This parameter is normalized between `-1` and `1`. A value of `0.25` indicates that the joytsick has to be moved `25%` of the way to the edge of an axis's range before that axis will output a non-zero value. \n\nThe `deadzone` parameter should be tuned to suit the performance of user's game controller.\n\n#### Twist mux\n\nThe [`twist_mux`](https://index.ros.org/p/twist_mux/github-ros-teleop-twist_mux/#humble) package is used to multiplex several velocity command sources, used to move the robot with an unstamped [geometry_msgs::Twist](http://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html) message, into a single one. These sources are assigned priority values to allow a velocity source to be used or disabled. In this project, the command velocity sources are from the joystick and navigation.\n\nThe `twist_mux` configuration file is in [`twist_mux.yaml`](./lidarbot_teleop/config/twist_mux.yaml), and is used in the Gazebo and lidarbot bringup launch files, [`gz_launch.py`](./lidarbot_gz/launch/gz_launch.py) and [`lidarbot_bringup_launch.py`](./lidarbot_bringup/launch/lidarbot_bringup_launch.py) respectively.\n\nIt can be observed from the configuration file, that the joystick commmand velocity source has a higher priority, with an assigned value of `100`, compared to the navigation velocity source that is assigned a value of `10`.\n\n```\ntwist_mux:\n ros__parameters:\n topics:\n navigation:\n topic : cmd_vel\n timeout : 0.5\n priority: 10\n joystick:\n topic : cmd_vel_joy\n timeout : 0.5\n priority: 100\n```\n\n### Lidarbot setup\n\nTo install ROS2 Humble on the Raspberry Pi, Ubuntu Server 22.04 was first flashed on a 32GB micro SD card, this process is detailed in this [guide](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#1-overview).\n\nAfter inserting the SD card and booting up the Pi, the environment for ROS2 Humble is setup by following this [guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). Afterwards, ROS-Base (Bare Bones) and ROS development tools are installed:\n\n```\nsudo apt install ros-humble-ros-base ros-dev-tools\n```\n\nSimilarly, after the ROS2 Humble installation, create a workspace on the Raspberry Pi and clone this repository:\n\n```\nmkdir -p ~/robot_ws/src\ncd ~/robot_ws/src\ngit clone https://github.com/TheNoobInventor/lidarbot.git .\n```\n\nInstall ROS dependencies:\n\n```\ncd ~/robot_ws\nsudo rosdep init\nrosdep update\nrosdep install --from-paths src --ignore-src -r -y \\ \n--skip-keys \"rviz2 gazebo_ros2_control gazebo_ros_pkgs\" --rosdistro humble\n```\n\n`rviz2` and the Gazebo related packages are skipped in the ROS dependency installation process as they are only run on the PC and not on the robot --- the `rosdep` keys for the ROS2 Humble distribution are available [here](https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml).\n\n[WiringPi i2c library](#wiringpi) and [MPU6050 RPi 4 C++ library](#mpu6050-library) are also installed before building the workspace --- a `Downloads` directory will need to be created to clone the WiringPi files.\n\nLikewise to avoid manually sourcing the underlay and overlay, the same steps employed in the [development machine setup](#sourcing-ros-installation) are followed but replacing `dev_ws` with `robot_ws` where necessary.\n\nAfterwards, navigate to the workspace directory then run the build command:\n\n```\ncd ~/robot_ws\ncolcon build --symlink-install\n```\n\n#### Motor Driver HAT\n\nWaveshare's Motor Driver HAT was used to control the motors of lidarbot. The relevant files are found in the [`include`](./lidarbot_base/include/lidarbot_base/) and [`src`](./lidarbot_base/src/) directories of the [`lidarbot_base`](./lidarbot_base/) package, the file tree of these directories are as shown, \n\n```\nβ”œβ”€β”€ CMakeLists.txt\nβ”œβ”€β”€ include\nβ”‚Β Β  └── lidarbot_base\nβ”‚Β Β  β”œβ”€β”€ Debug.h\nβ”‚Β Β  β”œβ”€β”€ DEV_Config.h\nβ”‚Β Β  β”œβ”€β”€ lidarbot_hardware.hpp\nβ”‚Β Β  β”œβ”€β”€ MotorDriver.h\nβ”‚Β Β  β”œβ”€β”€ motor_encoder.h\nβ”‚Β Β  β”œβ”€β”€ PCA9685.h\nβ”‚Β Β  └── wheel.hpp\nβ”œβ”€β”€ lidarbot_hardware.xml\nβ”œβ”€β”€ package.xml\n└── src\n β”œβ”€β”€ DEV_Config.c\n β”œβ”€β”€ lidarbot_hardware.cpp\n β”œβ”€β”€ motor_checks_client.cpp\n β”œβ”€β”€ motor_checks_server.cpp\n β”œβ”€β”€ MotorDriver.c\n β”œβ”€β”€ motor_encoder.c\n β”œβ”€β”€ PCA9685.c\n └── wheel.cpp\n```\n\nThe following table summarizes the package files specifying those that were made [available by Waveshare](https://www.waveshare.com/wiki/Motor_Driver_HAT), the newly added ones and the functions they serve.\n\n| File(s) | New | Modified | Function |\n| ----------- | ------------| ------ | ------ |\n| `Debug.h` | No | No | Output debug information with `printf`. |\n| `DEV_Config.h`, `DEV_Config.c` | No | Yes | Configure underlying device interfaces and protocols. |\n| `lidarbot_hardware.hpp`, `lidarbot_hardware.cpp` | Yes | No | Configure the WaveShare Motor Driver HAT system hardware component. It reads the motor encoder values to calculate the wheel positions and velocities. It also sends commands to the drive the motors of each wheel proportional to the velocity commands received from the `ros2_control` differential driver controller. |\n| `motor_checks_client.cpp` | Yes | No | Request motor tests to confirm motor connections and the motor operation. |\n| `motor_checks_server.cpp` | Yes | No | Run requested motor tests. |\n| `MotorDriver.h`, `MotorDriver.c` | No | Yes | Program the TB6612FNG motor Integrated Circuit (IC) to drive the motors. |\n| `motor_encoder.h`, `motor_encoder.c` | Yes | No | Calculate encoder ticks and set the speed each motor should run at according to the commands received from the hardware component. |\n| `PCA9685.h`, `PCA9685.c` | No | No | Program the PCA9685 chip to adjust the motor speed using Pulse Width Modulation (PWM). |\n| `wheel.hpp`, `wheel.cpp` | Yes | No | Configure motor wheel parameters. |\n\nThe hierarchy of motor control is shown in the image below.\n\n

\n \n

\n\nThe main reasons for modifying the Waveshare files was to enable the use of the WiringPi library and also to find a workaround to determining the motor direction of rotation --- this was made relatively easier since the motor encoders used here have hall effect sensors affixed to them as shown below. \n\n

\n \n

\n\nHall effect sensors in motor encoders detect changes in the magnetic field associated with the motor's rotation. These changes can be used by the motor encoder to determine the position of the motor. [As the motor rotates](https://automaticaddison.com/calculate-pulses-per-revolution-for-a-dc-motor-with-encoder/), it generates alternating electrical signals of high and low voltage, and each time the signal goes from from low high (that is, it is rising), that counts as a single ***pulse***. The image below, from this [guide](https://automaticaddison.com/calculate-pulses-per-revolution-for-a-dc-motor-with-encoder/) from Automatic Addison, visualizes this.\n\n

\n \n

\n\nThe encoder pulse, sometimes referred to as a ***tick***, for a 360 degree turn of the motor is used as the wheel odometry data of the robot. This data will be used with the MPU6050 IMU sensor data using an Extended Kalman Filter with the [robot_localization](#robot-localization) package to provide more accurate robot odometry estimates. Recall that the encoder ticks for the motors used here is **1084**, for a 360 degree turn of the motor.\n\nThe library dependencies for using the Motor Driver HAT were met after installing the MPU6050 library.\n\n#### Raspberry Pi Camera\n\nThe following packages are installed to use the Raspberry Pi Camera v1.3:\n\n```\nsudo apt install libraspberrypi-bin v4l-utils raspi-config\n```\n\nSupport for the RPi camera v1.3 will need to be enabled by navigating the menu options after running the following command:\n\n```\nsudo raspi-config\n```\n

\n \n \n

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\n\nConfirm the RPi camera is connected by running this command:\n\n```\nvcgencmd get_camera\n```\n\nThis should output the following result:\n\n```\nsupported=1 detected=1, libcamera interfaces=0\n```\n\n#### MPU6050 offsets\n\nPrior to using the [IMU sensor broadcaster](#imu-sensor-broadcaster), the MPU6050 module needs to be calibrated to filter out its sensor noise/offsets. This is done in the following steps:\n\n- Place lidarbot on a flat and level surface and unplug the RPlidar. \n- Generate the MPU6050 offsets. A Cpp executable is created in the CMakeLists.txt file of the `lidarbot_bringup` package before generating the MPU6050 offsets. This section of the [CMakeLists.txt](./lidarbot_bringup/CMakeLists.txt) file is shown below:\n\n ```\n # Create Cpp executable\n add_executable(mpu6050_offsets src/mpu6050_lib.cpp src/mpu6050_offsets.cpp)\n\n # Install Cpp executables\n install(TARGETS\n mpu6050_offsets\n DESTINATION lib/${PROJECT_NAME}\n )\n ```\n\n Build the `lidarbot_bringup` package:\n ```\n colcon build --symlink-install --packages-select lidarbot_bringup\n ```\n\n Run the executable:\n\n ```\n ros2 run lidarbot_bringup mpu6050_offsets\n ```\n\n Which outputs something like this:\n\n ```\n Please keep the MPU6050 module level and still. This could take a few minutes.\n\n Calculating offsets ...\n\n Gyroscope offsets:\n ------------------\n X: -104.689\n Y: 651.005\n Z: -158.596\n\n Accelerometer offsets:\n ----------------------\n X: -13408.8\n Y: 2742.39\n Z: -14648.9\n\n Include the obtained offsets in the respective macros of the mpu6050_lib.h file.\n ```\n\n- Calibrate the MPU6050 module. Substitute the generated offsets into this section of the [`mpu6050_lib.h`](./lidarbot_bringup/include/lidarbot_bringup/mpu6050_lib.h) file:\n\n ```\n //Offsets - supply your own here (calculate offsets with getOffsets function)\n // Gyroscope\n #define G_OFF_X -105\n #define G_OFF_Y 651\n #define G_OFF_Z -159\n // Accelerometer\n #define A_OFF_X -13409 \n #define A_OFF_Y 2742 \n #define A_OFF_Z -14649\n ```\n- Afterwards, the `lidarbot_bringup` package is rebuilt to reflect any changes made to the `mpu6050_lib.h` file.\n\nThe MPU6050 module is set to its most sensitive gyroscope and accelerometer ranges, which can be confirmed (or changed) at the top of the `mpu6050_lib.h` file.\n\n## Network Configuration\n\nBoth the development machine and lidarbot need to be connected to the same local network as a precursor to bidirectional communication between the two systems. This [guide](https://roboticsbackend.com/ros2-multiple-machines-including-raspberry-pi/) by Robotics Backend was used in configuring the network communication. \n\nTo ensure communication between the dev machine and lidarbot, firstly, the firewall on the development machine had to be disabled (the firewall on the Ubuntu server was disabled by default):\n\n```\nsudo ufw disable\n```\n\nThe next step is to export `ROS_DOMAIN_ID` number, a number between 0 (by default) and 101, to the shell configurations of both systems:\n\n```\necho \"export ROS_DOMAIN_ID=31\" >> ~/.zshrc\n```\n\nThis step is necessary particularly if there are other robots and development machines on the same local network. This [YouTube video](https://www.youtube.com/watch?v=qSjNQC2AT_4) and [article](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html) go into more detail about `ROS_DOMAIN_ID`.\n\nThen source the shell configuration file:\n```\nsource $HOME/.zshrc\n```\n\nBoth systems might need to be rebooted to effect these changes.\n\nA static IP address was assigned to lidarbot on the router for easy discoverability on the network. Furthermore, it is advisable to use a router that supports at least the WiFi 5 wireless standard to avoid excessive data lag on RViz and terminal crashes when recording a [ros2bag](https://index.ros.org/r/rosbag2/github-ros2-rosbag2/#humble) for instance; in relation to ros2bags, changing the default data storage format to [MCAP](https://foxglove.dev/blog/announcing-the-mcap-storage-plugin-for-ros2) should [improve read and write performance](https://adrian-website.mcap.pages.dev/guides/benchmarks/rosbag2-storage-plugins). \n\nA dedicated network travel router, following this setup by [Articulated Robotics](https://articulatedrobotics.xyz/tutorials/ready-for-ros/networking#dedicated-network) was used in this project to establish a reliable connection between the development machine and lidarbot.\n\nAdditional network troubleshooting information can be found [here](https://docs.ros.org/en/humble/How-To-Guides/Installation-Troubleshooting.html).\n\n## ros2 control Framework\n\nTo control the motion of lidarbot both in simulation and physically, the `ros2_control` framework was used. It is defined as a [hardware-agnostic control framework](https://control.ros.org/master/doc/resources/resources.html#roscon-fr-2022) focusing on the modularity of control systems for robots, sharing of controllers and real-time performance. It provides hardware abstraction and low-level management utility, for instance, hardware lifecycle, communication and access control, which is useful for other frameworks like the manipulation path planning and autonomous navigation frameworks, [MoveIt2](https://moveit.picknik.ai/main/index.html) and [Nav2](https://ieeexplore.ieee.org/iel7/9340668/9340635/09341207.pdf) respectively.\n\nThe `ros2_control` framework can be thought of as a [middleman](https://automaticaddison.com/how-to-control-a-robotic-arm-using-ros-2-control-and-gazebo/) between the robot hardware and the robot software and is comprised of the following parts:\n\n1. Hardware Components\n2. Resource Manager\n3. Controllers\n4. Controller Manager\n\n### Hardware components\n\nHardware components are drivers for physical hardware and represent its abstraction in the `ros2_control` framework. These components are usually provided by robot or hardware manufacturers, otherwise the components would either have to be sourced from the ROS community or written from scratch using this [guide](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.html) made available by the `ros2_control` development team. Hardware components are written in `C++` and exported as plugins using the [`pluginlib`](https://index.ros.org/p/pluginlib/#humble)-library; these plugins are dynamically loaded at runtime by the [Resource Manager](#resource-manager).\n\nHardware components are configured in the robot's Unified Robot Description Format (URDF) file --- an XML file that describes the model of the robot --- using the `` [tag](https://control.ros.org/master/doc/getting_started/getting_started.html#hardware-description-in-urdf) and the recommended `xacro` (XML) macro files.\n\nThere are 3 basic types of components:\n\n#### System\n\nThis refers to a hardware setup made up of more than 1 Degree of Freedom (DOF) which contains multiple joints and sensors. This component type offers a lot of flexibility in handling hardware setups which can range from mobile robots to humanoid robot hands and more. The Waveshare Motor Driver HAT controls the two motors (or two wheel joints) on lidarbot, hence the robot base is classifed as a system component.\n \nA system component has reading and writing capabilities, these are expressed as state interfaces and command interfaces respectively. The system component configuration for the robot base with a velocity command interface and state interfaces for both the velocity and position is shown in the code snippet below, available in this [xacro file](./lidarbot_description/urdf/ros2_control.xacro).\n\n```\n\n \n lidarbot_base/LidarbotHardware\n left_wheel_joint\n right_wheel_joint\n 1084\n 30.0\n \n \n \n -10\n 10\n \n \n \n \n \n \n -10\n 10\n \n \n \n \n\n```\n\nA similar system hardware component is configured for Gazebo Fortress in this [URDF](./lidarbot_gz/urdf/lidarbot_gz.urdf.xacro) file.\n\n#### Sensor\n\nA sensor provides information about changes to a physical phenomenon it is observing. A sensor component has only reading capabilities and is related to a joint or a link in the URDF file. This component type can be configured as an externally connected sensor, with its own `` tags, or as an integrated sensor embedded in system component `` tags. The MPU6050 module is configured as an externally connected sensor component and is associated with a fixed link named `imu_link`. This configuration is shown in the code snippet below which is available in the MPU6050 section of this [xacro file](./lidarbot_description/urdf/ros2_control.xacro).\n\n```\n\n \n lidarbot_bringup/MPU6050Hardware\n mpu6050\n imu_link\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n```\n\nHowever, a standalone [IMU sensor plugin](https://gazebosim.org/docs/fortress/sensors/#imu-sensor) was used to simulate an [IMU sensor](./lidarbot_gz/urdf/sensors.xacro) in Gazebo Fortress.\n\n#### Actuator\n\nThis component type only has 1 DOF. Some examples of these include motors and valves. Actuator components are related to a single joint and have both reading and writing capabilities, however, obtaining state feedback is not mandatory if is inaccessible; for instance, controlling a DC motor that has no encoders.\n\nThe image below (adapted from [Denis Ε togl](https://vimeo.com/649651707) (CC-BY)) shows the system and sensor components used for the lidarbot base and the MPU6050 module respectively β€” custom hardware components were written for the [Waveshare Motor Driver HAT](./lidarbot_base/src/lidarbot_hardware.cpp) and the [MPU6050 module](./lidarbot_bringup/src/mpu6050_hardware_interface.cpp) using the [MPU6050 library](#mpu6050-library).\n\n

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\n\nThe coloured icons represent the state and command interfaces of the hardware components. The state interfaces for the respective cartesian axes, associated with the MPU6050 module, were merged into one for clarity.\n\n### Resource Manager\n\nThe Resource Manager (RM) abstracts the hardware components for the `ros2_control` framework. The RM is responsible for loading the components using the `pluginlib`-library, managing their lifecycle and components’ state and command interfaces. In the control loop execution, which is managed by the Controller Manager, the RM’s `read()` and `write()` methods handle the communication with the hardware components. \n\nThe abstraction provided by RM allows reuse of implemented hardware components. A sensor component, like the MPU6050 module, has only reading capabilities, thus it can be shared by multiple controllers simultaneously. However, components with command interfaces require exclusive access by only one controller. \n\nThe bidirectional arrows in the figure below (adapted from [Denis Ε togl](https://vimeo.com/649651707) (CC-BY)) indicate interfaces that have both read and write capabilities, but interfaces that only provide state feedback are represented with unidirectional arrows.\n\n

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\n\n### Controllers\n\nThe controllers in the `ros2_control` framework are based on control theory which compare the reference value with the measured output and, based on this error, calculate a system’s input. Controllers access the latest hardware lifecycle state when the Controller Manager’s `update()` method is called and enables them to write to the hardware command interfaces.\n\nThere are a number of controllers available for specific hardware configurations, such as ***Ackermann steering controller***, ***bicycle steering controller***, ***gripper controller*** and ***differential drive controller*** (which is used on lidarbot). The full list of controllers is available on the `ros2_controllers` [page](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html). Similar to hardware components, a [guide](https://control.ros.org/master/doc/ros2_controllers/doc/writing_new_controller.html) is also provided on how to write a custom controller if a particular hardware configuration is missing.\n\n#### Differential Drive Controller\n\nThe differential drive controller receives `Twist.msg` velocity command messages from the Nav2 stack which are written to the velocity command interfaces of the robot base system hardware component. This in turn drives the motors in accordance with the received velocity command interfaces. This sequence of commands is illustrated in the next image.\n\n#### Joint State Broadcaster\n\nBroadcasters only have reading abilities and are used to publish sensor data from hardware components to ROS topics. The joint state broadcaster reads all state interfaces and reports them on the `/joint_states` and `/dynamic_joint_state` topics. These topics are used by RViz to display the current state of the robot joints.\n\n#### IMU Sensor Broadcaster\n\nThe IMU sensor broadcaster on lidarbot publishes `Imu.msg` messages on the topic, `imu_broadcaster/imu`, from the MPU6050 IMU hardware sensor component. The IMU sensor data is utilized by the [`robot_localization`](#robot-localization) package to fuse wheel odometry data with an Extended Kalman Filter (EKF). This is used to improve the robot’s localization for autonomous navigation with the Nav2 framework. The topic connections between Nav2, relevant packages and the lidarbot controllers are presented in the [navigation](#navigation) subsection.\n\nThe lidarbot differential drive controller and IMU sensor broadcaster are configured in the [`controllers.yaml`](./lidarbot_bringup/config/controllers.yaml) file in the bringup package; the joint state broadcaster here uses the default parameters so no configuration is needed.\n\nIn configuring the IMU sensor broadcaster, the static orientation, velocity and linear acceleration covariances, which have a row major arrangement about the x, y and z axes, need to be calculated. A [covariance matrix](https://www.cuemath.com/algebra/covariance-matrix/), sometimes referred to as a variance-covariance matrix, is a square matrix where the diagonal elements represent the variance and the off-diagonal elements represent the covariance.\n\nVisualizing the static velocity covariance, for instance, with the matrix below, the diagonal elements represent the variance of a chosen sample data size of velocity measurements for the respective axes. While the off-diagonal elements represent the covariance between velocities of two axes over a chosen sample data size.\n\n β”Œβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”¬β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”¬β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”\n β”‚ Var(x,x) β”‚ Cov(x,y) β”‚ Cov(x,z) β”‚\n β”œβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”Όβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”Όβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€\n β”‚ Cov(y,x) β”‚ Var(y,y) β”‚ Cov(y,z) β”‚\n β”œβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”Όβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”Όβ”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€\n β”‚ Cov(z,x) β”‚ Cov(z,y) β”‚ Var(z,z) β”‚\n β””β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”΄β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”΄β”€β”€β”€β”€β”€β”€β”€β”€β”€β”€β”˜\n\nThe matrix above is represented as a 9 element array, in the IMU Sensor Broadcaster configuration of the [`controllers.yaml`](./lidarbot_bringup/config/controllers.yaml) file for the respective covariances to be calculated.\n\nHowever, only the variance array elements are calculated. It is assumed that the different axes do not vary together, therefore the off-diagonal elements/covariances are zero. The [`mpu6050_covariances.cpp`](./lidarbot_bringup/src/mpu6050_covariances.cpp) file can be modified to incorporate the covariance calculations later on.\n\nThe variance was calculated with a sample data size of **500** points, with a delay of **0.25s** to read non-consecutive values from the MPU6050 module.\n\nKeep the module still then run this node to generate the variances:\n\n```\nros2 run lidarbot_bringup mpu6050_covariances\n```\n\nAn output similar to the following will be shown in the terminal window\n\n```\nPlease keep the MPU6050 module level and still.\nReading and appending 500 sensor data points to respective arrays, it may take a while ...\n\nCalculating variances ...\n\nstatic_covariance_orientation: [5.46409e-06, 0.0, 0.0, 5.72254e-06, 0.0, 0.0, 4.22433e-07, 0.0, 0.0]\nstatic_covariance_angular_velocity: [2.01015e-06, 0.0, 0.0, 1.9657e-06, 0.0, 0.0, 8.13776e-07, 0.0, 0.0]\nstatic_covariance_linear_acceleration: [0.000632951, 0.0, 0.0, 0.000801987, 0.0, 0.0, 0.00117363, 0.0, 0.0]\n\nPaste covariance arrays in the imu_broadcaster ros__parameters section in lidarbot_bringup/config/controllers.yaml.\n\n```\n\nThese arrays are then pasted in the `imu_broadcaster ros__parameters` section of the [`controllers.yaml`](./lidarbot_bringup/config/controllers.yaml) file to complete the IMU Sensor Broadcaster configuration.\n\n### Controller Manager\n\nThe Controler Manager (CM) is responsible for managing the lifecycle of controllers (for instance, loading, activating, deactivating and unloading respective controllers) and the interfaces they require. Through the RM, the CM has access to the hardware component interfaces. The Controller Manager connects the controllers and hardware-abstraction sides of the `ros2_control` framework, and also serve as the entry-point for users via ROS services using the [`ros2 cli`](https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html).\n\nThe Controller Manager matches required and provided interfaces, grants contollers access to hardware when enabled, or reports an error if there is an access conflict. The execution of the control-loop is managed by the CM's `update()` method which reads data from the hardward components, updates the outputs of all active controllers, and writes the result to the components.\n\nIn essence, the CM manages the controllers, which calculate the commands needed to make the [robot move as desired](https://automaticaddison.com/how-to-control-a-robotic-arm-using-ros-2-control-and-gazebo/).\n\nThe following image (adapted from [Denis Ε togl](https://vimeo.com/649651707) (CC-BY)) illustrates all the parts of the `ros2_control` framework modified for use on lidarbot.\n\n

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\n\nThe `ros2_control` framework can be explored in more detail by reading the [official documentation](https://control.ros.org/master/doc/getting_started/getting_started.html), this [article](https://masum919.github.io/ros2_control_explained/) from Masum, this [tutorial](https://articulatedrobotics.xyz/tutorials/mobile-robot/applications/ros2_control-concepts/) from Articulated Robotics and the [preprint](http://dx.doi.org/10.13140/RG.2.2.15748.54408) for this project.\n\n## Test Drive\n\n### Robot localization\n\nBefore setting up lidarbot for autonomous navigation with the Nav2 stack, its wheel encoder and IMU sensor data are fused. Slipping between the wheels and the ground is [common in differential drive robots](https://www.sciencedirect.com/science/article/pii/S1474667016428909), and can lead to substantial deviation from the actual position of a wheeled mobile robot from its desired position. Fusing different sensor data aids in correcting for this variation. An Extended Kalman Filter is employed by the [`robot_localization`](https://index.ros.org/p/robot_localization/#humble) package to fuse the wheel odometry and IMU sensor data to obtain more accurate robot odometry estimates. \n\nThis results in improved robot navigation as the Nav2 stack makes use of odometry data to estimate the pose (position and orientation) of the robot. The wheel odometry and IMU sensor data are obtained from the differential drive controller topic, `diff_controller/odom`, and the IMU sensor broadcaster topic, `imu_broadcaster/imu` respectively. \n\nThe EKF is configured using this [guide](https://docs.nav2.org/setup_guides/odom/setup_robot_localization.html) from Nav2; more information about the `robot_localization` package can be found in the [official documenation](https://docs.ros.org/en/noetic/api/robot_localization/html/configuring_robot_localization.html). The EKF configuration file, `ekf.yaml`, is available [here](./lidarbot_navigation/config/ekf.yaml).\n\nBy default the Gazebo and real world lidarbot bringup launch files have the `use_robot_localization` argument set to `true` but this can also be set to `false` if one chooses to do so.\n\n```\nros2 launch lidarbot_bringup lidarbot_bringup_launch.py use_robot_localization:=false\n```\n### Gazebo\n\nTo drive lidarbot around in Gazebo Fortress, first ensure that the USB dongle of the gamepad is plugged in to the development machine then run this command to bringup lidarbot, sensors and also integrates `ros2_control`, `twist_mux`, `robot_localization` and gamepad/joystick control:\n\n```\nros2 launch lidarbot_gz gz_launch.py\n```\n\nThe GIF below shows lidarbot being driven around by the gamepad (with the gamepad configuration presented [here](#teleoperation)) in a [world made up of obstacles](https://articulatedrobotics.xyz/tutorials/mobile-robot/concept-design/concept-gazebo#making-an-obstacle-course). \n\n

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\n\n### Physical\n\nA [ROS service](https://foxglove.dev/blog/creating-ros2-services) was written to test the connections of the motor(s) and by extension to know if the motor is faulty. Before running the tests, ensure that the 18650 batteries are charged, then prop the robot on a box or similar to prevent it falling off an edge for instance. \n\nRun the [client node](./lidarbot_base/src/motor_checks_client.cpp) to request the motor checks:\n\n```\nros2 run lidarbot_base motor_checks_client\n```\n\nThen run the [server node](./lidarbot_base/src/motor_checks_server.cpp) to check the motors:\n\n```\nros2 run lidarbot_base motor_checks_server\n```\nThese are the steps followed by the server node:\n- The server initializes the left and right motor pulse counts to 0. \n- It then runs each motor in the forward direction at 50% speed for 2 seconds. The terminal output is shown below:\n ```\n [INFO] [1699988646.067449176] [rclcpp]: Ready to check motors\n [INFO] [1699988648.190017279] [rclcpp]: Received request to check motors...\n [INFO] [1699988648.190117076] [rclcpp]: Checking left motor...\n [INFO] [1699988652.196330587] [rclcpp]: Checking right motor...\n [INFO] [1699988656.202619229] [rclcpp]: Sending back response...\n ```\n- The current pulse counts for each motor are checked to confirm that the pulse is above 0.\n- If both motors have their pulse counts above 0, a success message is sent to the client: \n\n ```\n [INFO] [1699991078.643028687] [rclcpp]: service not available, waiting again...\n [INFO] [1699991087.233641544] [rclcpp]: The checks were successful!\n ```\n- If one or both of the motors do not have pulse counts above zero a warning message is sent from the server to the client and identifies the faulty motor(s). At the moment, however, the message sent to the client does not identify the faulty motor but instead outputs this message when there is an error:\n\n ```\n terminate called after throwing an instance of 'std::future_error'\n what(): std::future_error: No associated state\n [ros2run]: Aborted\n ```\n This section will be updated once the issue has been fixed.\n\n

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\n\nIf a motor moves backward instead of forward, swap the cables for the specific motor to change the direction.\n\nAfter it is confirmed that both motors moved forward, lidarbot can be driven around with the gamepad after running this command:\n\n```\nros2 launch lidarbot_bringup lidarbot_bringup_launch.py\n```\n\nThis launch file brings up the physical lidarbot, raspberry pi camera, RPLIDAR A1 and also integrates `ros2_control`, `twist_mux`, `robot_localization` and gamepad/joystick control.\n\n**Note:** There are some warning and error messages outputted to the terminal related to the camera. These are mostly related to calibrating the camera and can be ignored. \n\n## Mapping\n\nThe Nav2 stack uses laser scan data to build a map of an environment and to localize the robot in the map while in motion. The SLAM package, [`slam_toolbox`](https://joss.theoj.org/papers/10.21105/joss.02783.pdf), is used to generate a map of Lidarbot’s surroundings with the RPLIDAR A1 by driving the robot around using the [`teleop_twist_joy`](https://index.ros.org/r/teleop_twist_joy/) package with the [gamepad](./lidarbot_teleop/launch/joystick_launch.py).\n\n### Gazebo\n\nBefore starting the mapping operation, ensure that the `mode` key, under `ROS Parameters` in the [`mapper_params_online_async.yaml`](./lidarbot_slam/config/mapper_params_online_async.yaml) file, is set to `mapping` and also that the `map_file_name`, `map_start_pose` and the `map_start_at_dock` keys are commented out:\n\n``` \n# ROS Parameters\nodom_frame: odom\nmap_frame: map\nbase_frame: base_footprint\nscan_topic: /scan\nuse_map_saver: true\nmode: mapping #localization\n\n# if you'd like to immediately start continuing a map at a given pose\n# or at the dock, but they are mutually exclusive, if pose is given\n# will use pose\n#map_file_name: /path/to/map_file\n#map_start_pose: [0.0, 0.0, 0.0]\n#map_start_at_dock: true \n```\n\nTo start mapping in a simulation environment, launch the Gazebo simulation of lidarbot on the development machine (which includes the joystick node for teleoperation):\n\n```\nros2 launch lidarbot_gz gz_launch.py\n```\n\nFor Gazebo Fortress run:\n\n```\nros2 launch lidarbot_gazebo gazebo_launch.py\n```\n\nIn a separate terminal, navigate to the workspace directory, `lidarbot_ws` for example, and launch `slam_toolbox` with the [`online_async_launch.py`](./lidarbot_slam/launch/online_async_launch.py) file:\n\n```\nros2 launch lidarbot_slam online_async_launch.py \\\nslam_params_file:=src/lidarbot_slam/config/mapper_params_online_async.yaml \\\nuse_sim_time:=true\n```\n\n***Note**: The online asynchronous mode in `slam_toolbox` uses live and the most recent scan data to create a map, to avoid any lags therefore, some scans can be skipped.*\n\nIn another terminal, navigate to the workspace directory again and start `rviz2` with the `lidarbot_slam.rviz` config file:\n\n```\nrviz2 -d src/lidarbot_slam/rviz/lidarbot_slam.rviz\n```\n\nDrive around the obstacles to generate a map of the environment:\n\n

\n \n

\n\nAfter generating the map, in the **SlamToolboxPlugin** in RViz, type in a name for the map in the field beside the **Save Map** button, then click on it. \n\n

\n \n

\n\nThe saved map can be found in the workspace directory and will be used by [Nav2 stack](https://navigation.ros.org/) for navigation. \n\n### Physical\n\nTo begin mapping in the real world, first run the bringup command:\n\n```\nros2 launch lidarbot_bringup lidarbot_bringup_launch.py\n```\n\nThen ensure that the [`mapper_params_online_async.yaml`](./lidarbot_slam/config/mapper_params_online_async.yaml) file is configured for mapping (refer to the previous subsection). Then open a new terminal, on the development machine, navigate to the workspace directory and launch `slam_toolbox` with the `use_sim_time` parameter set to `false`:\n\n```\nros2 launch lidarbot_slam online_async_launch.py \\\nslam_params_file:=src/lidarbot_slam/config/mapper_params_online_async.yaml \\\nuse_sim_time:=false\n```\n\nIn a new terminal, also on the development machine, navigate to the workspace directory again and start `rviz2`:\n\n```\nrviz2 -d src/lidarbot_slam/rviz/lidarbot_slam.rviz\n```\n\nDrive around the environment to generate a map:\n\n

\n \n

\n\nThen save the generated map.\n\n## Navigation\n\nTo localize a robot in a given map, Nav2 makes use of the Adaptive Monte Carlo Localization (AMCL) package, `nav2_amcl`. This a probabilistic localization module that outputs the pose estimates of a robot taking LIDAR scans, a map (from the Nav2 `map_server`) and transform messages as inputs.\n\nIt was noted in the [controllers subsection](#controllers) that the Nav2 stack outputs command velocity messages to the differential drive controller. These are sent on the topic `diff_controller/cmd_vel_unstamped` for lidarbot. The velocity messages are sent to the robot base system hardware component to drive the motors. The updated robot odometry data from this motion is sent to the EKF on the topic `/diff_controller/odom`, and fused with the IMU data from the `imu_broadcaster/imu` topic. The fused odometry data is input into Nav2, in addition to the laser scan data, occupancy grid map and transform messages, to output new velocity messages. This process keeps iterating as the robot moves towards the goal position.\n\nThe Nav2 topic graph is shown in the following image adapted from [Linorobot2](https://github.com/linorobot/linorobot2).\n\n

\n \n

\n\n### Gazebo\n\nLidarbot will be localized and navigated within the map previously generated with the `slam_toolbox`.\n\nBring up lidarbot in Gazebo Fortress:\n\n```\nros2 launch lidarbot_gz gz_launch.py\n```\n\nBring up lidarbot in Gazebo classic:\n\n```\nros2 launch lidarbot_gazebo gazebo_launch.py\n```\n\nNavigate to the development workspace and open the following terminals.\n\nTo open `RViz`:\n\n```\nrviz2 -d src/lidarbot_navigation/rviz/lidarbot_nav.rviz\n```\n\nTo localize lidarbot in the map with `nav2_amcl`:\n\n```\nros2 launch lidarbot_navigation localization_launch.py \\\nmap:=./src/lidarbot_navigation/maps/sim_map.yaml use_sim_time:=true\n```\n\nTo launch navigation:\n\n```\nros2 launch lidarbot_navigation navigation_launch.py use_sim_time:=true \\\nmap_subscribe_transient_local:=true\n```\n\nMake sure to set the `use_sim_time` argument to `true`.\n\nIn `RViz`, set the initial pose using the `2D Pose Estimate` button in the toolbar so that lidarbot is aligned correctly both in `RViz` and Gazebo Classic. Afterwards, click on the `2D Goal Pose` and choose a place on the map for lidarbot to navigate to:\n\n

\n \n

\n\nThe blue arrows indicate unfiltered odometry, while the green ones are the filtered odometry. \n\n### Physical\n\nRun a similar set of commands on the physical lidarbot for localization and navigation. Bring up lidarbot:\n\n```\nros2 launch lidarbot_bringup lidarbot_bringup_launch.py\n```\n\nLaunch `RViz`:\n\n```\nrviz2 -d src/lidarbot_navigation/rviz/lidarbot_nav.rviz\n```\n\nTo localize lidarbot in the map with `nav2_amcl`:\n\n```\nros2 launch lidarbot_navigation localization_launch.py map:=./real_map.yaml use_sim_time:=false\n```\n\nTo launch navigation:\n\n```\nros2 launch lidarbot_navigation navigation_launch.py use_sim_time:=false \\\nmap_subscribe_transient_local:=true\n```\n\nMake sure to set the `use_sim_time` argument to `false`.\n\nSimilarly, set the initial pose using the `2D Pose Estimate` button in the `RViz` toolbar so that lidarbot is aligned correctly both in `RViz` and in its environment. Afterwards, click on the `2D Goal Pose` and choose a place on the map for lidarbot to navigate to. \n\nTo save time, all of these commands can be called from one launch file and adding delays where necessary to ensure certain processes are launched before others to avoid errors. Additional information on setting up navigation with Nav2 is available in this [setup guide](https://docs.nav2.org/setup_guides/index.html).\n\nAn ArUco marker was placed on top of lidarbot to track its trajectory during navigation, a Logitech C270 webcam was utilized in tracking the marker.\n\n## ArUco package\n\nTo track the trajectory of lidarbot during navigation, an ArUco marker, a binary synthetic square marker, was placed on top of it. Synthetic or fiducial markers are used in [computer vision applications](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) for pose estimation in robot navigation, augmented reality and more. \n\nThe four corners of fiducial markers provide enough correspondence between points in the real world and their 2D image projection to obtain the camera pose estimate.\n\nMore information about ArUco markers can be found in [this](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) OpenCV tutorial.\n\n### Generate ArUco marker\n\nThe open source computer vision library, [OpenCV](https://docs.opencv.org/4.x/d1/dfb/intro.html), contains an ArUco module based on the [ArUco library](https://www.uco.es/investiga/grupos/ava/portfolio/aruco/), a popular library for detection of square fiducial markers developed by Rafael MuΓ±oz and Sergio Garrido.\n\nFirstly, the `opencv-contrib-python` module needs to be installed and not `opencv-python`: \n\n```\npip uninstall opencv-python\npip install opencv-contrib-python\n```\n\nThe computer might need to be restarted for the install to be effected.\n\nNext navigate to the path in the `lidarbot_aruco` pacakge directory:\n\n```\ncd ~/dev_ws/lidarbot_aruco/lidarbot_aruco\n```\n\nThen run the following script:\n\n```python\npython generate_aruco_marker.py --id 24 --type DICT_4X4_50 \\\n\t--output ../tags/DICT_4X4_50_id24.png\n```\n\nThe script arguments:\n\n`--id` : The unique identifier of the ArUco tag β€” this is a required argument and ID must be a valid ID in the ArUco dictionary used to generate the tag\n \n`--type` : The name of the ArUco dictionary used to generate the tag; the default type is `DICT_4X4_50`\n\n`--output` : The path to the output image where the generated ArUco tag will be saved; this is a required argument\n\nRunning the previous script opens a window with the generated ArUco tag displayed,\n\n

\n \n

\n\nTo close the window, press the **q** key on the keyboard on the opened window.\n\n### Webcam calibration\n\nThe Logitech webcam C270 HD is used in this project and needs to be calibrated.\n\nFirst install the [ROS usb camera driver](https://index.ros.org/r/usb_cam/#humble) package:\n\n```\nsudo apt install ros-humble-usb-cam\n```\n\nCamera calibration was done following the steps outlined this [guide](https://automaticaddison.com/how-to-perform-pose-estimation-using-an-aruco-marker/)\n\nExecute the command below to run the usb-cam driver node:\n\n```\nros2 run usb_cam usb_cam_node_exe --ros-args --params-file ~/dev_ws/src/lidarbot_aruco/config/params_1.yaml\n```\n\n### Aruco trajectory visualizer node\n\n```\nros2 run lidarbot_aruco aruco_trajectory_visualizer_node\n```\n\nLaunch file to bringup the usb driver and aruco trajectory visualizer node:\n\n```\nros2 launch lidarbot_aruco trajectory_visualizer_launch.py\n```\n\n

\n \n

\n\n

\n \n

\n\nThe following images show the start and end positions of navigation with lidarbot.\n\n

\n \n

\n\n

\n \n

\n\nAn alternative to using AruCo markers to visualize the robot's trajectory is to use [this](https://github.com/MOGI-ROS/mogi_trajectory_server) ROS2 trajectory visualization server by MOGI-ROS.\n\n## Acknowledgment\n\n- [Articulated Robotics](https://articulatedrobotics.xyz/)\n- [Automatic Addison](https://automaticaddison.com/)\n- [Diffbot](https://github.com/ros-mobile-robots/diffbot)\n- [Linorobot2](https://github.com/linorobot/linorobot2)\n- [Mini pupper](https://github.com/mangdangroboticsclub/mini_pupper_ros)\n- [Pyimagesearch](https://pyimagesearch.com/)\n- [Robotics Backend](https://roboticsbackend.com/)\n" }, { "path": "docs/index.md", "content": "" }, { "path": "lidarbot/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot)\n\nfind_package(ament_cmake REQUIRED)\n\nament_package()" }, { "path": "lidarbot/package.xml", "content": "\n\n\n lidarbot\n 0.0.0\n Lidarbot meta package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_aruco/config/chessboard_calibration.yaml", "content": "%YAML:1.0\n---\nimage_width: 640\nimage_height: 480\ncamera_name: narrow_stereo\ncamera_matrix:\n rows: 3\n cols: 3\n dt: d\n data: [842.57825, 0. , 304.89032,\n 0. , 841.64125, 224.5223 ,\n 0. , 0. , 1. ]\ndistortion_model: plumb_bob\ndistortion_coefficients:\n rows: 1\n cols: 5\n dt: d\n data: [0.002363, 0.562980, -0.004719, -0.008675, 0.000000]\nrectification_matrix:\n rows: 3\n cols: 3\n data: [1., 0., 0.,\n 0., 1., 0.,\n 0., 0., 1.]\nprojection_matrix:\n rows: 3\n cols: 4\n data: [862.94263, 0. , 302.0357 , 0. ,\n 0. , 863.9823 , 223.20963, 0. ,\n 0. , 0. , 1. , 0. ]\n" }, { "path": "lidarbot_aruco/config/params_1.yaml", "content": "/**:\n ros__parameters:\n video_device: \"/dev/video0\"\n framerate: 30.0\n io_method: \"mmap\"\n frame_id: \"camera\"\n pixel_format: \"mjpeg2rgb\" # see usb_cam/supported_formats for list of supported formats\n av_device_format: \"YUV422P\"\n image_width: 640\n image_height: 480\n camera_name: \"test_camera\"\n camera_info_url: \"package://usb_cam/config/camera_info.yaml\"\n brightness: -1\n contrast: -1\n saturation: -1\n sharpness: -1\n gain: -1\n auto_white_balance: true\n white_balance: 4000\n autoexposure: true\n exposure: 100\n autofocus: false\n focus: -1\n" }, { "path": "lidarbot_aruco/config/params_2.yaml", "content": "/**:\n ros__parameters:\n video_device: \"/dev/video2\"\n framerate: 15.0\n io_method: \"mmap\"\n frame_id: \"camera2\"\n pixel_format: \"mjpeg2rgb\"\n av_device_format: \"YUV422P\"\n image_width: 640\n image_height: 480\n camera_name: \"test_camera2\"\n # reusing same camera intrinsics only for demo, should really be unique for camera2\"\n camera_info_url: \"package://usb_cam/config/camera_info.yaml\"\n brightness: -1\n contrast: -1\n saturation: -1\n sharpness: -1\n gain: -1\n auto_white_balance: true\n white_balance: 4000\n autoexposure: true\n exposure: 100\n autofocus: false\n focus: -1" }, { "path": "lidarbot_aruco/launch/trajectory_visualizer_launch.py", "content": "# Launch file to start the webcam usb driver and aruco trajectory visualizer node\n# to track the robot as it moves\n\nimport os\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\n\ndef generate_launch_description():\n\n usb_cam_params = os.path.join(\n get_package_share_directory(\"lidarbot_aruco\"), \"config\", \"params_1.yaml\"\n )\n\n usb_cam_node = Node(\n package=\"usb_cam\",\n executable=\"usb_cam_node_exe\",\n parameters=[usb_cam_params],\n )\n\n aruco_visualizer_node = Node(\n package=\"lidarbot_aruco\",\n executable=\"aruco_trajectory_visualizer_node\",\n output=\"screen\",\n )\n\n return LaunchDescription(\n [\n usb_cam_node,\n aruco_visualizer_node,\n ]\n )\n" }, { "path": "lidarbot_aruco/lidarbot_aruco/__init__.py", "content": "" }, { "path": "lidarbot_aruco/lidarbot_aruco/aruco_trajectory_visualizer.py", "content": "#!/usr/bin/env python3\n\n# This node is used to visualize the trajectory of lidarbot by tracking the ArUco marker\n# on it and drawing lines through the center of the marker in subsequent image frames\n\n# Adapted from: https://automaticaddison.com/estimate-aruco-marker-pose-using-opencv-gazebo-and-ros-2/\n\n# Import Python libraries\nimport cv2\nimport numpy as np\n\n# Import ROS2 libraries\nimport rclpy\nfrom rclpy.node import Node\nfrom rclpy.qos import qos_profile_sensor_data # Uses Best Effort reliability for camera\nfrom cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images\nfrom sensor_msgs.msg import Image # Image is the message type\n\n# The different ArUco dictionaries built into the OpenCV library\nARUCO_DICT = {\n \"DICT_4X4_50\": cv2.aruco.DICT_4X4_50,\n \"DICT_4X4_100\": cv2.aruco.DICT_4X4_100,\n \"DICT_4X4_250\": cv2.aruco.DICT_4X4_250,\n \"DICT_4X4_1000\": cv2.aruco.DICT_4X4_1000,\n \"DICT_5X5_50\": cv2.aruco.DICT_5X5_50,\n \"DICT_5X5_100\": cv2.aruco.DICT_5X5_100,\n \"DICT_5X5_250\": cv2.aruco.DICT_5X5_250,\n \"DICT_5X5_1000\": cv2.aruco.DICT_5X5_1000,\n \"DICT_6X6_50\": cv2.aruco.DICT_6X6_50,\n \"DICT_6X6_100\": cv2.aruco.DICT_6X6_100,\n \"DICT_6X6_250\": cv2.aruco.DICT_6X6_250,\n \"DICT_6X6_1000\": cv2.aruco.DICT_6X6_1000,\n \"DICT_7X7_50\": cv2.aruco.DICT_7X7_50,\n \"DICT_7X7_100\": cv2.aruco.DICT_7X7_100,\n \"DICT_7X7_250\": cv2.aruco.DICT_7X7_250,\n \"DICT_7X7_1000\": cv2.aruco.DICT_7X7_1000,\n \"DICT_ARUCO_ORIGINAL\": cv2.aruco.DICT_ARUCO_ORIGINAL,\n}\n\n\nclass ArucoNode(Node):\n def __init__(self):\n super().__init__(\"aruco_visualizer_node\")\n\n # Declare parameters\n self.declare_parameter(\"aruco_dictionary_name\", \"DICT_4X4_50\")\n self.declare_parameter(\"aruco_marker_side_length\", 0.063)\n self.declare_parameter(\n \"camera_calibration_parameters_filename\",\n \"/home/noobinventor/lidarbot_ws/src/lidarbot_aruco/config/chessboard_calibration.yaml\",\n )\n self.declare_parameter(\"image_topic\", \"/image_raw\")\n\n # Read parameters\n aruco_dictionary_name = (\n self.get_parameter(\"aruco_dictionary_name\")\n .get_parameter_value()\n .string_value\n )\n self.aruco_marker_side_length = (\n self.get_parameter(\"aruco_marker_side_length\")\n .get_parameter_value()\n .double_value\n )\n self.camera_calibration_parameters_filename = (\n self.get_parameter(\"camera_calibration_parameters_filename\")\n .get_parameter_value()\n .string_value\n )\n image_topic = (\n self.get_parameter(\"image_topic\").get_parameter_value().string_value\n )\n\n # Check that we have a valid ArUco marker\n if ARUCO_DICT.get(aruco_dictionary_name, None) is None:\n self.get_logger().info(\n \"[INFO] ArUCo tag of '{}' is not supported\".format(\n aruco_dictionary_name\n )\n )\n\n # Load the camera parameters from the saved file\n cv_file = cv2.FileStorage(\n self.camera_calibration_parameters_filename, cv2.FILE_STORAGE_READ\n )\n self.camera_matrix = cv_file.getNode(\"camera_matrix\").mat()\n self.dist_coeffs = cv_file.getNode(\"distortion_coefficients\").mat()\n cv_file.release()\n\n # Load the ArUco dictionary\n self.get_logger().info(\n \"[INFO] detecting '{}' markers...\".format(aruco_dictionary_name)\n )\n self.arucoDict = cv2.aruco.getPredefinedDictionary(\n ARUCO_DICT[aruco_dictionary_name]\n )\n self.arucoParams = cv2.aruco.DetectorParameters()\n\n # Create the subscriber. This subscriber will receive an Image\n # from the image_topic\n self.subscription = self.create_subscription(\n Image,\n image_topic,\n self.listener_callback,\n qos_profile=qos_profile_sensor_data,\n )\n self.subscription # prevent unused variable warning\n\n # Used to convert between ROS and OpenCV images\n self.bridge = CvBridge()\n\n # List of points to draw curves through\n self.points = []\n\n # Callback function\n def listener_callback(self, data):\n # Display the message on the console\n self.get_logger().info(\"Receiving video frame\")\n\n # Convert ROS image message to OpenCV image\n current_frame = self.bridge.imgmsg_to_cv2(data, desired_encoding=\"bgr8\")\n\n # Detect ArUco markers in the video frame\n (corners, marker_ids, rejected) = cv2.aruco.detectMarkers(\n current_frame,\n self.arucoDict,\n parameters=self.arucoParams,\n )\n\n # Check that at least one ArUco marker was detected\n if marker_ids is not None:\n\n # Get the rotation and translation vectors\n rvecs, tvecs, obj_points = cv2.aruco.estimatePoseSingleMarkers(\n corners,\n self.aruco_marker_side_length,\n self.camera_matrix,\n self.dist_coeffs,\n )\n\n # Loop over the detected ArUCo corners\n for markerCorner, markerID in zip(corners, marker_ids):\n # Extract the marker corners (which are always returned in\n # top-left, top-right, bottom-right, and bottom-left order)\n corners = markerCorner.reshape((4, 2))\n (topLeft, topRight, bottomRight, bottomLeft) = corners\n\n # Convert the (x,y) coordinates pairs to integers\n topRight = (int(topRight[0]), int(topRight[1]))\n bottomRight = (int(bottomRight[0]), int(bottomRight[1]))\n bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))\n topLeft = (int(topLeft[0]), int(topLeft[1]))\n\n # Draw the bounding box of the ArUCo detection\n cv2.line(current_frame, topLeft, topRight, (0, 255, 0), 2)\n cv2.line(current_frame, topRight, bottomRight, (0, 255, 0), 2)\n cv2.line(current_frame, bottomRight, bottomLeft, (0, 255, 0), 2)\n cv2.line(current_frame, bottomLeft, topLeft, (0, 255, 0), 2)\n\n # Compute and draw the center (x, y)-coordinates of the ArUco\n # marker\n cX = int((topLeft[0] + bottomRight[0]) / 2.0)\n cY = int((topLeft[1] + bottomRight[1]) / 2.0)\n self.points.append([cX, cY])\n cv2.circle(current_frame, (cX, cY), 4, (0, 0, 255), -1)\n\n # Convert points list to numpy array\n points_array = np.array(self.points)\n points_array = points_array.reshape((-1, 1, 2))\n\n # Connect center coordinates of detected marker in respective frames\n # NOTE: this section works for only one marker\n cv2.polylines(\n current_frame, [points_array], False, (0, 255, 0), thickness=5\n )\n\n # Display image for testing\n cv2.imshow(\"camera\", current_frame)\n cv2.waitKey(1)\n\n\ndef main(args=None):\n\n # Initialize the rclpy library\n rclpy.init(args=args)\n\n # Create the node\n aruco_visualizer_node = ArucoNode()\n\n # Spin the node so the callback function is called\n rclpy.spin(aruco_visualizer_node)\n\n # Destroy the node explicitly\n # (optional - otherwise it will be done automatically\n # when the garbage collector destroys the node object)\n aruco_visualizer_node.destroy_node()\n\n # Shutdown the ROS client library for Python\n rclpy.shutdown()\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "lidarbot_aruco/lidarbot_aruco/detect_aruco_marker.py", "content": "#!/usr/bin/env python\n\n# This detects ArUco markers from a webcam stream using OpenCV and Python\n\n# Adapted from https://automaticaddison.com/how-to-detect-aruco-markers-using-opencv-and-python/\n# and https://pyimagesearch.com/2020/12/21/detecting-aruco-markers-with-opencv-and-python/\n\nimport argparse\nimport cv2\nimport sys\n\n# Construct argument parser and parse the arguments\nap = argparse.ArgumentParser()\nap.add_argument(\n \"-t\", \"--type\", type=str, default=\"DICT_4X4_50\", help=\"type of ArUco tag to detect\"\n)\n\nargs = vars(ap.parse_args())\n\n# The different ArUco dictinaries built into OpenCV\nARUCO_DICT = {\n \"DICT_4X4_50\": cv2.aruco.DICT_4X4_50,\n \"DICT_4X4_100\": cv2.aruco.DICT_4X4_100,\n \"DICT_4X4_250\": cv2.aruco.DICT_4X4_250,\n \"DICT_4X4_1000\": cv2.aruco.DICT_4X4_1000,\n \"DICT_5X5_50\": cv2.aruco.DICT_5X5_50,\n \"DICT_5X5_100\": cv2.aruco.DICT_5X5_100,\n \"DICT_5X5_250\": cv2.aruco.DICT_5X5_250,\n \"DICT_5X5_1000\": cv2.aruco.DICT_5X5_1000,\n \"DICT_6X6_50\": cv2.aruco.DICT_6X6_50,\n \"DICT_6X6_100\": cv2.aruco.DICT_6X6_100,\n \"DICT_6X6_250\": cv2.aruco.DICT_6X6_250,\n \"DICT_6X6_1000\": cv2.aruco.DICT_6X6_1000,\n \"DICT_7X7_50\": cv2.aruco.DICT_7X7_50,\n \"DICT_7X7_100\": cv2.aruco.DICT_7X7_100,\n \"DICT_7X7_250\": cv2.aruco.DICT_7X7_250,\n \"DICT_7X7_1000\": cv2.aruco.DICT_7X7_1000,\n \"DICT_ARUCO_ORIGINAL\": cv2.aruco.DICT_ARUCO_ORIGINAL,\n}\n\n\n# Main method\ndef main():\n\n # Check that we have a valid ArUco marker\n if ARUCO_DICT.get(args[\"type\"], None) is None:\n print(\"[INFO] ArUco tag of '{}' is not supported\".format(args[\"type\"]))\n sys.exit(0)\n\n # Load the ArUco dictionary\n print(\"[INFO] detecting '{}' tags...\".format(args[\"type\"]))\n arucoDict = cv2.aruco.getPredefinedDictionary(ARUCO_DICT[args[\"type\"]])\n arucoParams = cv2.aruco.DetectorParameters()\n\n # Start the video stream\n cap = cv2.VideoCapture(0)\n\n while True:\n\n # Capture frame-by-frame\n # This method returns True/False as well as the video frame\n ret, frame = cap.read()\n\n # Detect ArUco markers in the video frame\n (corners, ids, rejected) = cv2.aruco.detectMarkers(\n frame, arucoDict, parameters=arucoParams\n )\n\n # Check that at least one ArUco marker was detected\n if len(corners) > 0:\n # Flatten the ArUco IDs list of lists to a list\n ids = ids.flatten()\n\n # Loop over the detected ArUCo corners\n for markerCorner, markerID in zip(corners, ids):\n # Extract the marker corners (which are always returned in\n # top-left, top-right, bottom-right, and bottom-left order)\n corners = markerCorner.reshape((4, 2))\n (topLeft, topRight, bottomRight, bottomLeft) = corners\n\n # Convert the (x,y) coordinates pairs to integers\n topRight = (int(topRight[0]), int(topRight[1]))\n bottomRight = (int(bottomRight[0]), int(bottomRight[1]))\n bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))\n topLeft = (int(topLeft[0]), int(topLeft[1]))\n\n # Draw the bounding box of the ArUCo detection\n cv2.line(frame, topLeft, topRight, (0, 255, 0), 2)\n cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2)\n cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2)\n cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2)\n\n # Compute and draw the center (x, y)-coordinates of the ArUco\n # marker\n cX = int((topLeft[0] + bottomRight[0]) / 2.0)\n cY = int((topLeft[1] + bottomRight[1]) / 2.0)\n cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1)\n\n # Draw the ArUco marker ID on the image\n cv2.putText(\n frame,\n str(markerID),\n (topLeft[0], topLeft[1] - 15),\n cv2.FONT_HERSHEY_SIMPLEX,\n 0.5,\n (0, 255, 0),\n 2,\n )\n print(\"[INFO] ArUco marker ID: {}\".format(markerID))\n\n # Display the resulting frame\n cv2.imshow(\"frame\", frame)\n\n # If \"q\" is pressed on the keyboard,\n # exit this loop\n if cv2.waitKey(1) & 0xFF == ord(\"q\"):\n break\n\n # Close down the video stream\n cap.release()\n cv2.destroyAllWindows()\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "lidarbot_aruco/lidarbot_aruco/generate_aruco_marker.py", "content": "#!/usr/bin/env python\n\n# This script generates ArUco markers using OpenCV and Python\n\n# Adapted from https://automaticaddison.com/how-to-create-an-aruco-marker-using-opencv-python/\n# and https://pyimagesearch.com/2020/12/14/generating-aruco-markers-with-opencv-and-python/\n\nimport cv2\nimport argparse\nimport numpy as np\nimport sys\n\n# Construct the argument parser and parse the arguments\nap = argparse.ArgumentParser()\nap.add_argument(\n \"-o\", \"--output\", required=True, help=\"path to output image containing ArUCo tag\"\n)\nap.add_argument(\n \"-i\",\n \"--id\",\n type=int,\n required=True,\n help=\"ID of ArUCo tag to generate\",\n)\nap.add_argument(\n \"-t\",\n \"--type\",\n type=str,\n default=\"DICT_4X4_50\",\n help=\"type of ArUCo tag to generate\",\n)\nargs = vars(ap.parse_args())\n\n# The different ArUco dictinaries built into OpenCV\nARUCO_DICT = {\n \"DICT_4X4_50\": cv2.aruco.DICT_4X4_50,\n \"DICT_4X4_100\": cv2.aruco.DICT_4X4_100,\n \"DICT_4X4_250\": cv2.aruco.DICT_4X4_250,\n \"DICT_4X4_1000\": cv2.aruco.DICT_4X4_1000,\n \"DICT_5X5_50\": cv2.aruco.DICT_5X5_50,\n \"DICT_5X5_100\": cv2.aruco.DICT_5X5_100,\n \"DICT_5X5_250\": cv2.aruco.DICT_5X5_250,\n \"DICT_5X5_1000\": cv2.aruco.DICT_5X5_1000,\n \"DICT_6X6_50\": cv2.aruco.DICT_6X6_50,\n \"DICT_6X6_100\": cv2.aruco.DICT_6X6_100,\n \"DICT_6X6_250\": cv2.aruco.DICT_6X6_250,\n \"DICT_6X6_1000\": cv2.aruco.DICT_6X6_1000,\n \"DICT_7X7_50\": cv2.aruco.DICT_7X7_50,\n \"DICT_7X7_100\": cv2.aruco.DICT_7X7_100,\n \"DICT_7X7_250\": cv2.aruco.DICT_7X7_250,\n \"DICT_7X7_1000\": cv2.aruco.DICT_7X7_1000,\n \"DICT_ARUCO_ORIGINAL\": cv2.aruco.DICT_ARUCO_ORIGINAL,\n}\n\n\n# Main method\ndef main():\n\n # Check that we have a valid ArUco marker\n if ARUCO_DICT.get(args[\"type\"], None) is None:\n print(\"[INFO] ArUco tag of '{}' is not supported\".format(args[\"type\"]))\n sys.exit(0)\n\n # Load the ArUco dictionary\n arucoDict = cv2.aruco.getPredefinedDictionary(ARUCO_DICT[args[\"type\"]])\n\n # Allocate memory for the output ArUCo tag and then draw the ArUCo\n # tag on the output image\n print(\n \"[INFO] generating ArUCo tag type '{}' with ID '{}'\".format(\n args[\"type\"], args[\"id\"]\n )\n )\n tag = np.zeros((180, 180, 1), dtype=\"uint8\")\n cv2.aruco.generateImageMarker(arucoDict, args[\"id\"], 180, tag, 1)\n\n # Write the generated ArUCo tag to disk and then display it to our\n # screen\n cv2.imwrite(args[\"output\"], tag)\n cv2.imshow(\"ArUCo Tag\", tag)\n\n # If \"q\" is pressed on the keyboard on the opened window with the aruco tag\n # close the window\n if cv2.waitKey(0) & 0xFF == ord(\"q\"):\n cv2.destroyAllWindows\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "lidarbot_aruco/package.xml", "content": "\n\n\n lidarbot_aruco\n 0.0.0\n Lidarbot aruco package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_copyright\n ament_flake8\n ament_pep257\n python3-pytest\n\n usb-cam\n geometry_msgs\n tf2_ros\n tf_transformations\n\n \n ament_python\n \n\n" }, { "path": "lidarbot_aruco/resource/lidarbot_aruco", "content": "" }, { "path": "lidarbot_aruco/setup.cfg", "content": "[develop]\nscript_dir=$base/lib/lidarbot_aruco\n[install]\ninstall_scripts=$base/lib/lidarbot_aruco\n" }, { "path": "lidarbot_aruco/setup.py", "content": "import os\nfrom glob import glob\nfrom setuptools import find_packages, setup\n\npackage_name = \"lidarbot_aruco\"\n\nsetup(\n name=package_name,\n version=\"0.0.0\",\n packages=find_packages(exclude=[\"test\"]),\n data_files=[\n (\"share/ament_index/resource_index/packages\", [\"resource/\" + package_name]),\n (\"share/\" + package_name, [\"package.xml\"]),\n (\n os.path.join(\"share\", package_name, \"launch\"),\n glob(os.path.join(\"launch\", \"*launch.[pxy][yma]*\")),\n ),\n (\n os.path.join(\"share\", package_name, \"config\"),\n glob(os.path.join(\"config\", \"*yaml\")),\n ),\n ],\n install_requires=[\"setuptools\"],\n zip_safe=True,\n maintainer=\"Chinedu Amadi\",\n maintainer_email=\"noobinventor@tutamail.com\",\n description=\"TODO: Package description\",\n license=\"TODO: License declaration\",\n tests_require=[\"pytest\"],\n entry_points={\n \"console_scripts\": [\n \"aruco_trajectory_visualizer_node = lidarbot_aruco.aruco_trajectory_visualizer:main\"\n ],\n },\n)\n" }, { "path": "lidarbot_aruco/test/test_copyright.py", "content": "# Copyright 2015 Open Source Robotics Foundation, Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless required by applicable law or agreed to in writing, software\n# distributed under the License is distributed on an \"AS IS\" BASIS,\n# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n# See the License for the specific language governing permissions and\n# limitations under the License.\n\nfrom ament_copyright.main import main\nimport pytest\n\n\n# Remove the `skip` decorator once the source file(s) have a copyright header\n@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')\n@pytest.mark.copyright\n@pytest.mark.linter\ndef test_copyright():\n rc = main(argv=['.', 'test'])\n assert rc == 0, 'Found errors'\n" }, { "path": "lidarbot_aruco/test/test_flake8.py", "content": "# Copyright 2017 Open Source Robotics Foundation, Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless required by applicable law or agreed to in writing, software\n# distributed under the License is distributed on an \"AS IS\" BASIS,\n# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n# See the License for the specific language governing permissions and\n# limitations under the License.\n\nfrom ament_flake8.main import main_with_errors\nimport pytest\n\n\n@pytest.mark.flake8\n@pytest.mark.linter\ndef test_flake8():\n rc, errors = main_with_errors(argv=[])\n assert rc == 0, \\\n 'Found %d code style errors / warnings:\\n' % len(errors) + \\\n '\\n'.join(errors)\n" }, { "path": "lidarbot_aruco/test/test_pep257.py", "content": "# Copyright 2015 Open Source Robotics Foundation, Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless required by applicable law or agreed to in writing, software\n# distributed under the License is distributed on an \"AS IS\" BASIS,\n# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n# See the License for the specific language governing permissions and\n# limitations under the License.\n\nfrom ament_pep257.main import main\nimport pytest\n\n\n@pytest.mark.linter\n@pytest.mark.pep257\ndef test_pep257():\n rc = main(argv=['.', 'test'])\n assert rc == 0, 'Found code style errors / warnings'\n" }, { "path": "lidarbot_base/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_base)\n\nfind_package(ament_cmake REQUIRED)\nfind_package(hardware_interface REQUIRED)\nfind_package(pluginlib REQUIRED)\nfind_package(rclcpp REQUIRED)\nfind_package(rclcpp_lifecycle REQUIRED)\nfind_package(std_srvs REQUIRED)\n\n# COMPILE\nadd_library(lidarbot_hardware SHARED \n src/lidarbot_hardware.cpp \n src/wheel.cpp \n src/MotorDriver.c \n src/motor_encoder.c \n src/PCA9685.c \n src/DEV_Config.c\n)\n\ntarget_include_directories(lidarbot_hardware PRIVATE include)\n\nament_target_dependencies(\n lidarbot_hardware\n hardware_interface\n pluginlib\n rclcpp\n rclcpp_lifecycle\n)\n\n# Link WiringPi library to lidarbot_hardware target\ntarget_link_libraries(lidarbot_hardware wiringPi)\n\n# Export hardware plugin\npluginlib_export_plugin_description_file(hardware_interface lidarbot_hardware.xml)\n\n# INSTALL\ninstall(\n DIRECTORY include/\n DESTINATION include/lidarbot_hardware\n)\n\ninstall(\n TARGETS lidarbot_hardware\n DESTINATION share/${PROJECT_NAME}\n LIBRARY DESTINATION lib\n RUNTIME DESTINATION lib/${PROJECT_NAME}\n)\n\ninclude_directories(include)\n\n# Add motor_checks_client and motor_checks_server nodes as executables with dependencies\nadd_executable(motor_checks_server \n src/motor_checks_server.cpp \n src/motor_encoder.c \n src/DEV_Config.c \n src/PCA9685.c \n src/MotorDriver.c) \n\nament_target_dependencies(motor_checks_server rclcpp std_srvs)\ntarget_link_libraries(motor_checks_server m wiringPi pthread crypt rt)\ntarget_compile_options(motor_checks_server PRIVATE -w)\n\nadd_executable(motor_checks_client src/motor_checks_client.cpp) \nament_target_dependencies(motor_checks_client rclcpp std_srvs)\n\n# Install executables to enable discovery for 'ros2 run'\ninstall(TARGETS \n motor_checks_client \n motor_checks_server\n DESTINATION lib/${PROJECT_NAME}\n)\n\n# EXPORTS \nament_export_libraries(lidarbot_hardware)\n\nament_package()\n" }, { "path": "lidarbot_base/include/lidarbot_base/DEV_Config.h", "content": "#ifndef _DEV_CONFIG_H_\r\n#define _DEV_CONFIG_H_\r\n\r\n#define USE_WIRINGPI_LIB 1\r\n/***********************************************************************************************************************\r\n\t\t\t------------------------------------------------------------------------\r\n\t\t\t|\\\\\\\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t///|\r\n\t\t\t|\\\\\\\t\t\t\t\tHardware interface\t\t\t\t\t\t\t///|\r\n\t\t\t------------------------------------------------------------------------\r\n***********************************************************************************************************************/\r\n#ifdef USE_BCM2835_LIB\r\n #include \r\n#elif USE_WIRINGPI_LIB\r\n #include \r\n #include \r\n#elif USE_DEV_LIB\r\n #include \"sysfs_gpio.h\"\r\n #include \"dev_hardware_i2c.h\"\r\n // #include \"dev_hardware_SPI.h\"\r\n \r\n#endif\r\n\r\n#include \r\n#include \"Debug.h\"\r\n\r\n#include \r\n#include \r\n#include \r\n#include \r\n\r\n#define DEV_SPI 0\r\n#define DEV_I2C 1\r\n\r\n/**\r\n * data\r\n**/\r\n#define UBYTE uint8_t\r\n#define UWORD uint16_t\r\n#define UDOUBLE uint32_t\r\n\r\n\r\nextern int INT_PIN;//4\r\n/*------------------------------------------------------------------------------------------------------*/\r\nuint8_t DEV_ModuleInit(void);\r\nvoid DEV_ModuleExit(void);\r\n\r\nvoid DEV_I2C_Init(uint8_t Add);\r\nvoid I2C_Write_Byte(uint8_t Cmd, uint8_t value);\r\nint I2C_Read_Byte(uint8_t Cmd);\r\nint I2C_Read_Word(uint8_t Cmd);\r\n\r\nvoid DEV_GPIO_Mode(UWORD Pin, UWORD Mode);\r\nvoid DEV_Digital_Write(UWORD Pin, UBYTE Value);\r\nUBYTE DEV_Digital_Read(UWORD Pin);\r\n\r\nvoid DEV_Delay_ms(UDOUBLE xms);\r\n\r\nvoid DEV_SPI_WriteByte(UBYTE Value);\r\nvoid DEV_SPI_Write_nByte(uint8_t *pData, uint32_t Len);\r\n\r\n#endif\r\n" }, { "path": "lidarbot_base/include/lidarbot_base/Debug.h", "content": "/*****************************************************************************\r\n* | File \t:\tDebug.h\r\n* | Author : Waveshare team\r\n* | Function :\tdebug with printf\r\n* | Info :\r\n*----------------\r\n* |\tThis version: V1.0\r\n* | Date : 2018-01-11\r\n* | Info : Basic version\r\n*\r\n******************************************************************************/\r\n#ifndef __DEBUG_H\r\n#define __DEBUG_H\r\n\r\n#include \r\n\r\n#define USE_DEBUG 0\r\n#if USE_DEBUG\r\n\t#define DEBUG(__info,...) printf(\"Debug : \" __info,##__VA_ARGS__)\r\n#else\r\n\t#define DEBUG(__info,...) \r\n#endif\r\n\r\n#endif\r\n\r\n" }, { "path": "lidarbot_base/include/lidarbot_base/MotorDriver.h", "content": "/*****************************************************************************\r\n* | File : MotorDriver.h\r\n* | Author : Waveshare team\r\n* | Function : Drive TB6612FNG\r\n* | Info :\r\n* TB6612FNG is a driver IC for DC motor with output transistor in\r\n* LD MOS structure with low ON-resistor. Two input signals, IN1\r\n* and IN2, can choose one of four modes such as CW, CCW, short\r\n* brake, and stop mode.\r\n*----------------\r\n* |\tThis version: V1.0\r\n* | Date : 2018-09-04\r\n* | Info : Basic version\r\n*\r\n******************************************************************************/\r\n#ifndef __TB6612FNG_\r\n#define __TB6612FNG_\r\n\r\n#include \"DEV_Config.h\"\r\n#include \"PCA9685.h\"\r\n\r\n//GPIO config\r\n#define PWMA PCA_CHANNEL_0\r\n#define AIN1 PCA_CHANNEL_1\r\n#define AIN2 PCA_CHANNEL_2\r\n#define PWMB PCA_CHANNEL_5\r\n#define BIN1 PCA_CHANNEL_3\r\n#define BIN2 PCA_CHANNEL_4\r\n\r\n#define MOTORA 0\r\n#define MOTORB 1\r\n\r\ntypedef enum {\r\n BACKWARD = 0,\r\n FORWARD,\r\n} DIR;\r\n\r\nvoid Motor_Init(void);\r\nvoid Motor_Run(UBYTE motor, DIR dir, UWORD speed);\r\nvoid Motor_Stop(UBYTE motor);\r\nUBYTE Motor_Direction(UBYTE motor);\r\n\r\n#endif" }, { "path": "lidarbot_base/include/lidarbot_base/PCA9685.h", "content": "/*****************************************************************************\r\n* | File : PCA9685.h\r\n* | Author : Waveshare team\r\n* | Function : Drive PCA9685\r\n* | Info :\r\n* Used to shield the underlying layers of each master \r\n* and enhance portability\r\n*----------------\r\n* |\tThis version: V1.0\r\n* | Date : 2018-09-04\r\n* | Info : Basic version\r\n*\r\n******************************************************************************/\r\n#ifndef __PCA9685_H_\r\n#define __PCA9685_H_\r\n\r\n#include \"DEV_Config.h\"\r\n\r\n//GPIO config\r\n#define SUBADR1 0x02\r\n#define SUBADR2 0x03\r\n#define SUBADR3 0x04\r\n#define MODE1 0x00\r\n#define PRESCALE 0xFE\r\n#define LED0_ON_L 0x06\r\n#define LED0_ON_H 0x07\r\n#define LED0_OFF_L 0x08\r\n#define LED0_OFF_H 0x09\r\n#define ALLLED_ON_L 0xFA\r\n#define ALLLED_ON_H 0xFB\r\n#define ALLLED_OFF_L 0xFC\r\n#define ALLLED_OFF_H 0xFD\r\n\r\n#define PCA_CHANNEL_0 0\r\n#define PCA_CHANNEL_1 1\r\n#define PCA_CHANNEL_2 2\r\n#define PCA_CHANNEL_3 3\r\n#define PCA_CHANNEL_4 4\r\n#define PCA_CHANNEL_5 5\r\n#define PCA_CHANNEL_6 6\r\n#define PCA_CHANNEL_7 7\r\n#define PCA_CHANNEL_8 8\r\n#define PCA_CHANNEL_9 9\r\n#define PCA_CHANNEL_10 10\r\n#define PCA_CHANNEL_11 11\r\n#define PCA_CHANNEL_12 12\r\n#define PCA_CHANNEL_13 13\r\n#define PCA_CHANNEL_14 14\r\n#define PCA_CHANNEL_15 15\r\n\r\nvoid PCA9685_Init(char addr);\r\nvoid PCA9685_SetPWMFreq(UWORD freq);\r\nvoid PCA9685_SetPwmDutyCycle(UBYTE channel, UWORD pulse);\r\nvoid PCA9685_SetLevel(UBYTE channel, UWORD value);\r\n\r\n#endif" }, { "path": "lidarbot_base/include/lidarbot_base/lidarbot_hardware.hpp", "content": "#ifndef _LIDARBOT_BASE__LIDARBOT_HARDWARE_HPP_\n#define _LIDARBOT_BASE__LIDARBOT_HARDWARE_HPP_\n\n#include \n#include \n#include \n#include \n#include \n\n#include \"hardware_interface/handle.hpp\"\n#include \"hardware_interface/hardware_info.hpp\"\n#include \"hardware_interface/system_interface.hpp\"\n#include \"hardware_interface/types/hardware_interface_return_values.hpp\"\n#include \"hardware_interface/types/hardware_interface_type_values.hpp\"\n\n#include \"rclcpp/rclcpp.hpp\"\n#include \"rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp\"\n#include \"rclcpp_lifecycle/state.hpp\"\n\n#include \"motor_encoder.h\"\n#include \"wheel.hpp\"\n\nusing hardware_interface::return_type;\nusing hardware_interface::CallbackReturn;\n\nnamespace lidarbot_base\n{\n\nclass LidarbotHardware : public hardware_interface::SystemInterface\n{\n\n struct Config\n {\n std::string left_wheel_name = \"left_wheel\";\n std::string right_wheel_name = \"right_wheel\";\n int enc_ticks_per_rev = 1084;\n double loop_rate = 30.0;\n };\n\n public:\n LidarbotHardware(); \n\n CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;\n\n std::vector export_state_interfaces() override;\n\n std::vector export_command_interfaces() override;\n\n CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;\n\n CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;\n\n CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;\n\n return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;\n\n return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;\n\n private:\n Config config_;\n\n Wheel left_wheel_;\n Wheel right_wheel_;\n\n rclcpp::Logger logger_;\n\n};\n\n} // namespace lidarbot_base\n\n#endif\n" }, { "path": "lidarbot_base/include/lidarbot_base/motor_encoder.h", "content": "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n#ifndef __MOTOR_ENCODER_H__\n#define __MOTOR_ENCODER_H__\n\n#include \n#include \n#include \n#include \n\n#include \"MotorDriver.h\"\n\n#define LEFT_WHL_ENC_INT 25\n#define RIGHT_WHL_ENC_INT 24\n#define LEFT_WHL_ENC_DIR 22\n#define RIGHT_WHL_ENC_DIR 23\n\nvoid handler(int signo);\nvoid left_wheel_pulse();\nvoid right_wheel_pulse();\nvoid set_motor_speeds(double left_wheel_command, double right_wheel_command);\nvoid read_encoder_values(int *left_encoder_value, int *right_encoder_value);\n\nextern int left_wheel_pulse_count;\nextern int right_wheel_pulse_count;\nextern int left_wheel_direction;\nextern int right_wheel_direction;\n\n#endif \n\n#ifdef __cplusplus\n}\n#endif\n" }, { "path": "lidarbot_base/include/lidarbot_base/wheel.hpp", "content": "#ifndef _LIDARBOT_BASE__WHEEL_H_\n#define _LIDARBOT_BASE__WHEEL_H_\n\n#include \n#include \n\nclass Wheel\n{ \n public:\n std::string name = \"\";\n int encoder_ticks = 0;\n double command = 0.0;\n double position = 0.0;\n double velocity = 0.0;\n double rads_per_tick = 0.0;\n\n Wheel() = default;\n\n Wheel(const std::string &wheel_name, int ticks_per_rev);\n\n void setup(const std::string &wheel_name, int ticks_per_rev);\n\n double calculate_encoder_angle();\n\n};\n\n#endif\n" }, { "path": "lidarbot_base/lidarbot_hardware.xml", "content": "\n \n \n The ros2_control hardware interface for the lidarbot that uses the PCA9685 chip (on the Motor Driver HAT) to adjust motor speeds.\n \n \n" }, { "path": "lidarbot_base/package.xml", "content": "\n\n\n lidarbot_base\n 0.0.0\n Lidarbot base motor driver package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n controller_manager\n hardware_interface\n pluginlib\n rclcpp\n rclcpp_lifecycle\n ros2_control\n ros2_controllers\n \n ament_lint_auto\n ament_cmake_gtest\n ament_lint_common\n \n \n ament_cmake\n \n\n" }, { "path": "lidarbot_base/src/DEV_Config.c", "content": "/*****************************************************************************\r\n* | File \t: DEV_Config.c\r\n* | Author : Waveshare team\r\n* | Function : Hardware underlying interface\r\n* | Info :\r\n*----------------\r\n* |\tThis version: V2.0\r\n* | Date : 2019-07-08\r\n* | Info : Basic version\r\n*\r\n******************************************************************************/\r\n#include \"lidarbot_base/DEV_Config.h\"\r\n#include \r\n#include \r\n\r\nuint32_t fd;\r\nint INT_PIN;\r\n/******************************************************************************\r\nfunction:\tEquipment Testing\r\nparameter:\r\nInfo: Only supports Jetson Nano and Raspberry Pi\r\n******************************************************************************/\r\nstatic int DEV_Equipment_Testing(void)\r\n{\r\n\tint i;\r\n\tint fd;\r\n\tchar value_str[20];\r\n\tfd = open(\"/etc/issue\", O_RDONLY);\r\n printf(\"Current environment: \");\r\n\twhile(1) {\r\n\t\tif (fd < 0) {\r\n\t\t\treturn -1;\r\n\t\t}\r\n\t\tfor(i=0;; i++) {\r\n\t\t\tif (read(fd, &value_str[i], 1) < 0) {\r\n\t\t\t\treturn -1;\r\n\t\t\t}\r\n\t\t\tif(value_str[i] ==32) {\r\n\t\t\t\tprintf(\"\\r\\n\");\r\n\t\t\t\tbreak;\r\n\t\t\t}\r\n\t\t\tprintf(\"%c\",value_str[i]);\r\n\t\t}\r\n\t\tbreak;\r\n\t}\r\n\r\n\tif(i<5) {\r\n\t\tprintf(\"Unrecognizable\\r\\n\");\r\n return -1;\r\n\t} else {\r\n\t\tchar RPI_System[10] = {\"Raspbian\"};\r\n\t\tfor(i=0; i<6; i++) {\r\n\t\t\tif(RPI_System[i] != value_str[i]) {\r\n #if USE_DEV_LIB \r\n return 'J';\r\n #endif\r\n return -1;\r\n\t\t\t}\r\n\t\t}\r\n return 'R';\r\n\t}\r\n\treturn -1;\r\n}\r\n\r\n\r\n/******************************************************************************\r\nfunction:\tGPIO Function initialization and transfer\r\nparameter:\r\nInfo:\r\n******************************************************************************/\r\nvoid DEV_GPIO_Mode(UWORD Pin, UWORD Mode)\r\n{\r\n /*\r\n 0: INPT \r\n 1: OUTP\r\n */\r\n#ifdef USE_BCM2835_LIB \r\n if(Mode == 0 || Mode == BCM2835_GPIO_FSEL_INPT){\r\n bcm2835_gpio_fsel(Pin, BCM2835_GPIO_FSEL_INPT);\r\n }else {\r\n bcm2835_gpio_fsel(Pin, BCM2835_GPIO_FSEL_OUTP);\r\n }\r\n#elif USE_WIRINGPI_LIB\r\n if(Mode == 0 || Mode == INPUT){\r\n pinMode(Pin, INPUT);\r\n pullUpDnControl(Pin, PUD_UP);\r\n }else{ \r\n pinMode(Pin, OUTPUT);\r\n }\r\n#elif USE_DEV_LIB\r\n SYSFS_GPIO_Export(Pin);\r\n if(Mode == 0 || Mode == SYSFS_GPIO_IN){\r\n SYSFS_GPIO_Direction(Pin, SYSFS_GPIO_IN);\r\n }else{\r\n SYSFS_GPIO_Direction(Pin, SYSFS_GPIO_OUT);\r\n }\r\n#endif \r\n}\r\n\r\nvoid DEV_Digital_Write(UWORD Pin, UBYTE Value)\r\n{\r\n#ifdef USE_BCM2835_LIB\r\n bcm2835_gpio_write(Pin, Value);\r\n \r\n#elif USE_WIRINGPI_LIB\r\n digitalWrite(Pin, Value);\r\n \r\n#elif USE_DEV_LIB\r\n SYSFS_GPIO_Write(Pin, Value);\r\n \r\n#endif\r\n}\r\n\r\nUBYTE DEV_Digital_Read(UWORD Pin)\r\n{\r\n UBYTE Read_value = 0;\r\n#ifdef USE_BCM2835_LIB\r\n Read_value = bcm2835_gpio_lev(Pin);\r\n \r\n#elif USE_WIRINGPI_LIB\r\n Read_value = digitalRead(Pin);\r\n \r\n#elif USE_DEV_LIB\r\n Read_value = SYSFS_GPIO_Read(Pin);\r\n#endif\r\n return Read_value;\r\n}\r\n\r\n\r\n/**\r\n * delay x ms\r\n**/\r\nvoid DEV_Delay_ms(UDOUBLE xms)\r\n{\r\n#ifdef USE_BCM2835_LIB\r\n bcm2835_delay(xms);\r\n#elif USE_WIRINGPI_LIB\r\n delay(xms);\r\n#elif USE_DEV_LIB\r\n UDOUBLE i;\r\n for(i=0; i < xms; i++){\r\n usleep(1000);\r\n }\r\n#endif\r\n}\r\n\r\n\r\nvoid GPIO_Config(void)\r\n{\r\n int Equipment = DEV_Equipment_Testing();\r\n if(Equipment=='R'){\r\n INT_PIN = 4;\r\n }else if(Equipment=='J'){\r\n #if USE_DEV_LIB\r\n INT_PIN = GPIO4;\r\n #endif\r\n }else{\r\n printf(\"Device read failed or unrecognized!!!\\r\\n\");\r\n while(1);\r\n }\r\n \r\n DEV_GPIO_Mode(INT_PIN, 0);\r\n}\r\n\r\n/******************************************************************************\r\nfunction:\tSPI Function initialization and transfer\r\nparameter:\r\nInfo:\r\n******************************************************************************/\r\nvoid DEV_SPI_Init()\r\n{\r\n#if DEV_SPI\r\n #ifdef USE_BCM2835_LIB\r\n printf(\"BCM2835 SPI Device\\r\\n\"); \r\n bcm2835_spi_begin(); //Start spi interface, set spi pin for the reuse function\r\n bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST); //High first transmission\r\n bcm2835_spi_setDataMode(BCM2835_SPI_MODE0); //spi mode 0\r\n bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_128); //Frequency\r\n bcm2835_spi_chipSelect(BCM2835_SPI_CS0); //set CE0\r\n bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW); //enable cs0\r\n \r\n #elif USE_WIRINGPI_LIB\r\n printf(\"WIRINGPI SPI Device\\r\\n\"); \r\n //wiringPiSPISetup(0,9000000);\r\n wiringPiSPISetupMode(0, 9000000, 0);\r\n \r\n #elif USE_DEV_LIB\r\n printf(\"DEV SPI Device\\r\\n\"); \r\n DEV_HARDWARE_SPI_begin(\"/dev/spidev0.0\");\r\n #endif\r\n#endif\r\n}\r\n\r\nvoid DEV_SPI_WriteByte(uint8_t Value)\r\n{\r\n#if DEV_SPI\r\n #ifdef USE_BCM2835_LIB\r\n bcm2835_spi_transfer(Value);\r\n \r\n #elif USE_WIRINGPI_LIB\r\n wiringPiSPIDataRW(0,&Value,1);\r\n \r\n #elif USE_DEV_LIB\r\n DEV_HARDWARE_SPI_TransferByte(Value);\r\n #endif\r\n#endif\r\n}\r\n\r\nvoid DEV_SPI_Write_nByte(uint8_t *pData, uint32_t Len)\r\n{\r\n#if DEV_SPI\r\n #ifdef USE_BCM2835_LIB\r\n uint8_t rData[Len];\r\n bcm2835_spi_transfernb(pData,rData,Len);\r\n \r\n #elif USE_WIRINGPI_LIB\r\n wiringPiSPIDataRW(0, pData, Len);\r\n \r\n #elif USE_DEV_LIB\r\n DEV_HARDWARE_SPI_Transfer(pData, Len);\r\n \r\n #endif\r\n#endif\r\n}\r\n/******************************************************************************\r\nfunction:\tI2C Function initialization and transfer\r\nparameter:\r\nInfo:\r\n******************************************************************************/\r\nvoid DEV_I2C_Init(uint8_t Add)\r\n{\r\n#if DEV_I2C\r\n #ifdef USE_BCM2835_LIB\r\n printf(\"BCM2835 I2C Device\\r\\n\"); \r\n bcm2835_i2c_begin();\r\n bcm2835_i2c_setSlaveAddress(Add);\r\n \r\n #elif USE_WIRINGPI_LIB\r\n printf(\"WIRINGPI I2C Device\\r\\n\"); \r\n fd = wiringPiI2CSetup(Add);\r\n \r\n #elif USE_DEV_LIB\r\n // printf(\"DEV I2C Device\\r\\n\"); \r\n DEV_HARDWARE_I2C_begin(\"/dev/i2c-1\");\r\n DEV_HARDWARE_I2C_setSlaveAddress(Add);\r\n #endif\r\n#endif\r\n}\r\n\r\nvoid I2C_Write_Byte(uint8_t Cmd, uint8_t value)\r\n{\r\n\tint ref;\r\n#if DEV_I2C\r\n #ifdef USE_BCM2835_LIB\r\n char wbuf[2]={Cmd, value};\r\n bcm2835_i2c_write(wbuf, 2);\r\n #elif USE_WIRINGPI_LIB\r\n //wiringPiI2CWrite(fd,Cmd);\r\n ref = wiringPiI2CWriteReg8(fd, (int)Cmd, (int)value);\r\n while(ref != 0) {\r\n ref = wiringPiI2CWriteReg8 (fd, (int)Cmd, (int)value);\r\n if(ref == 0)\r\n break;\r\n }\r\n #elif USE_DEV_LIB\r\n char wbuf[2]={Cmd, value};\r\n DEV_HARDWARE_I2C_write(wbuf, 2);\r\n\r\n #endif\r\n#endif\r\n}\r\n\r\nint I2C_Read_Byte(uint8_t Cmd)\r\n{\r\n\tint ref;\r\n#if DEV_I2C\r\n #ifdef USE_BCM2835_LIB\r\n char rbuf[2]={0};\r\n bcm2835_i2c_read_register_rs(&Cmd, rbuf, 1);\r\n ref = rbuf[0];\r\n \r\n #elif USE_WIRINGPI_LIB\r\n ref = wiringPiI2CReadReg8 (fd, (int)Cmd);\r\n \r\n #elif USE_DEV_LIB\r\n char rbuf[2]={0};\r\n DEV_HARDWARE_I2C_read(Cmd, rbuf, 1);\r\n ref = rbuf[0];\r\n #endif\r\n#endif\r\n return ref;\r\n}\r\n\r\n\r\nint I2C_Read_Word(uint8_t Cmd)\r\n{\r\n\tint ref;\r\n#if DEV_I2C\r\n #ifdef USE_BCM2835_LIB\r\n char rbuf[2] = {0};\r\n bcm2835_i2c_read_register_rs(&Cmd, rbuf, 2);\r\n ref = rbuf[1]<<8 | rbuf[0];\r\n \r\n #elif USE_WIRINGPI_LIB\r\n ref = wiringPiI2CReadReg16 (fd, (int)Cmd);\r\n \r\n #elif USE_DEV_LIB\r\n char rbuf[2] = {0};\r\n DEV_HARDWARE_I2C_read(Cmd, rbuf, 2);\r\n ref = rbuf[1]<<8 | rbuf[0];\r\n #endif\r\n#endif\r\n return ref;\r\n}\r\n\r\n/******************************************************************************\r\nfunction:\tModule Initialize, the library and initialize the pins, SPI protocol\r\nparameter:\r\nInfo:\r\n******************************************************************************/\r\nUBYTE DEV_ModuleInit(void)\r\n{\r\n #ifdef USE_BCM2835_LIB\r\n if(!bcm2835_init()) {\r\n printf(\"bcm2835 init failed !!! \\r\\n\");\r\n return 1;\r\n } else {\r\n printf(\"bcm2835 init success !!! \\r\\n\");\r\n }\r\n\r\n#elif USE_WIRINGPI_LIB \r\n //if(wiringPiSetup() < 0)//use wiringpi Pin number table \r\n if(wiringPiSetupGpio() < 0) { //use BCM2835 Pin number table\r\n printf(\"set wiringPi lib failed\t!!! \\r\\n\");\r\n return 1;\r\n } else {\r\n printf(\"set wiringPi lib success !!! \\r\\n\");\r\n }\r\n\r\n#elif USE_DEV_LIB\r\n printf(\"USE_DEV_LIB \\r\\n\");\r\n#endif\r\n GPIO_Config();\r\n DEV_I2C_Init(0x29);\r\n \r\n return 0;\r\n}\r\n\r\n/******************************************************************************\r\nfunction:\tModule exits, closes SPI and BCM2835 library\r\nparameter:\r\nInfo:\r\n******************************************************************************/\r\nvoid DEV_ModuleExit(void)\r\n{\r\n#ifdef USE_BCM2835_LIB\r\n #if DEV_I2C\r\n bcm2835_i2c_end();\r\n #endif\r\n #if DEV_SPI\r\n bcm2835_spi_end();\r\n #endif\r\n bcm2835_close();\r\n \r\n#elif USE_WIRINGPI_LIB\r\n\r\n#elif USE_DEV_LIB\r\n #if DEV_I2C\r\n DEV_HARDWARE_I2C_end();\r\n #endif\r\n #if DEV_SPI\r\n DEV_HARDWARE_SPI_end();\r\n #endif\r\n#endif\r\n}\r\n\r\n" }, { "path": "lidarbot_base/src/MotorDriver.c", "content": "/*****************************************************************************\r\n* | File : MotorDriver.c\r\n* | Author : Waveshare team\r\n* | Function : Drive TB6612FNG\r\n* | Info :\r\n* TB6612FNG is a driver IC for DC motor with output transistor in\r\n* LD MOS structure with low ON-resistor. Two input signals, IN1\r\n* and IN2, can choose one of four modes such as CW, CCW, short\r\n* brake, and stop mode.\r\n*----------------\r\n* |\tThis version: V1.0\r\n* | Date : 2018-09-04\r\n* | Info : Basic version\r\n*\r\n******************************************************************************/\r\n#include \"lidarbot_base/MotorDriver.h\"\r\n#include \"lidarbot_base/Debug.h\"\r\n\r\nUWORD ain1_value, ain2_value; \r\nUWORD bin1_value, bin2_value;\r\n\r\n/**\r\n * Motor rotation.\r\n *\r\n * Example:\r\n * Motor_Init();\r\n */\r\nvoid Motor_Init(void)\r\n{\r\n PCA9685_Init(0x40);\r\n PCA9685_SetPWMFreq(50);\r\n}\r\n\r\n/**\r\n * Motor rotation.\r\n *\r\n * @param motor: Motor A and Motor B.\r\n * @param dir: forward and backward.\r\n * @param speed: Rotation speed. //(0~100)\r\n *\r\n * Example:\r\n * @code\r\n * Motor_Run(MOTORA, FORWARD, 50);\r\n * Motor_Run(MOTORB, BACKWARD, 100);\r\n */\r\nvoid Motor_Run(UBYTE motor, DIR dir, UWORD speed)\r\n{\r\n if(speed > 100)\r\n speed = 100;\r\n\r\n if(motor == MOTORA) {\r\n DEBUG(\"Motor A Speed = %d\\r\\n\", speed);\r\n PCA9685_SetPwmDutyCycle(PWMA, speed);\r\n if(dir == FORWARD) {\r\n DEBUG(\"forward...\\r\\n\");\r\n PCA9685_SetLevel(AIN1, 0);\r\n PCA9685_SetLevel(AIN2, 1);\r\n ain1_value = 0;\r\n ain2_value = 1;\r\n } else {\r\n DEBUG(\"backward...\\r\\n\");\r\n PCA9685_SetLevel(AIN1, 1);\r\n PCA9685_SetLevel(AIN2, 0);\r\n ain1_value = 1;\r\n ain2_value = 0;\r\n }\r\n } else {\r\n DEBUG(\"Motor B Speed = %d\\r\\n\", speed);\r\n PCA9685_SetPwmDutyCycle(PWMB, speed);\r\n if(dir == FORWARD) {\r\n DEBUG(\"forward...\\r\\n\");\r\n PCA9685_SetLevel(BIN1, 0);\r\n PCA9685_SetLevel(BIN2, 1);\r\n bin1_value = 0;\r\n bin2_value = 1;\r\n } else {\r\n DEBUG(\"backward...\\r\\n\");\r\n PCA9685_SetLevel(BIN1, 1);\r\n PCA9685_SetLevel(BIN2, 0);\r\n bin1_value = 1;\r\n bin2_value = 0;\r\n }\r\n }\r\n}\r\n\r\n/**\r\n * Motor stop rotation.\r\n *\r\n * @param motor: Motor A and Motor B.\r\n *\r\n * Example:\r\n * @code\r\n * Motor_Stop(MOTORA);\r\n */\r\nvoid Motor_Stop(UBYTE motor)\r\n{\r\n if(motor == MOTORA) {\r\n PCA9685_SetPwmDutyCycle(PWMA, 0);\r\n } else {\r\n PCA9685_SetPwmDutyCycle(PWMB, 0);\r\n }\r\n}\r\n\r\n/**\r\n* Returns motor direction. \r\n* 1 - forward \r\n* 0 - backward\r\n*\r\n* @param motor: Motor A and Motor B\r\n*\r\n* Example:\r\n* @code\r\n* Motor_Direction(MOTORA);\r\n*/\r\nUBYTE Motor_Direction(UBYTE motor)\r\n{\r\n if(motor == MOTORA) {\r\n if(ain1_value == 0 && ain2_value == 1)\r\n return 1;\r\n else if(ain1_value == 1 && ain2_value == 0)\r\n return 0;\r\n }\r\n else {\r\n if(bin1_value == 0 && bin2_value == 1)\r\n return 1;\r\n else if(bin1_value == 1 && bin2_value == 0)\r\n return 0;\r\n }\r\n}\r\n" }, { "path": "lidarbot_base/src/PCA9685.c", "content": "/*****************************************************************************\n* | File : PCA9685.c\n* | Author : Waveshare team\n* | Function : Drive PCA9685\n* | Info :\n* The PCA9685 is an I2C-bus controlled 16-channel LED \n* controller optimized for LCD Red/Green/Blue/Amber \n* (RGBA) color backlighting applications. \n*----------------\n* |\tThis version: V1.0\n* | Date : 2018-09-04\n* | Info : Basic version\n*\n******************************************************************************/\n#include \"lidarbot_base/PCA9685.h\"\n#include \"lidarbot_base/Debug.h\" //DEBUG()\n#include //floor()\n#include \n\n/**\n * Write bytes in PCA9685\n * \n * @param reg: register.\n * @param value: value.\n *\n * Example:\n * PCA9685_WriteByte(0x00, 0xff);\n */\nstatic void PCA9685_WriteByte(UBYTE reg, UBYTE value)\n{\n I2C_Write_Byte(reg, value);\n}\n\n/**\n * read byte in PCA9685.\n *\n * @param reg: register.\n *\n * Example:\n * UBYTE buf = PCA9685_ReadByte(0x00);\n */\nstatic UBYTE PCA9685_ReadByte(UBYTE reg)\n{\n return I2C_Read_Byte(reg);\n}\n\n/**\n * Set the PWM output.\n *\n * @param channel: 16 output channels. //(0 ~ 15)\n * @param on: 12-bit register will hold avalue for the ON time. //(0 ~ 4095)\n * @param off: 12-bit register will hold the value for the OFF time. //(0 ~ 4095)\n *\n * @For more information, please see page 15 - page 19 of the datasheet.\n * Example:\n * PCA9685_SetPWM(0, 0, 4095);\n */\nstatic void PCA9685_SetPWM(UBYTE channel, UWORD on, UWORD off)\n{\n PCA9685_WriteByte(LED0_ON_L + 4*channel, on & 0xFF);\n PCA9685_WriteByte(LED0_ON_H + 4*channel, on >> 8);\n PCA9685_WriteByte(LED0_OFF_L + 4*channel, off & 0xFF);\n PCA9685_WriteByte(LED0_OFF_H + 4*channel, off >> 8);\n}\n\n/**\n * PCA9685 Initialize.\n * For the PCA9685, the device address can be controlled by setting A0-A5.\n * On our driver board, control is set by setting A0-A4, and A5 is grounded.\n * \n * @param addr: PCA9685 address. //0x40 ~ 0x5f\n *\n * Example:\n * PCA9685_Init(0x40);\n */\nvoid PCA9685_Init(char addr)\n{\n DEV_I2C_Init(addr);\n I2C_Write_Byte(MODE1, 0x00);\n}\n\n/**\n * Set the frequency (PWM_PRESCALE) and restart.\n * \n * For the PCA9685, Each channel output has its own 12-bit \n * resolution (4096 steps) fixed frequency individual PWM \n * controller that operates at a programmable frequency \n * from a typical of 40 Hz to 1000 Hz with a duty cycle \n * that is adjustable from 0 % to 100 % \n * \n * @param freq: Output frequency. //40 ~ 1000\n *\n * Example:\n * PCA9685_SetPWMFreq(50);\n */\nvoid PCA9685_SetPWMFreq(UWORD freq)\n{\n freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11).\n double prescaleval = 25000000.0;\n prescaleval /= 4096.0;\n prescaleval /= freq;\n prescaleval -= 1;\n DEBUG(\"prescaleval = %lf\\r\\n\", prescaleval);\n\n UBYTE prescale = floor(prescaleval + 0.5);\n DEBUG(\"prescaleval = %lf\\r\\n\", prescaleval);\n\n UBYTE oldmode = PCA9685_ReadByte(MODE1);\n UBYTE newmode = (oldmode & 0x7F) | 0x10; // sleep\n\n PCA9685_WriteByte(MODE1, newmode); // go to sleep\n PCA9685_WriteByte(PRESCALE, prescale); // set the prescaler\n PCA9685_WriteByte(MODE1, oldmode);\n DEV_Delay_ms(5);\n PCA9685_WriteByte(MODE1, oldmode | 0x80); // This sets the MODE1 register to turn on auto increment.\n}\n\n/**\n * Set channel output the PWM duty cycle.\n * \n * @param channel: 16 output channels. //(0 ~ 15)\n * @param pulse: duty cycle. //(0 ~ 100 == 0% ~ 100%)\n *\n * Example:\n * PCA9685_SetPwmDutyCycle(1, 100);\n */\nvoid PCA9685_SetPwmDutyCycle(UBYTE channel, UWORD pulse)\n{\n PCA9685_SetPWM(channel, 0, pulse * (4096 / 100) - 1);\n}\n\n/**\n * Set channel output level.\n * \n * @param channel: 16 output channels. //(0 ~ 15)\n * @param value: output level, 0 low level, 1 high level. //0 or 1\n *\n * Example:\n * PCA9685_SetLevel(3, 1);\n */\nvoid PCA9685_SetLevel(UBYTE channel, UWORD value)\n{\n if (value == 1)\n PCA9685_SetPWM(channel, 0, 4095);\n else\n PCA9685_SetPWM(channel, 0, 0);\n}\n" }, { "path": "lidarbot_base/src/lidarbot_hardware.cpp", "content": "#include \"lidarbot_base/lidarbot_hardware.hpp\"\n\nnamespace lidarbot_base\n{\n\nLidarbotHardware::LidarbotHardware()\n : logger_(rclcpp::get_logger(\"LidarbotHardware\"))\n{}\n\nCallbackReturn LidarbotHardware::on_init(const hardware_interface::HardwareInfo & info)\n{\n if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)\n {\n return CallbackReturn::ERROR;\n }\n\n RCLCPP_INFO(logger_, \"Initializing...\");\n\n config_.left_wheel_name = info_.hardware_parameters[\"left_wheel_name\"];\n config_.right_wheel_name = info_.hardware_parameters[\"right_wheel_name\"];\n config_.enc_ticks_per_rev = std::stoi(info_.hardware_parameters[\"enc_ticks_per_rev\"]);\n config_.loop_rate = std::stod(info_.hardware_parameters[\"loop_rate\"]);\n\n // Set up wheels\n left_wheel_.setup(config_.left_wheel_name, config_.enc_ticks_per_rev);\n right_wheel_.setup(config_.right_wheel_name, config_.enc_ticks_per_rev);\n\n RCLCPP_INFO(logger_, \"Finished initialization\");\n\n return CallbackReturn::SUCCESS;\n}\n\nstd::vector LidarbotHardware::export_state_interfaces()\n{\n // Set up a position and velocity interface for each wheel\n\n std::vector state_interfaces;\n\n state_interfaces.emplace_back(hardware_interface::StateInterface(left_wheel_.name, hardware_interface::HW_IF_VELOCITY, &left_wheel_.velocity));\n state_interfaces.emplace_back(hardware_interface::StateInterface(left_wheel_.name, hardware_interface::HW_IF_POSITION, &left_wheel_.position));\n state_interfaces.emplace_back(hardware_interface::StateInterface(right_wheel_.name, hardware_interface::HW_IF_VELOCITY, &right_wheel_.velocity));\n state_interfaces.emplace_back(hardware_interface::StateInterface(right_wheel_.name, hardware_interface::HW_IF_POSITION, &right_wheel_.position));\n\n return state_interfaces;\n}\n\nstd::vector LidarbotHardware::export_command_interfaces()\n{\n // Set up a velocity command for each wheel\n\n std::vector command_interfaces;\n\n command_interfaces.emplace_back(hardware_interface::CommandInterface(left_wheel_.name, hardware_interface::HW_IF_VELOCITY, &left_wheel_.command));\n command_interfaces.emplace_back(hardware_interface::CommandInterface(right_wheel_.name, hardware_interface::HW_IF_VELOCITY, &right_wheel_.command));\n\n return command_interfaces;\n}\n\nCallbackReturn LidarbotHardware::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)\n{\n RCLCPP_INFO(logger_, \"Configuring motors and encoders...\");\n\n // Initialize motor driver\n Motor_Init();\n\n // Initialize wiringPi using GPIO BCM pin numbers\n wiringPiSetupGpio();\n \n // Setup GPIO encoder interrupt and direction pins\n pinMode(LEFT_WHL_ENC_INT, INPUT);\n pinMode(RIGHT_WHL_ENC_INT, INPUT);\n pinMode(LEFT_WHL_ENC_DIR, INPUT);\n pinMode(RIGHT_WHL_ENC_DIR, INPUT);\n\n // Setup pull up resistors on encoder interrupt pins\n pullUpDnControl(LEFT_WHL_ENC_INT, PUD_UP);\n pullUpDnControl(RIGHT_WHL_ENC_INT, PUD_UP);\n\n // Initialize encoder interrupts for falling signal states\n wiringPiISR(LEFT_WHL_ENC_INT, INT_EDGE_FALLING, left_wheel_pulse);\n wiringPiISR(RIGHT_WHL_ENC_INT, INT_EDGE_FALLING, right_wheel_pulse);\n\n RCLCPP_INFO(logger_, \"Successfully configured motors and encoders!\");\n\n return CallbackReturn::SUCCESS;\n}\n\nCallbackReturn LidarbotHardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)\n{\n RCLCPP_INFO(logger_, \"Starting controller ...\");\n\n return CallbackReturn::SUCCESS;\n}\n\nCallbackReturn LidarbotHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)\n{ \n RCLCPP_INFO(logger_, \"Stopping Controller...\");\n\n return CallbackReturn::SUCCESS;\n}\n\nreturn_type LidarbotHardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period)\n{\n // Obtain elapsed time\n double delta_seconds = period.seconds();\n\n // Obtain encoder values\n read_encoder_values(&left_wheel_.encoder_ticks, &right_wheel_.encoder_ticks);\n\n // Calculate wheel positions and velocities\n double previous_position = left_wheel_.position;\n left_wheel_.position = left_wheel_.calculate_encoder_angle();\n left_wheel_.velocity = (left_wheel_.position - previous_position) / delta_seconds;\n\n previous_position = right_wheel_.position;\n right_wheel_.position = right_wheel_.calculate_encoder_angle();\n right_wheel_.velocity = (right_wheel_.position - previous_position) / delta_seconds;\n\n return return_type::OK;\n}\n\nreturn_type LidarbotHardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & period)\n{ \n double left_motor_counts_per_loop = left_wheel_.command / left_wheel_.rads_per_tick / config_.loop_rate;\n double right_motor_counts_per_loop = right_wheel_.command / right_wheel_.rads_per_tick / config_.loop_rate;\n\n // Send commands to motor driver\n set_motor_speeds(left_motor_counts_per_loop, right_motor_counts_per_loop);\n\n return return_type::OK;\n}\n\n} // namespace lidarbot_base\n\n#include \"pluginlib/class_list_macros.hpp\"\n\nPLUGINLIB_EXPORT_CLASS(\n lidarbot_base::LidarbotHardware, \n hardware_interface::SystemInterface)\n" }, { "path": "lidarbot_base/src/motor_checks_client.cpp", "content": "// Client node requests motor checks to be carried out\n\n#include \"rclcpp/rclcpp.hpp\"\n#include \"std_srvs/srv/trigger.hpp\"\n\n// C++ namespace for representing time durations\nusing namespace std::chrono_literals;\n\nint main(int argc, char **argv) {\n // Initialize the rclcpp library\n rclcpp::init(argc, argv);\n\n // Create a shared pointer to a Node type and name it \"motor_checks_client\"\n std::shared_ptr node = rclcpp::Node::make_shared(\"motor_checks_client\");\n\n // Create a client inside the node to call the \"checks\" server node\n rclcpp::Client::SharedPtr client = \n node->create_client(\"checks\");\n\n // Create the request, which is empty\n auto request = std::make_shared();\n\n // Wait 2 seconds for the service to be activated\n while (!client->wait_for_service(2s)) {\n // if ROS is shutdown before the service is activated, show this error\n if (!rclcpp::ok()) {\n RCLCPP_ERROR(rclcpp::get_logger(\"rclcpp\"), \"Interrupted while waiting for the service. Exiting.\");\n return 0;\n }\n // Print in the screen some information so the user knows what is happening\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"service not available, waiting again...\");\n }\n\n // Client sends its asynchronous request\n auto result = client->async_send_request(request);\n\n // Wait for the result\n if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS) {\n // Get the response's success field to see if all checks passed\n if (result.get()->success) {\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"The checks were successful!\");\n } else {\n // TODO: Message below does get outputted. Conversion seems to be the culprit\n RCLCPP_WARN(rclcpp::get_logger(\"rclcpp\"), \"The checks were not successful: %s\", result.get()->message.c_str());\n }\n } else {\n RCLCPP_ERROR(rclcpp::get_logger(\"rclcpp\"), \"Failed to call service 'checks'\");\n }\n\n // Shut down rclcpp and client node\n rclcpp::shutdown();\n return 0;\n}\n" }, { "path": "lidarbot_base/src/motor_checks_server.cpp", "content": "// Server node runs motor tests to confirm that the motor is working correctly by moving both motors forward\n\n#include \"rclcpp/rclcpp.hpp\"\n#include \"std_srvs/srv/trigger.hpp\"\n#include \"lidarbot_base/motor_encoder.h\"\n\n// Reset pulse counters\nvoid reset_pulse_counters()\n{\n right_wheel_pulse_count = 0;\n left_wheel_pulse_count = 0;\n}\n\n// Move a specified motor forward\nbool move_motor(int motor_id)\n{ \n // Motor_id\n // MOTORA - 0 (left motor)\n // MOTORB - 1 (right motor)\n reset_pulse_counters();\n sleep(2);\n \n // Move motor FORWARD for 2 seconds at 50% speed\n Motor_Run(motor_id, FORWARD, 50);\n sleep(2);\n Motor_Stop(motor_id);\n\n // Motor counts should be greater than 0 to confirm that the motor moved forward\n if (motor_id == MOTORA) {\n if (left_wheel_pulse_count> 0) {\n return true;\n } else return false;\n }\n if (motor_id == MOTORB) {\n if (right_wheel_pulse_count > 0) {\n return true;\n } return false;\n }\n}\n\n// DDS helps pass the request and response between client and server\nvoid checkMotors(const std::shared_ptr request, \n std::shared_ptr response) {\n\n // Prepare response\n response->success = true;\n response->message = \"\";\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"Received request to check motors...\");\n\n // Left motor check\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"Checking left motor...\");\n auto left_motor_passed = move_motor(MOTORA);\n if (!left_motor_passed) {\n response->success = false;\n response->message += \"Left motor check failed, confirm motor wiring.\";\n }\n\n // Right motor check\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"Checking right motor...\");\n auto right_motor_passed = move_motor(MOTORB);\n if (!right_motor_passed) {\n response->success = false;\n response->message += \"Right motor check failed, confirm motor wiring.\";\n }\n\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"Sending back response...\");\n}\n\nint main(int argc, char **argv)\n{\n // Initialize motor driver\n Motor_Init();\n\n // Initialize wiringPi using GPIO BCM pin numbers\n wiringPiSetupGpio();\n \n // Setup GPIO encoder interrupt and direction pins\n pinMode(LEFT_WHL_ENC_INT, INPUT);\n pinMode(RIGHT_WHL_ENC_INT, INPUT);\n pinMode(LEFT_WHL_ENC_DIR, INPUT);\n pinMode(RIGHT_WHL_ENC_DIR, INPUT);\n\n // Setup pull up resistors on encoder pins\n pullUpDnControl(LEFT_WHL_ENC_INT, PUD_UP);\n pullUpDnControl(RIGHT_WHL_ENC_INT, PUD_UP);\n\n // Initialize encoder interrupts for falling signal states\n wiringPiISR(LEFT_WHL_ENC_INT, INT_EDGE_FALLING, left_wheel_pulse);\n wiringPiISR(RIGHT_WHL_ENC_INT, INT_EDGE_FALLING, right_wheel_pulse);\n\n // Initialize the rclcpp library\n rclcpp::init(argc, argv);\n\n // Create a shared pointer to a Node type and name it \"motor_checks_server\"\n std::shared_ptr node = rclcpp::Node::make_shared(\"motor_checks_server\");\n\n // Create a \"checks\" service with a checkMotors callback\n rclcpp::Service::SharedPtr service = \n node->create_service(\"checks\", &checkMotors);\n\n RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"Ready to check motors\");\n\n // Spin the node until it's terminated\n rclcpp::spin(node);\n rclcpp::shutdown();\n}\n" }, { "path": "lidarbot_base/src/motor_encoder.c", "content": "// This file calculate encoder ticks and sets the speed each motor should run at according to \n// the commands received from the Waveshare Motor Driver system hardware component\n\n#include \"lidarbot_base/motor_encoder.h\"\n#include \n\n// Initialize pulse counters\nint left_wheel_pulse_count = 0;\nint right_wheel_pulse_count = 0;\n\n// Initialize wheel directions\n// 1 - forward, 0 - backward\nint left_wheel_direction = 1;\nint right_wheel_direction = 1;\n\n// Read wheel encoder values\nvoid read_encoder_values(int *left_encoder_value, int *right_encoder_value) {\n *left_encoder_value = left_wheel_pulse_count;\n *right_encoder_value = right_wheel_pulse_count;\n}\n\n// Left wheel callback function\nvoid left_wheel_pulse() {\n // left wheel direction\n // 1 - forward\n // 0 - backward\n\n // Read encoder direction value for left wheel\n left_wheel_direction = digitalRead(LEFT_WHL_ENC_DIR);\n\n if (left_wheel_direction == 1)\n left_wheel_pulse_count++;\n else\n left_wheel_pulse_count--;\n}\n\n// Right wheel callback function\nvoid right_wheel_pulse() {\n // right wheel direction\n // 1 - forward,\n // 0 - backward\n\n // Read encoder direction value for right wheel\n right_wheel_direction = digitalRead(RIGHT_WHL_ENC_DIR);\n\n if (right_wheel_direction == 1)\n right_wheel_pulse_count++;\n else\n right_wheel_pulse_count--;\n}\n\n// Set each motor speed from the respective velocity command interface\nvoid set_motor_speeds(double left_wheel_command, double right_wheel_command) {\n // Initialize DIR enum variables\n DIR left_motor_direction;\n DIR right_motor_direction;\n\n // Tune motor speeds by adjusting the command coefficients. These are\n // dependent on the number of encoder ticks. 3000 ticks and above work well\n // with coefficients of 1.0\n double left_motor_speed = ceil(left_wheel_command * 1.65);\n double right_motor_speed = ceil(right_wheel_command * 1.65);\n\n // Set motor directions\n if (left_motor_speed > 0)\n left_motor_direction = FORWARD;\n else\n left_motor_direction = BACKWARD;\n\n if (right_motor_speed > 0)\n right_motor_direction = FORWARD;\n else\n right_motor_direction = BACKWARD;\n\n // Run motors with specified direction and speeds\n Motor_Run(MOTORA, left_motor_direction, (int)abs(left_motor_speed));\n Motor_Run(MOTORB, right_motor_direction, (int)abs(right_motor_speed));\n}\n\nvoid handler(int signo) {\n Motor_Stop(MOTORA);\n Motor_Stop(MOTORB);\n\n exit(0);\n}\n" }, { "path": "lidarbot_base/src/wheel.cpp", "content": "#include \"lidarbot_base/wheel.hpp\"\n\nWheel::Wheel(const std::string &wheel_name, int ticks_per_rev)\n{\n setup(wheel_name, ticks_per_rev);\n}\n\nvoid Wheel::setup(const std::string &wheel_name, int ticks_per_rev)\n{\n name = wheel_name;\n rads_per_tick = (2*M_PI)/ticks_per_rev;\n}\n\ndouble Wheel::calculate_encoder_angle()\n{\n return encoder_ticks * rads_per_tick;\n}\n" }, { "path": "lidarbot_bringup/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_bringup)\n\nset(THIS_PACKAGE_INCLUDE_DEPENDS\n hardware_interface\n pluginlib\n rclcpp\n rclcpp_lifecycle\n)\n\nfind_package(ament_cmake REQUIRED)\nforeach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})\n find_package(${Dependency} REQUIRED)\nendforeach()\n\n# COMPILE\nadd_library(mpu6050_hardware_interface SHARED\n src/mpu6050_hardware_interface.cpp\n src/mpu6050_lib.cpp\n)\n\ntarget_include_directories(mpu6050_hardware_interface PRIVATE\tinclude)\n\nament_target_dependencies(mpu6050_hardware_interface ${THIS_PACKAGE_INCLUDE_DEPENDS})\n\n# Link i2c library to mpu6050_hardware_interface target\ntarget_link_libraries(mpu6050_hardware_interface i2c)\n\n# Export hardware plugin\npluginlib_export_plugin_description_file(hardware_interface mpu6050_hardware.xml)\n\n# INSTALL\ninstall(\n DIRECTORY include/\n DESTINATION include/mpu6050_hardware_interface\n)\n\ninstall(\n TARGETS mpu6050_hardware_interface\n DESTINATION share/${PROJECT_NAME}\n RUNTIME DESTINATION lib\n LIBRARY DESTINATION lib/${PROJECT_NAME}\n)\n\ninstall(\n DIRECTORY config launch\n DESTINATION share/${PROJECT_NAME}\n)\n\n# EXPORTS\nament_export_libraries(mpu6050_hardware_interface)\n\ninclude_directories(include)\n\n# Create Cpp executables\nadd_executable(mpu6050_offsets src/mpu6050_lib.cpp src/mpu6050_offsets.cpp)\nadd_executable(mpu6050_covariances src/mpu6050_lib.cpp src/mpu6050_covariances.cpp)\n\n# Install Cpp executables\ninstall(TARGETS\n mpu6050_offsets\n mpu6050_covariances\n DESTINATION lib/${PROJECT_NAME}\n)\n\n# Link i2c to mpu6050_offsets and mpu6050_covariances targets\ntarget_link_libraries(mpu6050_offsets i2c)\ntarget_link_libraries(mpu6050_covariances i2c)\n\nament_package()\n" }, { "path": "lidarbot_bringup/LICENSE", "content": "Attribution-ShareAlike 4.0 International\n\n=======================================================================\n\nCreative Commons Corporation (\"Creative Commons\") is not a law firm and\ndoes not provide legal services or legal advice. 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For\nthe avoidance of doubt, this paragraph does not form part of the\npublic licenses.\n\nCreative Commons may be contacted at creativecommons.org.\n\n" }, { "path": "lidarbot_bringup/config/controllers.yaml", "content": "controller_manager: # Node name\n ros__parameters:\n update_rate: 30 # Has to be an integer otherwise errors are encountered\n\n diff_controller:\n type: diff_drive_controller/DiffDriveController\n\n joint_broadcaster:\n type: joint_state_broadcaster/JointStateBroadcaster\n\n imu_broadcaster:\n type: imu_sensor_broadcaster/IMUSensorBroadcaster \n\n\ndiff_controller:\n ros__parameters:\n \n publish_rate: 50.0 # Has to be a double otherwise errors are encountered\n\n base_frame_id: base_footprint\n\n left_wheel_names: ['left_wheel_joint']\n right_wheel_names: ['right_wheel_joint']\n wheel_separation: 0.134\n wheel_radius: 0.0335\n\n # Obtained from https://wiki.ros.org/diff_drive_controller\n pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]\n twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] \n\n # Whether the input has a time stamp or not\n use_stamped_vel: false\n\n # Odometry fused with IMU is published by robot_localization, so no need to publish a TF\n # based on encoders alone (https://wiki.ros.org/diff_drive_controller)\n enable_odom_tf: false\n\nimu_broadcaster:\n ros__parameters:\n\n sensor_name: mpu6050\n frame_id: imu_link\n \n # 500 data points used to calculate covariances\n static_covariance_orientation: [2.63882e-06, 0.0, 0.0, 0.0, 7.50018e-06, 0.0, 0.0, 0.0, 2.89257e-09]\n static_covariance_angular_velocity: [2.71413e-07, 0.0, 0.0, 0.0, 6.79488e-07, 0.0, 0.0, 0.0, 4.37879e-07]\n static_covariance_linear_acceleration: [0.00133755, 0.0, 0.0, 0.0, 0.000209753, 0.0, 0.0, 0.0, 0.00143276]\n" }, { "path": "lidarbot_bringup/config/gazebo_ros2_ctl_use_sim.yaml", "content": "controller_manager: # Node name\n ros__parameters:\n use_sim_time: true " }, { "path": "lidarbot_bringup/include/lidarbot_bringup/mpu6050_hardware_interface.hpp", "content": "#ifndef _LIDARBOT_BRINGUP__MPU6050_HARDWARE_HPP_\n#define _LIDARBOT_BRINGUP__MPU6050_HARDWARE_HPP_\n\n#include \n#include \n#include \n#include \n\n#include \"hardware_interface/handle.hpp\"\n#include \"hardware_interface/hardware_info.hpp\"\n#include \"hardware_interface/sensor_interface.hpp\"\n#include \"hardware_interface/types/hardware_interface_return_values.hpp\"\n\n#include \"rclcpp/rclcpp.hpp\"\n#include \"rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp\"\n#include \"rclcpp_lifecycle/state.hpp\"\n\n#include \"mpu6050_lib.h\"\n\nusing hardware_interface::return_type;\nusing hardware_interface::CallbackReturn;\n\nnamespace lidarbot_bringup\n{\n\nclass MPU6050Hardware : public hardware_interface::SensorInterface\n{\n public:\n MPU6050Hardware();\n\n CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;\n\n std::vector export_state_interfaces() override;\n\n CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;\n\n CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;\n\n return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;\n\n private:\n\tQuaternion orientation;\n\tdouble angular_vel_x;\n\tdouble angular_vel_y;\n\tdouble angular_vel_z;\n\tdouble linear_accel_x;\n\tdouble linear_accel_y;\n\tdouble linear_accel_z;\n\t \t\n\tQuaternion quat;\n\tfloat euler_angles[3]; \n\tfloat gyro_values[3];\n \tfloat accel_values[3];\n\n rclcpp::Logger logger_;\n};\n\n} // namespace lidarbot_bringup\n\n#endif\n" }, { "path": "lidarbot_bringup/include/lidarbot_bringup/mpu6050_lib.h", "content": "//-------------------------------MPU6050 Accelerometer and Gyroscope C++ library-----------------------------\n//Made changes to class and renamed file. Adapted from Alex Mous (https://github.com/alex-mous/MPU6050-C-CPP-Library-for-Raspberry-Pi)\n//Copyright (c) 2019, Alex Mous\n//Licensed under the CC BY-NC SA 4.0\n\n\n//-----------------------MODIFY THESE PARAMETERS-----------------------\n\n#define GYRO_RANGE 0 //Select which gyroscope range to use (see the table below) - Default is 0\n//\tGyroscope Range\n//\t0\t+/- 250 degrees/second\n//\t1\t+/- 500 degrees/second\n//\t2\t+/- 1000 degrees/second\n//\t3\t+/- 2000 degrees/second\n//See the MPU6000 Register Map for more information\n\n\n#define ACCEL_RANGE 0 //Select which accelerometer range to use (see the table below) - Default is 0\n//\tAccelerometer Range\n//\t0\t+/- 2g\n//\t1\t+/- 4g\n//\t2\t+/- 8g\n//\t3\t+/- 16g\n//See the MPU6000 Register Map for more information\n\n\n//Offsets - supply your own here (calculate offsets with getOffsets function)\n// Gyroscope\n#define G_OFF_X -187 \n#define G_OFF_Y 757\n#define G_OFF_Z -157 \n// Accelerometer\n#define A_OFF_X -13450 \n#define A_OFF_Y 2803 \n#define A_OFF_Z -14419 \n\n//-----------------------END MODIFY THESE PARAMETERS-----------------------\n\n#include \n#include \n#include \n#include \n#include \n#include \nextern \"C\" {\n\t#include \n\t#include \n}\n#include \n#include \n\n#define _POSIX_C_SOURCE 200809L //Used for calculating time\n\n#define TAU 0.05 //Complementary filter percentage\n#define RAD_T_DEG 57.29577951308 //Radians to degrees (180/PI)\n#define M_PER_SECS_SQUARED 9.80665 //Acceleration G-unit to m/s^2\n\n//Select the appropriate settings\n#if GYRO_RANGE == 1\n\t#define GYRO_SENS 65.5\n\t#define GYRO_CONFIG 0b00001000\n#elif GYRO_RANGE == 2\n\t#define GYRO_SENS 32.8\n\t#define GYRO_CONFIG 0b00010000\n#elif GYRO_RANGE == 3\n\t#define GYRO_SENS 16.4\n\t#define GYRO_CONFIG 0b00011000\n#else //Otherwise, default to 0\n\t#define GYRO_SENS 131.0\n\t#define GYRO_CONFIG 0b00000000\n#endif\n#undef GYRO_RANGE\n\n\n#if ACCEL_RANGE == 1\n\t#define ACCEL_SENS 8192.0\n\t#define ACCEL_CONFIG 0b00001000\n#elif ACCEL_RANGE == 2\n\t#define ACCEL_SENS 4096.0\n\t#define ACCEL_CONFIG 0b00010000\n#elif ACCEL_RANGE == 3\n\t#define ACCEL_SENS 2048.0\n\t#define ACCEL_CONFIG 0b00011000\n#else //Otherwise, default to 0\n\t#define ACCEL_SENS 16384.0\n\t#define ACCEL_CONFIG 0b00000000\n#endif\n#undef ACCEL_RANGE\n\nstruct Quaternion\n{\n\tdouble w, x, y, z;\n};\n\nclass MPU6050 {\n\tprivate:\n\t\tvoid _update();\n\n\t\tfloat _accel_angle[3];\n\t\tfloat _gyro_angle[3];\n\t\tfloat _angle[3]; //Store all angles (accel roll, accel pitch, accel yaw, gyro roll, gyro pitch, gyro yaw, comb roll, comb pitch comb yaw)\n\n\t\tfloat ax, ay, az, gr, gp, gy; //Temporary storage variables used in _update()\n\n\t\tint MPU6050_addr;\n\t\tint f_dev; //Device file\n\n\t\tfloat dt; //Loop time (recalculated with each loop)\n\n\t\tstruct timespec start,end; //Create a time structure\n\n\t\tbool _first_run = 1; //Variable for whether to set gyro angle to acceleration angle in compFilter\n\tpublic:\n\t\tMPU6050(int8_t addr);\n\t\tMPU6050(int8_t addr, bool run_update_thread);\n\t\tvoid getAccelRaw(float *x, float *y, float *z);\n\t\tvoid getGyroRaw(float *roll, float *pitch, float *yaw);\n\t\tvoid getAccel(float *x, float *y, float *z);\n\t\tvoid getGyro(float *roll, float *pitch, float *yaw);\n\t\tvoid getOffsets(float *ax_off, float *ay_off, float *az_off, float *gr_off, float *gp_off, float *gy_off);\n\t\tQuaternion getQuat(float *roll, float *pitch, float *yaw);\n\t\tint getAngle(int axis, float *result);\n\t\tbool calc_yaw;\n};\n\n" }, { "path": "lidarbot_bringup/launch/camera_launch.py", "content": "# This launch file runs the v4l2_camera node used to start up the raspberry pi camera v1.3\n\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n\treturn LaunchDescription([\n\t\tNode(\n\t\t\tpackage='v4l2_camera',\n\t\t\texecutable='v4l2_camera_node',\n\t\t\toutput='screen',\n\t\t\tnamespace='camera',\n\t\t\tparameters=[{\n\t\t\t\t'image_size': [640, 480],\n\t\t\t\t'time_per_frame': [1, 6],\n\t\t\t\t'camera_frame_id': 'camera_link_optical'\n\t\t\t\t}]\n\t\t\t)\n\t\t])\n" }, { "path": "lidarbot_bringup/launch/lidarbot_bringup_launch.py", "content": "# This launch file brings up the physical lidarbot, raspberry pi camera v1.3,\n# RPLIDAR A1 and also integrates ros2_control, twist_mux, robot_localization\n# and joystick control\n\n# File adapted from https://automaticaddison.com\n\nimport os\n\nfrom launch import LaunchDescription\nfrom launch.actions import (\n DeclareLaunchArgument,\n IncludeLaunchDescription,\n TimerAction,\n RegisterEventHandler,\n)\nfrom launch.conditions import IfCondition\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.substitutions import LaunchConfiguration, Command\nfrom launch.event_handlers import OnProcessStart\n\nfrom launch_ros.actions import Node\nfrom launch_ros.substitutions import FindPackageShare\n\n\ndef generate_launch_description():\n\n # Set the path to different files and folders\n pkg_path = FindPackageShare(package=\"lidarbot_bringup\").find(\"lidarbot_bringup\")\n pkg_description = FindPackageShare(package=\"lidarbot_description\").find(\n \"lidarbot_description\"\n )\n pkg_teleop = FindPackageShare(package=\"lidarbot_teleop\").find(\"lidarbot_teleop\")\n pkg_navigation = FindPackageShare(package=\"lidarbot_navigation\").find(\n \"lidarbot_navigation\"\n )\n\n controller_params_file = os.path.join(pkg_path, \"config/controllers.yaml\")\n twist_mux_params_file = os.path.join(pkg_teleop, \"config/twist_mux.yaml\")\n ekf_params_file = os.path.join(pkg_navigation, \"config/ekf.yaml\")\n\n # Launch configuration variables\n use_sim_time = LaunchConfiguration(\"use_sim_time\")\n use_ros2_control = LaunchConfiguration(\"use_ros2_control\")\n use_robot_localization = LaunchConfiguration(\"use_robot_localization\")\n\n # Declare the launch arguments\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n name=\"use_sim_time\",\n default_value=\"False\",\n description=\"Use simulation (Gazebo) clock if true\",\n )\n\n declare_use_ros2_control_cmd = DeclareLaunchArgument(\n name=\"use_ros2_control\",\n default_value=\"True\",\n description=\"Use ros2_control if true\",\n )\n\n declare_use_robot_localization_cmd = DeclareLaunchArgument(\n name=\"use_robot_localization\",\n default_value=\"True\",\n description=\"Use robot_localization package if true\",\n )\n\n # Start robot state publisher\n start_robot_state_publisher_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_description, \"launch\", \"robot_state_publisher_launch.py\")]\n ),\n launch_arguments={\n \"use_sim_time\": use_sim_time,\n \"use_ros2_control\": use_ros2_control,\n }.items(),\n )\n\n robot_description = Command(\n [\"ros2 param get --hide-type /robot_state_publisher robot_description\"]\n )\n\n # Launch controller manager\n start_controller_manager_cmd = Node(\n package=\"controller_manager\",\n executable=\"ros2_control_node\",\n parameters=[{\"robot_description\": robot_description}, controller_params_file],\n )\n\n # Spawn diff_controller\n start_diff_controller_cmd = Node(\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"diff_controller\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Spawn joint_state_broadcaser\n start_joint_broadcaster_cmd = Node(\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"joint_broadcaster\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Spawn imu_sensor_broadcaster\n start_imu_broadcaster_cmd = Node(\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"imu_broadcaster\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Delayed controller manager action\n start_delayed_controller_manager = TimerAction(\n period=2.0, actions=[start_controller_manager_cmd]\n )\n\n # Delayed diff_drive_spawner action\n start_delayed_diff_drive_spawner = RegisterEventHandler(\n event_handler=OnProcessStart(\n target_action=start_controller_manager_cmd,\n on_start=[start_diff_controller_cmd],\n )\n )\n\n # Delayed joint_broadcaster_spawner action\n start_delayed_joint_broadcaster_spawner = RegisterEventHandler(\n event_handler=OnProcessStart(\n target_action=start_controller_manager_cmd,\n on_start=[start_joint_broadcaster_cmd],\n )\n )\n\n # Delayed imu_broadcaster_spawner action\n start_delayed_imu_broadcaster_spawner = RegisterEventHandler(\n event_handler=OnProcessStart(\n target_action=start_controller_manager_cmd,\n on_start=[start_imu_broadcaster_cmd],\n )\n )\n\n # Start robot localization using an Extended Kalman Filter\n start_robot_localization_cmd = Node(\n condition=IfCondition(use_robot_localization),\n package=\"robot_localization\",\n executable=\"ekf_node\",\n parameters=[\n ekf_params_file,\n {'use_sim_time': LaunchConfiguration('use_sim_time')},\n ],\n remappings=[(\"/odometry/filtered\", \"/odom\")],\n )\n\n # Start joystick node\n start_joystick_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_teleop, \"launch\", \"joystick_launch.py\")]\n ),\n launch_arguments={\n \"use_sim_time\": use_sim_time,\n }.items(),\n )\n \n # Start rplidar node\n start_rplidar_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_path, \"launch\", \"rplidar_launch.py\")]\n )\n )\n\n # Start camera node\n start_camera_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_path, \"launch\", \"camera_launch.py\")]\n )\n )\n\n # Start twist mux\n start_twist_mux_cmd = Node(\n package=\"twist_mux\",\n executable=\"twist_mux\",\n parameters=[twist_mux_params_file],\n remappings=[(\"/cmd_vel_out\", \"/diff_controller/cmd_vel_unstamped\")],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Declare the launch options\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_use_ros2_control_cmd)\n ld.add_action(declare_use_robot_localization_cmd)\n\n # Add any actions\n ld.add_action(start_robot_state_publisher_cmd)\n ld.add_action(start_delayed_controller_manager)\n ld.add_action(start_delayed_diff_drive_spawner)\n ld.add_action(start_delayed_joint_broadcaster_spawner)\n ld.add_action(start_delayed_imu_broadcaster_spawner)\n ld.add_action(start_robot_localization_cmd)\n ld.add_action(start_joystick_cmd)\n ld.add_action(start_rplidar_cmd)\n ld.add_action(start_camera_cmd)\n ld.add_action(start_twist_mux_cmd)\n\n return ld\n" }, { "path": "lidarbot_bringup/launch/rplidar_launch.py", "content": "# This launch file runs the rplidar_ros node with the configurations specified\n\n#!/usr/bin/env python3\n\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.substitutions import LaunchConfiguration\nfrom launch_ros.actions import Node\n\n\ndef generate_launch_description():\n channel_type = LaunchConfiguration('channel_type', default='serial')\n serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')\n serial_baudrate = LaunchConfiguration('serial_baudrate', default='115200')\n frame_id = LaunchConfiguration('frame_id', default='lidar_link')\n inverted = LaunchConfiguration('inverted', default='false')\n angle_compensate = LaunchConfiguration('angle_compensate', default='true')\n scan_mode = LaunchConfiguration('scan_mode', default='Standard')\n \n return LaunchDescription([\n\n DeclareLaunchArgument(\n 'channel_type',\n default_value=channel_type,\n description='Specifying channel type of lidar'),\n \n DeclareLaunchArgument(\n 'serial_port',\n default_value=serial_port,\n description='Specifying usb port to connected lidar'),\n\n DeclareLaunchArgument(\n 'serial_baudrate',\n default_value=serial_baudrate,\n description='Specifying usb port baudrate to connected lidar'),\n \n DeclareLaunchArgument(\n 'frame_id',\n default_value=frame_id,\n description='Specifying frame_id of lidar'),\n\n DeclareLaunchArgument(\n 'inverted',\n default_value=inverted,\n description='Specifying whether or not to invert scan data'),\n\n DeclareLaunchArgument(\n 'angle_compensate',\n default_value=angle_compensate,\n description='Specifying whether or not to enable angle_compensate of scan data'),\n \n DeclareLaunchArgument(\n 'scan_mode',\n default_value=scan_mode,\n description='Specifying scan mode of lidar'),\n\n\n Node(\n package='rplidar_ros',\n executable='rplidar_node',\n name='rplidar_node',\n parameters=[{'channel_type':channel_type,\n 'serial_port': serial_port,\n 'serial_baudrate': serial_baudrate,\n 'frame_id': frame_id,\n 'inverted': inverted,\n 'angle_compensate': angle_compensate,\n 'scan_mode': scan_mode}],\n output='screen'),\n ])\n" }, { "path": "lidarbot_bringup/mpu6050_hardware.xml", "content": "\n\t\n\t\t\n\t\t\tThe ros2_control hardware interface for the MPU6050 inertial measurement unit (IMU) sensor.\n\t\t\n\t\n\n" }, { "path": "lidarbot_bringup/package.xml", "content": "\n\n\n lidarbot_bringup\n 0.0.0\n Lidarbot bringup package\n Chinedu Amadi\n CC-BY-SA-4.0 license \n\n ament_cmake\n \n theora_image_transport\n image_transport_plugins\n\n robot_localization\n rplidar_ros\n twist_mux\n v4l2_camera\n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_bringup/src/mpu6050_covariances.cpp", "content": "// MPU6050 covariance program\n// Currently only variances are considered for the imu covariance arrays\n\n#include \"lidarbot_bringup/mpu6050_lib.h\"\n\nMPU6050 device(0x68);\n\n// Function to find mean\nfloat mean(float array[], int n) {\n float sum = 0.0f;\n\n for (int i = 0; i < n; i++)\n sum += array[i];\n return sum / n;\n}\n\n// Function to find variance\nfloat variance(float array[], int n) {\n float sum = 0.0f;\n\n float array_mean = mean(array, n); \n\n for (int i = 0; i < n; i++)\n sum += (array[i] - array_mean) * (array[i] - array_mean);\n return sum / (n - 1);\n}\n\nint main() {\n\n // Initialize variables and arrays\n float roll, pitch, yaw; // Angle values\n float gx, gy, gz; // Gyro values \n float ax, ay, az; // Accel values \n int sample_size = 500; // Sample data size to calculate variance on\n float orient_var[3]; // Orientation variances\n float ang_vel_var[3]; // Angular velocity variances \n float lin_accel_var[3]; // Linear acceleration variances\n float roll_array[sample_size]; // Array of roll values\n float pitch_array[sample_size]; // Array of pitch values\n float yaw_array[sample_size]; // Array of yaw values\n float ang_vel_x_array[sample_size]; // Array of angular velocity values in x-axis\n float ang_vel_y_array[sample_size]; // Array of angular velocity values in y-axis\n float ang_vel_z_array[sample_size]; // Array of angular velocity values in z-axis\n float lin_accel_x_array[sample_size]; // Array of linear acceleration values in x-axis \n float lin_accel_y_array[sample_size]; // Array of linear acceleration values in y-axis\n float lin_accel_z_array[sample_size]; // Array of linear acceleration values in z-axis\n\n sleep(1); // Wait for the MPU6050 to stabilize\n\n device.calc_yaw = true;\n\n std::cout << \"\\nPlease keep the MPU6050 module level and still. \\n\";\n std::cout << \"Reading and appending \" << sample_size << \" sensor data points to respective arrays\" << \", it may take a while ... \\n\\n\";\n\n // Read and append sensor data to arrays\n int i; // loop variable\n\n for (i = 0; i < sample_size; i++) {\n // Read roll, pitch and yaw angles\n device.getAngle(0, &roll);\n device.getAngle(1, &pitch);\n device.getAngle(2, &yaw);\n\n roll_array[i] = roll;\n pitch_array[i] = pitch;\n yaw_array[i] = yaw;\n\n // Read gyro values\n device.getGyro(&gx, &gy, &gz);\n\n ang_vel_x_array[i] = gx;\n ang_vel_y_array[i] = gy;\n ang_vel_z_array[i] = gz;\n\n // Read accel values\n device.getAccel(&ax, &ay, &az);\n\n lin_accel_x_array[i] = ax;\n lin_accel_y_array[i] = ay;\n lin_accel_z_array[i] = az;\n\n usleep(250000); // 0.25sec delay to read non-consecutive values\n }\n\n std::cout << \"Calculating variances ...\\n\\n\";\n sleep(1);\n\n // Calculate variances\n orient_var[0] = variance(roll_array, sample_size);\n orient_var[1] = variance(pitch_array, sample_size);\n orient_var[2] = variance(yaw_array, sample_size);\n ang_vel_var[0] = variance(ang_vel_x_array, sample_size);\n ang_vel_var[1] = variance(ang_vel_y_array, sample_size);\n ang_vel_var[2] = variance(ang_vel_z_array, sample_size);\n lin_accel_var[0] = variance(lin_accel_x_array, sample_size);\n lin_accel_var[1] = variance(lin_accel_y_array, sample_size);\n lin_accel_var[2] = variance(lin_accel_z_array, sample_size);\n\n // Output variance\t\n std::cout << \"static_covariance_orientation: [\" << orient_var[0] << \", 0.0, 0.0, 0.0, \"\n << orient_var[1] << \", 0.0, 0.0, 0.0, \" << orient_var[2] << \"]\\n\";\n std::cout << \"static_covariance_angular_velocity: [\" << ang_vel_var[0] << \", 0.0, 0.0, 0.0, \"\n << ang_vel_var[1] << \", 0.0, 0.0, 0.0, \" << ang_vel_var[2] << \"]\\n\";\n std::cout << \"static_covariance_linear_acceleration: [\" << lin_accel_var[0] << \", 0.0, 0.0, 0.0, \"\n << lin_accel_var[1] << \", 0.0, 0.0, 0.0, \" << lin_accel_var[2] << \"]\\n\\n\";\n\n\n std::cout << \"Paste covariance arrays in the imu_broadcaster ros__parameters section in lidarbot_bringup/config/controllers.yaml.\\n\";\n\n return 0;\n}\n" }, { "path": "lidarbot_bringup/src/mpu6050_hardware_interface.cpp", "content": "#include \"lidarbot_bringup/mpu6050_hardware_interface.hpp\"\n\nnamespace lidarbot_bringup\n{\n\n// Initialize MPU6050 device\nMPU6050 device(0x68); \n\nMPU6050Hardware::MPU6050Hardware()\n\t: logger_(rclcpp::get_logger(\"MPU6050Hardware\"))\n{}\n\nCallbackReturn MPU6050Hardware::on_init(const hardware_interface::HardwareInfo & info)\n{\n\tif (hardware_interface::SensorInterface::on_init(info) != CallbackReturn::SUCCESS)\n\t{\n\t\treturn CallbackReturn::ERROR;\n\t}\n\n\tRCLCPP_INFO(logger_, \"Initializing...\");\n\n\tRCLCPP_INFO(logger_, \"Finished initialization\");\n\t\n\treturn CallbackReturn::SUCCESS;\n}\n\nstd::vector MPU6050Hardware::export_state_interfaces()\n{\n\t// Set up the MPU6050 state interfaces\n\t\n\tstd::vector state_interfaces;\n\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[0].name, &orientation.x));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[1].name, &orientation.y));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[2].name, &orientation.z));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[3].name, &orientation.w));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[4].name, &angular_vel_x));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[5].name, &angular_vel_y));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[6].name, &angular_vel_z));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[7].name, &linear_accel_x));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[8].name, &linear_accel_y));\n\tstate_interfaces.emplace_back(hardware_interface::StateInterface(info_.sensors[0].name, info_.sensors[0].state_interfaces[9].name, &linear_accel_z));\n\n\treturn state_interfaces;\n}\n\nCallbackReturn MPU6050Hardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)\n{\n\tRCLCPP_INFO(logger_, \"Starting controller ...\");\n\n\treturn CallbackReturn::SUCCESS;\n}\n\nCallbackReturn MPU6050Hardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)\n{\n\tRCLCPP_INFO(logger_, \"Stopping Controller...\");\n\t\n\treturn CallbackReturn::SUCCESS;\n}\n\nreturn_type MPU6050Hardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period)\n{\n\t// Obtain current euler angles\n\tdevice.getAngle(0, &euler_angles[0]);\n\tdevice.getAngle(1, &euler_angles[1]);\n\tdevice.getAngle(2, &euler_angles[2]);\n\n\t// Obtain current quaternion from euler angles\n\tquat = device.getQuat(&euler_angles[0], &euler_angles[1], &euler_angles[2]);\n\n\t// Obtain current gyroscope and accelerometer values\n\tdevice.getGyro(&gyro_values[0], &gyro_values[1], &gyro_values[2]);\n\tdevice.getAccel(&accel_values[0], &accel_values[1], &accel_values[2]); \n\n\t// Assign values to the state interfaces\n\t// Orientation, angular velocity and linear acceleration conform the East North Up (ENU) coordinate frame\n\t// convention (https://www.ros.org/reps/rep-0103.html) required by the robot_localization package\n\torientation.x = quat.y;\n\torientation.y = quat.x;\n\torientation.z = quat.z;\n\torientation.w = quat.w;\n\tangular_vel_x = (double)gyro_values[1];\t\n\tangular_vel_y = (double)gyro_values[0];\t\n\tangular_vel_z = (double)gyro_values[2];\t\n\tlinear_accel_x = (double)accel_values[1];\n\tlinear_accel_y = (double)accel_values[0];\n\tlinear_accel_z = (double)accel_values[2];\n\n\treturn return_type::OK;\n}\n\n} // namespace lidarbot_bringup\n\n#include \"pluginlib/class_list_macros.hpp\"\n\nPLUGINLIB_EXPORT_CLASS(\n\tlidarbot_bringup::MPU6050Hardware,\n\thardware_interface::SensorInterface)\n" }, { "path": "lidarbot_bringup/src/mpu6050_lib.cpp", "content": "//-------------------------------MPU6050 Accelerometer and Gyroscope C++ library-----------------------------\n//Made changes to class and renamed file. Adapted from Alex Mous (https://github.com/alex-mous/MPU6050-C-CPP-Library-for-Raspberry-Pi)\n//Copyright (c) 2019, Alex Mous\n//Licensed under the CC BY-NC SA 4.0\n\n#include \"lidarbot_bringup/mpu6050_lib.h\"\n\nMPU6050::MPU6050(int8_t addr, bool run_update_thread) {\n\tint status;\n\n\tMPU6050_addr = addr;\n\tdt = 0.009; //Loop time (recalculated with each loop)\n\t_first_run = 1; //Variable for whether to set gyro angle to acceleration angle in compFilter\n\tcalc_yaw = false;\n\n\tf_dev = open(\"/dev/i2c-1\", O_RDWR); //Open the I2C device file\n\tif (f_dev < 0) { //Catch errors\n\t\tstd::cout << \"ERR (MPU6050.cpp:MPU6050()): Failed to open /dev/i2c-1. Please check that I2C is enabled with raspi-config\\n\"; //Print error message\n\t}\n\n\tstatus = ioctl(f_dev, I2C_SLAVE, MPU6050_addr); //Set the I2C bus to use the correct address\n\tif (status < 0) {\n\t\tstd::cout << \"ERR (MPU6050.cpp:MPU6050()): Could not get I2C bus with \" << addr << \" address. Please confirm that this address is correct\\n\"; //Print error message\n\t}\n\n\ti2c_smbus_write_byte_data(f_dev, 0x6b, 0b00000000); //Take MPU6050 out of sleep mode - see Register Map\n\n\ti2c_smbus_write_byte_data(f_dev, 0x1a, 0b00000011); //Set DLPF (low pass filter) to 44Hz (so no noise above 44Hz will pass through)\n\n\ti2c_smbus_write_byte_data(f_dev, 0x19, 0b00000100); //Set sample rate divider (to 200Hz) - see Register Map\n\n\ti2c_smbus_write_byte_data(f_dev, 0x1b, GYRO_CONFIG); //Configure gyroscope settings - see Register Map (see MPU6050.h for the GYRO_CONFIG parameter)\n\n\ti2c_smbus_write_byte_data(f_dev, 0x1c, ACCEL_CONFIG); //Configure accelerometer settings - see Register Map (see MPU6050.h for the GYRO_CONFIG parameter)\n\n\t//Set offsets to zero\n\ti2c_smbus_write_byte_data(f_dev, 0x06, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x07, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x08, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x09, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x0A, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x0B, 0b00000000), i2c_smbus_write_byte_data(f_dev, 0x00, 0b10000001), i2c_smbus_write_byte_data(f_dev, 0x01, 0b00000001), i2c_smbus_write_byte_data(f_dev, 0x02, 0b10000001);\n\n\tif (run_update_thread){\n\t\tstd::thread(&MPU6050::_update, this).detach(); //Create a seperate thread, for the update routine to run in the background, and detach it, allowing the program to continue\n\t}\n}\n\nMPU6050::MPU6050(int8_t addr) : MPU6050(addr, true){}\n\nvoid MPU6050::getGyroRaw(float *roll, float *pitch, float *yaw) {\n\tint16_t X = i2c_smbus_read_byte_data(f_dev, 0x43) << 8 | i2c_smbus_read_byte_data(f_dev, 0x44); //Read X registers\n\tint16_t Y = i2c_smbus_read_byte_data(f_dev, 0x45) << 8 | i2c_smbus_read_byte_data(f_dev, 0x46); //Read Y registers\n\tint16_t Z = i2c_smbus_read_byte_data(f_dev, 0x47) << 8 | i2c_smbus_read_byte_data(f_dev, 0x48); //Read Z registers\n\t*roll = (float)X; //Roll on X axis\n\t*pitch = (float)Y; //Pitch on Y axis\n\t*yaw = (float)Z; //Yaw on Z axis\n}\n\nvoid MPU6050::getGyro(float *roll, float *pitch, float *yaw) {\n\tgetGyroRaw(roll, pitch, yaw); //Store raw values into variables\n\t*roll = round((*roll - G_OFF_X) * 1000.0 / GYRO_SENS) / 1000.0; //Remove the offset and divide by the gyroscope sensetivity (use 1000 and round() to round the value to three decimal places)\n\t*pitch = round((*pitch - G_OFF_Y) * 1000.0 / GYRO_SENS) / 1000.0;\n\t*yaw = round((*yaw - G_OFF_Z) * 1000.0 / GYRO_SENS) / 1000.0;\n\n\t// Convert deg/s to rad/s\n\t*roll *= (M_PI / 180);\n\t*pitch *= (M_PI / 180);\n\t*yaw *= (M_PI / 180);\n}\n\nvoid MPU6050::getAccelRaw(float *x, float *y, float *z) {\n\tint16_t X = i2c_smbus_read_byte_data(f_dev, 0x3b) << 8 | i2c_smbus_read_byte_data(f_dev, 0x3c); //Read X registers\n\tint16_t Y = i2c_smbus_read_byte_data(f_dev, 0x3d) << 8 | i2c_smbus_read_byte_data(f_dev, 0x3e); //Read Y registers\n\tint16_t Z = i2c_smbus_read_byte_data(f_dev, 0x3f) << 8 | i2c_smbus_read_byte_data(f_dev, 0x40); //Read Z registers\n\t*x = (float)X;\n\t*y = (float)Y;\n\t*z = (float)Z;\n}\n\nvoid MPU6050::getAccel(float *x, float *y, float *z) {\n\tgetAccelRaw(x, y, z); //Store raw values into variables\n\t*x = round((*x - A_OFF_X) * 1000.0 / ACCEL_SENS) / 1000.0; //Remove the offset and divide by the accelerometer sensetivity (use 1000 and round() to round the value to three decimal places)\n\t*y = round((*y - A_OFF_Y) * 1000.0 / ACCEL_SENS) / 1000.0;\n\t*z = round((*z - A_OFF_Z) * 1000.0 / ACCEL_SENS) / 1000.0;\n\n\t// Convert g-unit to m/s^2\n\t*x *= M_PER_SECS_SQUARED;\n\t*y *= M_PER_SECS_SQUARED;\n\t*z *= M_PER_SECS_SQUARED;\n}\n\nvoid MPU6050::getOffsets(float *ax_off, float *ay_off, float *az_off, float *gr_off, float *gp_off, float *gy_off) {\n\tfloat gyro_off[3]; //Temporary storage\n\tfloat accel_off[3];\n\n\t*gr_off = 0, *gp_off = 0, *gy_off = 0; //Initialize the offsets to zero\n\t*ax_off = 0, *ay_off = 0, *az_off = 0; //Initialize the offsets to zero\n\n\tfor (int i = 0; i < 10000; i++) { //Use loop to average offsets\n\t\tgetGyroRaw(&gyro_off[0], &gyro_off[1], &gyro_off[2]); //Raw gyroscope values\n\t\t*gr_off = *gr_off + gyro_off[0], *gp_off = *gp_off + gyro_off[1], *gy_off = *gy_off + gyro_off[2]; //Add to sum\n\n\t\tgetAccelRaw(&accel_off[0], &accel_off[1], &accel_off[2]); //Raw accelerometer values\n\t\t*ax_off = *ax_off + accel_off[0], *ay_off = *ay_off + accel_off[1], *az_off = *az_off + accel_off[2]; //Add to sum\n\t}\n\n\t*gr_off = *gr_off / 10000, *gp_off = *gp_off / 10000, *gy_off = *gy_off / 10000; //Divide by number of loops (to average)\n\t*ax_off = *ax_off / 10000, *ay_off = *ay_off / 10000, *az_off = *az_off / 10000;\n\n\t*az_off = *az_off - ACCEL_SENS; //Remove 1g from the value calculated to compensate for gravity)\n}\n\n// Get quaternion values from euler angles\nQuaternion MPU6050::getQuat(float *roll, float *pitch, float *yaw) {\n\tQuaternion quat; // Temporary storage for quaternion\n\n\tfloat cr = cos(*roll * 0.5);\n\tfloat sr = sin(*roll * 0.5);\n\tfloat cp = cos(*pitch * 0.5);\n\tfloat sp = sin(*pitch * 0.5);\n\tfloat cy = cos(*yaw * 0.5);\n\tfloat sy = sin(*yaw * 0.5);\n\n\tquat.x = sr * cp * cy - cr * sp * sy; \n\tquat.y = cr * sp * cy + sr * cp * sy; \n\tquat.z = cr * cp * sy - sr * sp * cy;\n\tquat.w = cr * cp * cy + sr * sp * sy; \n\n\treturn quat;\n}\n\nint MPU6050::getAngle(int axis, float *result) {\n\tif (axis >= 0 && axis <= 2) { //Check that the axis is in the valid range\n\t\t*result = _angle[axis]; //Get the result\n\n\t\t*result *= (M_PI / 180); // Convert from deg to rad\n\t\treturn 0;\t\n\t}\n\telse {\n\t\tstd::cout << \"ERR (MPU6050.cpp:getAngle()): 'axis' must be between 0 and 2 (for roll, pitch or yaw)\\n\"; //Print error message\n\t\t*result = 0; //Set result to zero\n\t\treturn 1;\n\t}\n}\n\nvoid MPU6050::_update() { //Main update function - runs continuously\n\tclock_gettime(CLOCK_REALTIME, &start); //Read current time into start variable\n\n\twhile (1) { //Loop forever\n\t\tgetGyro(&gr, &gp, &gy); //Get the data from the sensors\n\t\tgetAccel(&ax, &ay, &az);\n\n\t\t//X (roll) axis\n\t\t_accel_angle[0] = atan2(az, ay) * RAD_T_DEG - 90.0; //Calculate the angle with z and y convert to degrees and subtract 90 degrees to rotate\n\t\t_gyro_angle[0] = _angle[0] + gr*dt; //Use roll axis (X axis)\n\n\t\t//Y (pitch) axis\n\t\t_accel_angle[1] = atan2(az, ax) * RAD_T_DEG - 90.0; //Calculate the angle with z and x convert to degrees and subtract 90 degrees to rotate\n\t\t_gyro_angle[1] = _angle[1] + gp*dt; //Use pitch axis (Y axis)\n\n\t\t//Z (yaw) axis\n\t\tif (calc_yaw) {\n\t\t\t_gyro_angle[2] = _angle[2] + gy*dt; //Use yaw axis (Z axis)\n\t\t}\n\n\n\t\tif (_first_run) { //Set the gyroscope angle reference point if this is the first function run\n\t\t\tfor (int i = 0; i <= 1; i++) {\n\t\t\t\t_gyro_angle[i] = _accel_angle[i]; //Start off with angle from accelerometer (absolute angle since gyroscope is relative)\n\t\t\t}\n\t\t\t_gyro_angle[2] = 0; //Set the yaw axis to zero (because the angle cannot be calculated with the accelerometer when vertical)\n\t\t\t_first_run = 0;\n\t\t}\n\n\t\tfloat asum = abs(ax) + abs(ay) + abs(az); //Calculate the sum of the accelerations\n\t\tfloat gsum = abs(gr) + abs(gp) + abs(gy); //Calculate the sum of the gyro readings\n\n\t\tfor (int i = 0; i <= 1; i++) { //Loop through roll and pitch axes\n\t\t\tif (abs(_gyro_angle[i] - _accel_angle[i]) > 5) { //Correct for very large drift (or incorrect measurment of gyroscope by longer loop time)\n\t\t\t\t_gyro_angle[i] = _accel_angle[i];\n\t\t\t}\n\n\t\t\t//Create result from either complementary filter or directly from gyroscope or accelerometer depending on conditions\n\t\t\tif (asum > 0.1 && asum < 3 && gsum > 0.3) { //Check that th movement is not very high (therefore providing inacurate angles)\n\t\t\t\t_angle[i] = (1 - TAU)*(_gyro_angle[i]) + (TAU)*(_accel_angle[i]); //Calculate the angle using a complementary filter\n\t\t\t}\n\t\t\telse if (gsum > 0.3) { //Use the gyroscope angle if the acceleration is high\n\t\t\t\t_angle[i] = _gyro_angle[i];\n\t\t\t}\n\t\t\telse if (gsum <= 0.3) { //Use accelerometer angle if not much movement\n\t\t\t\t_angle[i] = _accel_angle[i];\n\t\t\t}\n\t\t}\n\n\t\t//The yaw axis will not work with the accelerometer angle, so only use gyroscope angle\n\t\tif (calc_yaw) { //Only calculate the angle when we want it to prevent large drift\n\t\t\t_angle[2] = _gyro_angle[2];\n\t\t}\n\t\telse {\n\t\t\t_angle[2] = 0;\n\t\t\t_gyro_angle[2] = 0;\n\t\t}\n\n\t\tclock_gettime(CLOCK_REALTIME, &end); //Save time to end clock\n\t\tdt = (end.tv_sec - start.tv_sec) + (end.tv_nsec - start.tv_nsec) / 1e9; //Calculate new dt\n\t\tclock_gettime(CLOCK_REALTIME, &start); //Save time to start clock\n\t}\n}\n\n" }, { "path": "lidarbot_bringup/src/mpu6050_offsets.cpp", "content": "// MPU6050 offsets program\n\n// Adapted from Example.cpp at https://github.com/alex-mous/MPU6050-C-CPP-Library-for-Raspberry-Pi\n\n#include \"lidarbot_bringup/mpu6050_lib.h\"\n\nMPU6050 device(0x68);\n\nint main() {\n\tfloat ax, ay, az, gx, gy, gz; // Variables to store the accel and gyro values\n\n\tsleep(1); // Wait for the MPU6050 to stabilize\n\n\t// Calculate the offsets\n\tstd::cout << \"\\nPlease keep the MPU6050 module level and still. This may take a few minutes.\\n\\n\";\n\tstd::cout << \"Calculating offsets ...\\n\\n\";\n\tdevice.getOffsets(&ax, &ay, &az, &gx, &gy, &gz);\n\tstd::cout << \"Gyroscope offsets:\\n\";\n\tstd::cout << \"------------------\\n\";\n\tstd::cout << \"X: \" << gx << \"\\n\";\n\tstd::cout << \"Y: \" << gy << \"\\n\";\n\tstd::cout << \"Z: \" << gz << \"\\n\\n\";\n\n\tstd::cout << \"Accelerometer offsets:\\n\";\n\tstd::cout << \"----------------------\\n\";\n\tstd::cout << \"X: \" << ax << \"\\n\";\n\tstd::cout << \"Y: \" << ay << \"\\n\";\n\tstd::cout << \"Z: \" << az << \"\\n\\n\";\n\n\tstd::cout << \"Include the obtained offsets in the respective macros of the mpu6050_lib.h file.\\n\";\n\t\n\treturn 0;\n}\n\n" }, { "path": "lidarbot_description/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_description)\n\nfind_package(ament_cmake REQUIRED)\nfind_package(urdf REQUIRED)\n\ninstall(\n DIRECTORY launch meshes urdf rviz\n DESTINATION share/${PROJECT_NAME}\n)\n\nament_package()\n" }, { "path": "lidarbot_description/launch/description_launch.py", "content": "# Launch lidarbot URDF file using Rviz\n\n# File adapted from https://automaticaddison.com\n\nimport os\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument, IncludeLaunchDescription\nfrom launch.conditions import IfCondition, UnlessCondition\nfrom launch.substitutions import LaunchConfiguration\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\n\nfrom launch_ros.actions import Node\nfrom launch_ros.substitutions import FindPackageShare\n\ndef generate_launch_description():\n \n # Set the path to different files and folders\n pkg_path= FindPackageShare(package='lidarbot_description').find('lidarbot_description')\n rviz_config_path = os.path.join(pkg_path, 'rviz/description.rviz')\n urdf_model_path = os.path.join(pkg_path, 'urdf/lidarbot.urdf.xacro')\n\n # Launch configuration variables specific to simulation\n gui = LaunchConfiguration('use_gui')\n urdf_model = LaunchConfiguration('urdf_model')\n rviz_config_file = LaunchConfiguration('rviz_config_file')\n use_sim_time = LaunchConfiguration('use_sim_time')\n \n # Declare the launch arguments \n declare_urdf_model_path_cmd = DeclareLaunchArgument(\n name='urdf_model',\n default_value=urdf_model_path, \n description='Absolute path to robot urdf file')\n \n declare_rviz_config_file_cmd = DeclareLaunchArgument(\n name='rviz_config_file',\n default_value=rviz_config_path,\n description='Full path to the RVIZ config file to use')\n \n declare_use_sim_time_cmd = DeclareLaunchArgument(\n name='use_sim_time',\n default_value='False',\n description='Use simulation (Gazebo) clock if true')\n\n declare_use_joint_state_publisher_gui_cmd = DeclareLaunchArgument(\n name='use_gui',\n default_value='False',\n description='Flag to enable joint_state_publisher_gui')\n \n # Publish the joint state values for the non-fixed joints in the URDF file.\n start_joint_state_publisher_cmd = Node(\n condition=UnlessCondition(gui),\n package='joint_state_publisher',\n executable='joint_state_publisher',\n name='joint_state_publisher')\n \n # A GUI to manipulate the joint state values\n start_joint_state_publisher_gui_node = Node(\n condition=IfCondition(gui),\n package='joint_state_publisher_gui',\n executable='joint_state_publisher_gui',\n name='joint_state_publisher_gui')\n \n # Start robot state publisher\n start_robot_state_publisher_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource([os.path.join(pkg_path, 'launch', 'robot_state_publisher_launch.py')]), \n launch_arguments={'use_sim_time': use_sim_time, 'urdf_model': urdf_model}.items())\n\n # Launch RViz\n start_rviz_cmd = Node(\n package='rviz2',\n executable='rviz2',\n name='rviz2',\n output='screen',\n arguments=['-d', rviz_config_file])\n \n # Create the launch description and populate\n ld = LaunchDescription()\n \n # Declare the launch options\n ld.add_action(declare_urdf_model_path_cmd)\n ld.add_action(declare_rviz_config_file_cmd)\n ld.add_action(declare_use_joint_state_publisher_gui_cmd)\n ld.add_action(declare_use_sim_time_cmd)\n \n # Add any actions\n ld.add_action(start_joint_state_publisher_cmd)\n ld.add_action(start_joint_state_publisher_gui_node)\n ld.add_action(start_robot_state_publisher_cmd)\n ld.add_action(start_rviz_cmd)\n \n return ld" }, { "path": "lidarbot_description/launch/robot_state_publisher_launch.py", "content": "# Launch file to start the robot state publisher node\n\nimport os\n\nfrom launch import LaunchDescription\nfrom launch.substitutions import LaunchConfiguration, Command\nfrom launch.actions import DeclareLaunchArgument\nfrom launch_ros.actions import Node\nfrom launch_ros.substitutions import FindPackageShare\n\n\ndef generate_launch_description():\n\n # Launch config variables\n use_sim_time = LaunchConfiguration(\"use_sim_time\")\n use_ros2_control = LaunchConfiguration(\"use_ros2_control\")\n urdf_path = LaunchConfiguration(\"urdf_path\")\n\n # Process files\n pkg_path = FindPackageShare(package=\"lidarbot_description\").find(\n \"lidarbot_description\"\n )\n urdf_model_path = os.path.join(pkg_path, \"urdf/lidarbot.urdf.xacro\")\n\n # Declare the launch arguments\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n name=\"use_sim_time\",\n default_value=\"False\",\n description=\"Use simulation (Gazebo) time if true\",\n )\n\n declare_use_ros2_control_cmd = DeclareLaunchArgument(\n name=\"use_ros2_control\",\n default_value=\"False\",\n description=\"Use ros2_control if true\",\n )\n\n declare_urdf_path = DeclareLaunchArgument(\n name=\"urdf_path\",\n default_value=urdf_model_path,\n description=\"Path to the main urdf model\",\n )\n\n robot_description_config = Command(\n [\n \"xacro \",\n urdf_path,\n \" use_ros2_control:=\",\n use_ros2_control,\n \" sim_mode:=\",\n use_sim_time,\n ]\n )\n\n # Start robot state publisher node\n params = {\n \"robot_description\": robot_description_config,\n \"use_sim_time\": use_sim_time,\n }\n start_robot_state_publisher_cmd = Node(\n package=\"robot_state_publisher\",\n executable=\"robot_state_publisher\",\n parameters=[params],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Declare the launch options\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_use_ros2_control_cmd)\n ld.add_action(declare_urdf_path)\n\n # Add any actions\n ld.add_action(start_robot_state_publisher_cmd)\n\n return ld\n" }, { "path": "lidarbot_description/meshes/MPU6050.dae", "content": "\n \n \n 2023-01-28T17:40:24.782133\n 2023-01-28T17:40:24.782140\n \n Z_UP\n \n \n \n \n \n \n \n 0.0 0.0 0.0 1.0\n \n \n 0.0 0.0 0.0 1.0\n \n \n 0.800000011920929 0.800000011920929 0.800000011920929 1.0\n \n \n 1 1 1 1.0\n \n \n 0.0\n \n \n 0.0 0.0 0.0 1.0\n \n \n 0.0\n \n \n 0.0 0.0 0.0 1.0\n \n \n 1.0\n \n \n \n \n \n 0\n \n \n \n \n \n \n \n \n \n -0.01025 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0.5146115 0.2031785 0.5146115 0.2031785 0.5504475 0.3833371 0.7968216 0.01461148\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n

1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 37 30 90 21 30 91 5 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 30 33 99 46 33 100 62 33 101 68 34 102 64 34 103 65 34 104 64 35 105 66 35 106 65 35 107 64 36 108 67 36 109 66 36 110 67 30 111 64 30 112 69 30 113 64 37 114 68 37 115 70 37 116 69 38 117 64 38 118 70 38 119 72 39 120 69 39 121 70 39 122 73 40 123 70 40 124 71 40 125 70 41 126 68 41 127 71 41 128 73 40 129 72 40 130 70 40 131 74 42 132 73 42 133 71 42 134 73 33 135 76 33 136 72 33 137 75 43 138 73 43 139 74 43 140 75 33 141 76 33 142 73 33 143 78 44 144 76 44 145 75 44 146 76 33 147 77 33 148 72 33 149 79 45 150 77 45 151 76 45 152 79 46 153 76 46 154 78 46 155 81 47 156 77 47 157 79 47 158 80 48 159 79 48 160 78 48 161 82 49 162 79 49 163 80 49 164 82 50 165 81 50 166 79 50 167 85 51 168 81 51 169 82 51 170 85 52 171 82 52 172 83 52 173 82 53 174 84 53 175 83 53 176 82 54 177 80 54 178 84 54 179 88 55 180 85 55 181 86 55 182 85 56 183 83 56 184 86 56 185 85 57 186 87 57 187 81 57 188 88 58 189 87 58 190 85 58 191 91 59 192 88 59 193 89 59 194 88 60 195 86 60 196 89 60 197 88 61 198 90 61 199 87 61 200 91 62 201 90 62 202 88 62 203 94 63 204 91 63 205 92 63 206 91 64 207 89 64 208 92 64 209 91 65 210 93 65 211 90 65 212 94 66 213 93 66 214 91 66 215 97 67 216 94 67 217 95 67 218 94 68 219 92 68 220 95 68 221 94 69 222 96 69 223 93 69 224 97 70 225 96 70 226 94 70 227 100 71 228 97 71 229 98 71 230 97 72 231 95 72 232 98 72 233 97 73 234 99 73 235 96 73 236 100 74 237 99 74 238 97 74 239 103 75 240 100 75 241 101 75 242 100 76 243 98 76 244 101 76 245 100 77 246 102 77 247 99 77 248 103 78 249 102 78 250 100 78 251 103 79 252 104 79 253 105 79 254 103 80 255 101 80 256 104 80 257 107 81 258 103 81 259 105 81 260 103 82 261 106 82 262 102 82 263 107 83 264 106 83 265 103 83 266 110 84 267 107 84 268 108 84 269 107 85 270 105 85 271 108 85 272 107 86 273 109 86 274 106 86 275 110 87 276 109 87 277 107 87 278 110 88 279 111 88 280 109 88 281 112 89 282 111 89 283 110 89 284 112 90 285 110 90 286 108 90 287 113 91 288 111 91 289 112 91 290 113 92 291 112 92 292 114 92 293 114 93 294 112 93 295 115 93 296 112 94 297 108 94 298 115 94 299 114 95 300 115 95 301 116 95 302 116 96 303 115 96 304 117 96 305 115 97 306 118 97 307 117 97 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476 86 154 477 151 154 478 89 154 479 149 155 480 151 155 481 152 155 482 151 156 483 153 156 484 152 156 485 86 157 486 155 157 487 153 157 488 152 158 489 153 158 490 154 158 491 153 159 492 155 159 493 154 159 494 83 160 495 157 160 496 155 160 497 83 161 498 155 161 499 86 161 500 154 162 501 155 162 502 156 162 503 155 163 504 157 163 505 156 163 506 83 164 507 159 164 508 157 164 509 156 165 510 157 165 511 158 165 512 157 166 513 159 166 514 158 166 515 158 167 516 159 167 517 160 167 518 159 168 519 161 168 520 160 168 521 84 169 522 161 169 523 159 169 524 84 170 525 159 170 526 83 170 527 162 171 528 164 171 529 161 171 530 162 172 531 161 172 532 84 172 533 160 173 534 161 173 535 163 173 536 161 174 537 164 174 538 163 174 539 165 175 540 167 175 541 164 175 542 165 176 543 164 176 544 162 176 545 163 177 546 164 177 547 166 177 548 164 178 549 167 178 550 166 178 551 165 179 552 169 179 553 167 179 554 166 180 555 167 180 556 168 180 557 167 181 558 169 181 559 168 181 560 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1 0 0 0 2 0 3 1 4352 1 1 1 3 2 1 2 2 2 3 3 4 3 4352 3 5 4 4 4 3 4 5 5 3 5 2 5 5 6 2 6 6 6 4340 7 6 7 2 7 4339 8 4340 8 2 8 4339 9 8077 9 7 9 4339 10 7 10 4337 10 8077 11 8 11 7 11 8077 12 8076 12 8 12 10 13 9 13 8 13 9 14 7 14 8 14 10 15 8 15 11 15 8076 16 11 16 8 16 12 17 11 17 8076 17 13 18 11 18 12 18 13 19 12 19 8075 19 13 20 4350 20 14 20 15 21 11 21 14 21 13 22 14 22 11 22 14 23 16 23 15 23 14 24 17 24 16 24 20 25 17 25 14 25 20 26 18 26 17 26 20 27 14 27 19 27 20 28 21 28 18 28 29 29 21 29 20 29 29 30 23 30 21 30 22 31 23 31 29 31 28 32 25 32 22 32 28 33 22 33 30 33 28 34 24 34 25 34 26 35 25 35 24 35 41 36 26 36 24 36 27 37 41 37 24 37 28 38 48 38 24 38 27 39 24 39 48 39 28 40 34 40 48 40 30 41 22 41 29 41 29 42 20 42 30 42 30 43 20 43 31 43 31 44 20 44 19 44 28 45 32 45 34 45 30 46 32 46 28 46 33 47 34 47 32 47 33 48 47 48 34 48 33 49 45 49 47 49 33 50 44 50 45 50 33 51 35 51 44 51 31 52 44 52 35 52 30 53 31 53 35 53 30 54 35 54 32 54 31 55 19 55 36 55 42 56 31 56 36 56 42 57 37 57 38 57 42 58 36 58 37 58 4346 59 38 59 4345 59 38 60 4348 60 4345 60 37 61 4348 61 38 61 39 62 38 62 4346 62 39 63 40 63 38 63 49 64 38 64 40 64 42 65 38 65 43 65 49 66 43 66 38 66 40 67 41 67 27 67 40 68 27 68 49 68 43 69 44 69 42 69 31 70 42 70 44 70 45 71 44 71 46 71 45 72 46 72 50 72 45 73 50 73 47 73 48 74 34 74 47 74 27 75 47 75 50 75 27 76 48 76 47 76 49 77 50 77 46 77 49 78 46 78 43 78 43 79 46 79 44 79 49 80 27 80 50 80 41 81 40 81 51 81 41 82 51 82 53 82 52 83 53 83 51 83 52 84 51 84 7578 84 7575 85 53 85 52 85 7575 86 7588 86 53 86 7566 87 53 87 7588 87 53 88 7566 88 54 88 54 89 55 89 53 89 55 90 54 90 56 90 58 91 57 91 72 91 56 92 57 92 58 92 60 93 58 93 59 93 59 94 58 94 72 94 61 95 58 95 60 95 56 96 58 96 61 96 56 97 61 97 55 97 61 98 62 98 55 98 61 99 250 99 62 99 250 100 60 100 63 100 61 101 60 101 250 101 63 102 60 102 64 102 64 103 59 103 65 103 64 104 60 104 59 104 70 105 66 105 65 105 65 106 59 106 70 106 5169 107 66 107 67 107 66 108 68 108 67 108 70 109 68 109 66 109 67 110 68 110 69 110 71 111 73 111 70 111 70 112 72 112 71 112 70 113 73 113 68 113 68 114 73 114 69 114 69 115 73 115 74 115 73 116 75 116 74 116 71 117 75 117 73 117 76 118 77 118 75 118 76 119 75 119 71 119 76 120 7557 120 77 120 77 121 6473 121 75 121 7557 122 81 122 77 122 7557 123 78 123 81 123 78 124 79 124 81 124 80 125 79 125 7554 125 7554 126 79 126 78 126 80 127 84 127 79 127 79 128 84 128 81 128 81 129 83 129 82 129 81 130 84 130 83 130 82 131 83 131 88 131 83 132 87 132 88 132 83 133 85 133 87 133 84 134 85 134 83 134 7558 135 85 135 84 135 7558 136 86 136 85 136 85 137 86 137 87 137 88 138 87 138 89 138 87 139 90 139 89 139 87 140 86 140 90 140 89 141 90 141 94 141 7563 142 91 142 86 142 86 143 91 143 90 143 7562 144 91 144 7563 144 7562 145 92 145 91 145 91 146 92 146 93 146 90 147 91 147 93 147 90 148 93 148 94 148 94 149 93 149 95 149 93 150 98 150 95 150 93 151 92 151 98 151 92 152 96 152 98 152 96 153 97 153 98 153 95 154 98 154 99 154 98 155 100 155 99 155 98 156 97 156 100 156 99 157 100 157 101 157 97 158 102 158 100 158 104 159 102 159 103 159 103 160 102 160 97 160 104 161 105 161 102 161 102 162 105 162 107 162 100 163 102 163 107 163 100 164 107 164 106 164 106 165 107 165 111 165 107 166 110 166 111 166 107 167 108 167 110 167 105 168 108 168 107 168 115 169 108 169 104 169 104 170 108 170 105 170 115 171 109 171 108 171 108 172 109 172 110 172 111 173 110 173 112 173 110 174 113 174 112 174 110 175 109 175 113 175 109 176 114 176 113 176 115 177 114 177 109 177 116 178 114 178 115 178 116 179 117 179 114 179 114 180 117 180 118 180 113 181 114 181 118 181 113 182 118 182 119 182 119 183 118 183 120 183 118 184 125 184 120 184 118 185 117 185 125 185 117 186 121 186 125 186 122 187 121 187 117 187 122 188 123 188 121 188 121 189 123 189 125 189 122 190 124 190 123 190 123 191 124 191 125 191 120 192 125 192 126 192 125 193 127 193 126 193 125 194 124 194 127 194 126 195 127 195 131 195 127 196 130 196 131 196 127 197 128 197 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\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "lidarbot_description/meshes/robot_chassis.dae", "content": "\n\n \n \n Blender User\n Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f\n \n 2021-07-28T10:16:35\n 2021-07-28T10:16:35\n \n Z_UP\n \n \n \n \n \n \n -5.658222 -40.61048 17.46387 5.598854 -40.61048 17.46387 5.176373 -40.58266 17.87228 -5.148666 -40.57106 17.94914 4.730877 -40.50763 18.24263 -4.605247 -40.46689 18.38081 3.970322 -40.31597 18.76014 -4.029678 -40.31597 18.76014 3.970322 -40.0003 19.27735 -4.029678 -40.0003 19.27735 3.970322 -39.58715 19.72059 -4.029678 -39.58715 19.72059 3.970322 -39.09336 20.07176 -4.029678 -39.09336 20.07176 3.970322 -38.53907 20.31654 -4.029678 -38.53907 20.31654 3.970322 -37.9469 20.44495 -4.029678 -37.9469 20.44495 -4.029678 -38.27804 1.939087 -4.029678 -37.61048 1.863869 3.970322 -37.61048 1.863869 3.970322 -38.27804 1.939087 -4.029678 -38.91213 2.160965 3.970322 -38.91213 2.160965 -4.029678 -39.48094 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63 43 61 48 70 48 64 48 66 43 71 43 72 43 67 43 73 43 48 43 65 43 71 43 66 43 61 49 74 49 70 49 72 43 75 43 76 43 76 43 75 43 77 43 68 43 78 43 69 43 71 43 75 43 72 43 61 50 79 50 74 50 77 43 80 43 81 43 75 43 80 43 77 43 81 51 82 51 83 51 80 52 82 52 81 52 69 43 84 43 85 43 78 43 84 43 69 43 85 53 86 53 87 53 84 43 86 43 85 43 82 43 88 43 83 43 83 43 88 43 89 43 87 43 90 43 91 43 86 43 90 43 87 43 91 43 92 43 93 43 88 43 94 43 89 43 90 43 92 43 91 43 89 43 94 43 95 43 94 54 96 54 95 54 92 43 97 43 93 43 98 55 99 55 100 55 101 43 99 43 98 43 94 43 102 43 96 43 102 56 103 56 96 56 93 43 104 43 105 43 97 43 104 43 93 43 106 57 107 57 101 57 101 58 107 58 99 58 108 43 53 43 55 43 109 59 53 59 108 59 110 43 53 43 109 43 111 60 53 60 110 60 105 43 112 43 106 43 104 61 112 61 105 61 106 62 112 62 107 62 102 43 50 43 103 43 100 63 49 63 73 63 50 64 52 64 103 64 73 65 49 65 48 65 99 43 49 43 100 43 61 66 53 66 79 66 79 67 53 67 111 67 53 68 61 68 113 68 113 69 114 69 115 69 61 70 114 70 113 70 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510 232 511 232 508 232 512 233 513 233 514 233 514 141 515 141 512 141 513 157 516 157 517 157 517 156 514 156 513 156 518 134 442 134 443 134 443 176 519 176 518 176 520 234 521 234 522 234 522 235 523 235 520 235 524 236 525 236 526 236 526 153 527 153 524 153 528 237 529 237 339 237 339 206 338 206 528 206 530 238 531 238 532 238 532 239 533 239 530 239 534 240 535 240 536 240 536 241 537 241 534 241 538 242 539 242 540 242 540 243 541 243 538 243 516 146 542 146 543 146 543 146 517 146 516 146 544 244 545 244 546 244 546 245 547 245 544 245 548 246 549 246 550 246 550 213 551 213 548 213 552 247 553 247 554 247 554 248 555 248 552 248 556 249 557 249 558 249 558 142 559 142 556 142 560 177 561 177 562 177 562 196 563 196 560 196 564 195 560 195 563 195 563 194 565 194 564 194 566 250 567 250 568 250 568 251 569 251 566 251 570 187 571 187 572 187 572 186 573 186 570 186 571 252 574 252 575 252 575 253 572 253 571 253 576 253 577 253 578 253 578 253 579 253 576 253 580 254 576 254 579 254 579 255 581 255 580 255 582 256 583 256 584 256 584 257 585 257 582 257 586 211 587 211 588 211 588 163 589 163 586 163 557 156 586 156 589 156 589 183 558 183 557 183 590 141 591 141 592 141 592 200 593 200 590 200 594 258 595 258 596 258 596 258 597 258 594 258 561 137 598 137 599 137 599 197 562 197 561 197 600 156 590 156 593 156 593 259 601 259 600 259 602 146 600 146 601 146 601 145 603 145 602 145 604 14 605 14 606 14 606 14 607 14 604 14 608 255 609 255 610 255 610 260 611 260 608 260 608 171 611 171 612 171 612 150 613 150 608 150 614 261 615 261 616 261 616 262 617 262 614 262 618 263 619 263 620 263 620 264 621 264 618 264 622 265 623 265 624 265 624 266 625 266 622 266 626 68 627 68 628 68 628 68 629 68 626 68 630 267 631 267 632 267 632 268 633 268 630 268 634 269 635 269 636 269 636 270 637 270 634 270 638 88 639 88 640 88 640 88 641 88 638 88 642 271 643 271 644 271 644 272 645 272 642 272 646 273 647 273 648 273 648 274 649 274 646 274 650 275 651 275 652 275 652 276 653 276 650 276 654 277 655 277 656 277 656 277 657 277 654 277 658 278 659 278 660 278 660 279 661 279 658 279 662 280 663 280 664 280 664 281 665 281 662 281 666 282 667 282 668 282 668 282 669 282 666 282 670 283 671 283 672 283 672 284 673 284 670 284 674 285 675 285 676 285 676 286 677 286 674 286 678 287 679 287 680 287 680 288 681 288 678 288 682 63 683 63 684 63 684 63 685 63 682 63 686 289 687 289 688 289 688 290 689 290 686 290 679 291 690 291 691 291 691 292 680 292 679 292 692 293 693 293 694 293 694 294 695 294 692 294 696 295 697 295 698 295 698 296 699 296 696 296 700 297 701 297 702 297 702 14 703 14 700 14 704 261 705 261 706 261 706 298 707 298 704 298 708 299 709 299 710 299 710 300 711 300 708 300 712 63 713 63 714 63 714 63 715 63 712 63 716 301 717 301 718 301 718 302 719 302 716 302 720 117 721 117 722 117 722 117 723 117 720 117 724 303 725 303 726 303 726 304 727 304 724 304 728 305 729 305 730 305 730 306 731 306 728 306 732 307 733 307 734 307 734 308 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29228 19828 29977 19828 30028 19828 29685 63 29683 63 29983 63 29982 63 29685 63 29983 63 18340 6982 12901 6982 16731 6982 16731 19829 18192 19829 18340 19829 30029 19830 29759 19830 18321 19830 30026 14 30029 14 18321 14 30030 19831 30031 19831 30032 19831 30032 19832 30033 19832 30030 19832 29769 19833 29768 19833 18320 19833 29669 14 29769 14 18320 14 29670 14 29669 14 18320 14 5687 10200 5686 10200 7303 10200 7303 5726 7261 5726 5687 5726 30034 14 30035 14 9661 14 9661 14 30036 14 30034 14 12395 14 12281 14 12295 14 12295 14 12394 14 12395 14 30037 19834 30038 19834 30039 19834 30039 4994 30040 4994 30037 4994 10652 7508 10651 7508 10510 7508 10510 7508 10508 7508 10652 7508 8649 19835 23908 19835 23718 19835 23718 19836 8648 19836 8649 19836 30041 19837 30042 19837 30043 19837 30043 19838 30044 19838 30041 19838 23642 19839 23643 19839 23455 19839 23455 13180 23454 13180 23642 13180 30045 19840 8888 19840 12737 19840 30046 19841 13612 19841 2596 19841 17123 19842 30047 19842 17124 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20026 6046 20026 6046 20027 6045 20027 6048 20027 30046 87 30048 87 30181 87 30181 87 30182 87 30046 87 30183 20028 30184 20028 30185 20028 30185 20029 30186 20029 30183 20029 30187 4265 30188 4265 30189 4265 30189 4266 30190 4266 30187 4266 10926 20030 30191 20030 30192 20030 30192 20031 10927 20031 10926 20031 1333 875 30193 875 30194 875 30194 15245 1334 15245 1333 15245 10676 12957 10675 12957 10545 12957 10545 20032 10546 20032 10676 20032 16864 20033 16874 20033 16637 20033 16637 20034 16636 20034 16864 20034 28008 20035 28007 20035 28895 20035 28895 20035 28894 20035 28008 20035 30195 20036 30196 20036 30197 20036 30197 20037 30198 20037 30195 20037 16108 20038 2007 20038 2010 20038 2010 5154 15978 5154 16108 5154 14144 77 6530 77 2408 77 2408 77 2407 77 14144 77 22767 20039 22766 20039 23035 20039 23035 20040 23034 20040 22767 20040 28958 20041 28959 20041 28088 20041 28088 20042 28087 20042 28958 20042 3431 345 7946 345 3428 345 30147 88 30199 88 30200 88 30200 88 30148 88 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30115 63 30241 63 30241 63 11780 63 11779 63 22709 657 18197 657 18200 657 18200 657 22511 657 22709 657 26995 68 30242 68 30243 68 30243 68 26992 68 26995 68 30244 20074 10896 20074 2430 20074 30245 20075 30246 20075 30247 20075 30247 20076 30248 20076 30245 20076 30249 8034 30250 8034 10744 8034 10744 15926 30251 15926 30249 15926 30252 88 30253 88 29135 88 29135 88 20732 88 30252 88 22207 20077 17093 20077 17092 20077 17092 20078 21208 20078 22207 20078 23919 20079 23901 20079 23753 20079 23753 20080 23764 20080 23919 20080 30254 88 30255 88 30256 88 30256 88 30257 88 30254 88 30258 20081 30259 20081 30260 20081 30260 20082 30261 20082 30258 20082 21420 20083 30262 20083 30263 20083 30263 5163 21421 5163 21420 5163 8123 4740 9086 4740 9342 4740 9342 1587 9367 1587 8123 1587 7678 16682 10883 16682 10882 16682 10882 16683 7675 16683 7678 16683 12556 20084 12526 20084 12292 20084 12292 1427 12297 1427 12556 1427 23842 20085 23933 20085 23732 20085 23732 20086 23731 20086 23842 20086 30264 68 30265 68 30266 68 30266 68 30267 68 30264 68 24834 6825 24835 6825 24359 6825 24359 4596 24642 4596 24834 4596 21576 20087 21832 20087 21833 20087 21833 1253 21577 1253 21576 1253 10887 14 10890 14 10866 14 10866 7451 10865 7451 10887 7451 15052 20088 23921 20088 23767 20088 23767 2929 15053 2929 15052 2929 26844 345 26843 345 11467 345 11467 345 27331 345 26844 345 17533 6982 9650 6982 9649 6982 9649 20089 17534 20089 17533 20089 26983 20090 29077 20090 29056 20090 29056 20091 26984 20091 26983 20091 17824 5477 17823 5477 9400 5477 9400 5478 26132 5478 17824 5478 797 20092 4506 20092 4509 20092 4509 20093 798 20093 797 20093 30268 20094 30269 20094 30270 20094 30270 20095 30271 20095 30268 20095 19017 20096 18743 20096 18744 20096 18744 20097 18962 20097 19017 20097 3127 20003 11076 20003 11079 20003 11079 7576 3128 7576 3127 7576 16207 300 16219 300 15954 300 15954 300 15928 300 16207 300 30272 20098 27313 20098 27312 20098 27312 20099 30273 20099 30272 20099 22727 9012 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\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "lidarbot_description/meshes/rplidar_base.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Thu Mar 16 16:32:31 2023 GMT\n Thu Mar 16 16:32:31 2023 GMT\n Y_UP\n \n \n \n \n \n -0.0110819 0.010094 0.022073 -0.0102387 0.01144 0.022073 -0.0110532 0.0100769 0.022073 -0.0110406 0.010069 0.022073 -0.0110739 0.0100177 0.025573 -0.0107505 0.011042 0.025573 -0.0110484 0.0100003 0.025573 -0.00977456 0.0117744 0.022073 -0.010008 0.0116091 0.022073 -0.0110131 0.0100501 0.022073 -0.0109921 0.0100348 0.022073 -0.0110288 0.00998616 0.025573 -0.0110059 0.00996795 0.025573 -0.00953817 0.0119353 0.022073 -0.00929904 0.0120923 0.022073 -0.00934533 0.0120644 0.0222821 -0.00905722 0.012245 0.022073 -0.00899738 0.0122838 0.0222756 -0.00881279 0.0123935 0.022073 -0.00856584 0.0125378 0.022073 -0.0109294 0.00998276 0.022073 -0.0109556 0.00992358 0.025573 -0.0101526 0.0103037 0.025573 -0.0109279 0.00989523 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4027 3107 4027 3104 4027 3106 0 3105 0 3103 0 3106 4028 3107 4028 3105 4028 3109 4029 3107 4029 3108 4029 3106 4030 3108 4030 3107 4030 3110 0 3107 0 3109 0 3110 4031 3104 4031 3107 4031 3109 4032 3111 4032 3110 4032 3110 4033 3111 4033 3112 4033 3110 4034 3112 4034 3097 4034 3097 0 3104 0 3110 0 3113 0 3112 0 3114 0 3113 4035 3095 4035 3112 4035 3114 4036 3112 4036 3111 4036 3097 4037 3112 4037 3095 4037 3114 4038 3115 4038 3117 4038 3116 4039 3115 4039 3114 4039 3114 0 3111 0 3116 0 3114 4040 3117 4040 3113 4040 3118 4041 3117 4041 3115 4041 3119 4042 3117 4042 3118 4042 3113 4043 3117 4043 3120 4043 3119 4044 3120 4044 3117 4044 3113 4045 3120 4045 3093 4045 3121 130 3120 130 3119 130 3093 4046 3120 4046 3091 4046 3121 4047 3091 4047 3120 4047 3119 4048 3122 4048 3121 4048 3086 130 3091 130 3121 130 3121 4049 3084 4049 3086 4049 3121 4050 3122 4050 3084 4050 3119 4051 3123 4051 3122 4051 3082 4052 3084 4052 3122 4052 3082 4053 3122 4053 3123 4053 3118 4054 3123 4054 3119 4054 3123 130 3124 130 3082 130 3118 4055 3124 4055 3123 4055 3125 4056 3124 4056 3118 4056 3125 4057 3126 4057 3124 4057 3082 4058 3124 4058 3126 4058 3127 4059 3126 4059 3125 4059 3127 4060 3129 4060 3126 4060 3128 4061 3126 4061 3129 4061 3082 130 3126 130 3128 130 3130 4062 3129 4062 3131 4062 3128 130 3129 130 3130 130 3132 4063 3131 4063 3129 4063 3132 4064 3129 4064 3127 4064 3132 130 3134 130 3133 130 3133 4065 3131 4065 3132 4065 3132 4066 3135 4066 3134 4066 3127 130 3135 130 3132 130 3136 4067 3134 4067 3135 4067 3136 4068 3135 4068 3137 4068 3137 4069 3135 4069 3138 4069 3127 4070 3138 4070 3135 4070 3125 130 3138 130 3127 130 3125 4071 3115 4071 3138 4071 3116 4072 3138 4072 3115 4072 3137 4073 3138 4073 3116 4073 3137 0 3139 0 3136 0 3116 0 3140 0 3137 0 3137 4074 3140 4074 3139 4074 3141 4075 3140 4075 3109 4075 3109 4076 3140 4076 3111 4076 3141 4077 3139 4077 3140 4077 3116 4078 3111 4078 3140 4078 3141 0 3143 0 3142 0 3142 4079 3139 4079 3141 4079 3141 4080 3108 4080 3143 4080 3109 0 3108 0 3141 0 3142 4081 3143 4081 3144 4081 3146 4082 3144 4082 3143 4082 3145 4083 3143 4083 3108 4083 3146 4084 3143 4084 3145 4084 3146 0 3145 0 3147 0 3147 0 3070 0 3146 0 3070 4085 3148 4085 3146 4085 3148 4086 3144 4086 3146 4086 3072 4087 3149 4087 3148 4087 3070 4088 3072 4088 3148 4088 3148 4089 3149 4089 3144 4089 3072 4090 3152 4090 3149 4090 3150 4091 3144 4091 3149 4091 3150 0 3149 0 3151 0 3151 4092 3149 4092 3152 4092 3073 4093 3152 4093 3072 4093 3151 0 3152 0 3154 0 3073 4094 3153 4094 3152 4094 3154 4095 3152 4095 3153 4095 3154 0 3153 0 3155 0 3155 4096 3156 4096 3154 4096 3154 4097 3156 4097 3157 4097 3154 4098 3157 4098 3151 4098 3160 4099 3157 4099 3156 4099 3159 4100 3158 4100 3157 4100 3151 4101 3157 4101 3158 4101 3159 0 3157 0 3160 0 3160 0 3156 0 3161 0 3161 4102 3162 4102 3160 4102 3160 4103 3162 4103 3163 4103 3160 4104 3163 4104 3159 4104 3164 4105 3163 4105 3162 4105 3165 130 3163 130 3164 130 3165 4106 3166 4106 3163 4106 3159 4104 3163 4104 3166 4104 3133 4107 3134 4107 3166 4107 3133 4108 3166 4108 3165 4108 3167 4109 3166 4109 3134 4109 3159 4110 3166 4110 3167 4110 3167 4111 3134 4111 3136 4111 3136 0 3168 0 3167 0 3167 4112 3168 4112 3158 4112 3167 0 3158 0 3159 0 3150 4113 3168 4113 3142 4113 3150 4114 3158 4114 3168 4114 3136 0 3139 0 3168 0 3142 4115 3168 4115 3139 4115 3164 4116 3169 4116 3165 4116 3165 4117 3169 4117 3170 4117 3165 4118 3170 4118 3133 4118 3171 4119 3170 4119 3169 4119 3130 130 3170 130 3171 130 3130 4120 3131 4120 3170 4120 3133 4121 3170 4121 3131 4121 3171 4122 3172 4122 3130 4122 3171 4123 3173 4123 3172 4123 3171 130 3169 130 3174 130 3174 4124 3173 4124 3171 4124 3174 130 3176 130 3175 130 3175 4125 3178 4125 3174 4125 3174 4126 3178 4126 3173 4126 3174 4127 3177 4127 3176 4127 3169 130 3177 130 3174 130 3178 4128 3181 4128 3173 4128 3180 4129 3179 4129 3178 4129 3178 4130 3179 4130 3181 4130 3175 4131 3180 4131 3178 4131 3182 4132 3181 4132 3184 4132 3182 4133 3183 4133 3181 4133 3173 4134 3181 4134 3183 4134 3184 4135 3181 4135 3179 4135 3184 0 3185 0 3182 0 3184 4136 3187 4136 3185 4136 3184 4137 3179 4137 3186 4137 3186 4138 3187 4138 3184 4138 3187 4139 3190 4139 3185 4139 3188 4140 3189 4140 3187 4140 3186 4141 3188 4141 3187 4141 3187 4142 3189 4142 3190 4142 3185 4143 3190 4143 3193 4143 3192 4144 3190 4144 3189 4144 3191 4145 3193 4145 3190 4145 3191 0 3190 0 3192 0 3194 0 3193 0 3191 0 3194 4146 3195 4146 3193 4146 3196 4147 3193 4147 3195 4147 3185 4148 3193 4148 3196 4148 3182 4149 3185 4149 3196 4149 3182 4150 3196 4150 3197 4150 3196 0 3198 0 3197 0 3196 4151 3195 4151 3198 4151 3198 4152 3195 4152 3199 4152 3198 4153 3199 4153 3200 4153 3197 4154 3198 4154 3200 4154 3200 4155 3201 4155 3202 4155 3200 4156 3199 4156 3201 4156 3203 4157 3200 4157 3202 4157 3197 4158 3200 4158 3203 4158 3203 4159 3204 4159 3197 4159 3203 4160 3079 4160 3204 4160 3077 4161 3079 4161 3203 4161 3203 4162 3202 4162 3077 4162 3197 4163 3204 4163 3183 4163 3172 4164 3183 4164 3204 4164 3205 4165 3204 4165 3079 4165 3172 4166 3204 4166 3205 4166 3130 4167 3172 4167 3205 4167 3130 4168 3205 4168 3128 4168 3128 4169 3205 4169 3080 4169 3205 4170 3079 4170 3080 4170 3077 4171 3202 4171 3206 4171 3202 4172 3207 4172 3206 4172 3202 4173 3201 4173 3207 4173 3206 4174 3207 4174 3209 4174 3208 4175 3207 4175 3201 4175 3210 0 3207 0 3208 0 3210 4176 3209 4176 3207 4176 3211 0 3209 0 3210 0 3208 4177 3213 4177 3210 4177 3210 4178 3212 4178 3211 4178 3210 4179 3213 4179 3212 4179 3216 4180 3213 4180 3214 4180 3208 4181 3214 4181 3213 4181 3215 4182 3212 4182 3213 4182 3215 4183 3213 4183 3216 4183 3216 4184 3214 4184 3219 4184 3216 4185 3218 4185 3215 4185 3216 4186 3217 4186 3218 4186 3219 4187 3217 4187 3216 4187 3220 4188 3222 4188 3219 4188 3219 0 3221 0 3220 0 3219 4189 3214 4189 3221 4189 3219 4190 3222 4190 3217 4190 3220 4191 3223 4191 3222 4191 3225 4192 3222 4192 3223 4192 3224 4193 3217 4193 3222 4193 3224 4194 3222 4194 3225 4194 3225 130 3223 130 3228 130 3225 4195 3226 4195 3224 4195 3225 4196 3227 4196 3226 4196 3228 4197 3227 4197 3225 4197 3228 4198 3223 4198 3231 4198 3228 4199 3229 4199 3227 4199 3230 4200 3229 4200 3228 4200 3228 130 3231 130 3230 130 3233 4201 3232 4201 3231 4201 3230 4202 3231 4202 3232 4202 3233 4203 3231 4203 3234 4203 3234 4204 3231 4204 3223 4204 3234 0 3235 0 3233 0 3234 4205 3236 4205 3235 4205 3234 4206 3223 4206 3220 4206 3220 0 3236 0 3234 0 3220 4207 3221 4207 3236 4207 3194 4208 3236 4208 3237 4208 3194 4209 3235 4209 3236 4209 3237 4210 3236 4210 3221 4210 3237 4211 3195 4211 3194 4211 3237 4212 3221 4212 3238 4212 3238 0 3199 0 3237 0 3237 4213 3199 4213 3195 4213 3238 4214 3221 4214 3214 4214 3238 4215 3214 4215 3208 4215 3208 0 3201 0 3238 0 3238 4216 3201 4216 3199 4216 3233 4217 3235 4217 3239 4217 3191 4218 3239 4218 3235 4218 3191 4219 3235 4219 3194 4219 3233 0 3239 0 3241 0 3241 4220 3239 4220 3240 4220 3192 4221 3240 4221 3239 4221 3192 4222 3239 4222 3191 4222 3241 0 3240 0 3242 0 3242 4223 3243 4223 3241 4223 3241 4224 3243 4224 3232 4224 3241 4225 3232 4225 3233 4225 3242 4226 3244 4226 3243 4226 3245 4227 3243 4227 3244 4227 3246 130 3243 130 3245 130 3246 130 3232 130 3243 130 3246 4228 3247 4228 3230 4228 3246 4229 3248 4229 3247 4229 3245 4230 3248 4230 3246 4230 3230 130 3232 130 3246 130 3250 4231 3248 4231 3249 4231 3245 4232 3249 4232 3248 4232 3250 4233 3247 4233 3248 4233 3250 4234 3254 4234 3251 4234 3251 130 3247 130 3250 130 3250 4235 3252 4235 3254 4235 3253 4236 3252 4236 3250 4236 3250 130 3249 130 3253 130 3254 0 3256 0 3255 0 3251 4237 3254 4237 3255 4237 3254 0 3257 0 3256 0 3252 0 3257 0 3254 0 3258 4238 3256 4238 3257 4238 3258 4239 3257 4239 3259 4239 3259 4240 3257 4240 3260 4240 3252 4241 3260 4241 3257 4241 3259 4242 3260 4242 3261 4242 3263 0 3260 0 3252 0 3261 4243 3260 4243 3262 4243 3263 4244 3262 4244 3260 4244 3253 4245 3263 4245 3252 4245 3264 0 3262 0 3263 0 3265 4246 3264 4246 3263 4246 3265 4247 3263 4247 3253 4247 3265 4248 3268 4248 3266 4248 3265 4249 3266 4249 3267 4249 3267 4250 3264 4250 3265 4250 3253 130 3268 130 3265 130 3253 4251 3249 4251 3268 4251 3269 4252 3268 4252 3249 4252 3270 4253 3268 4253 3269 4253 3270 4254 3266 4254 3268 4254 3270 130 3272 130 3271 130 3271 4255 3266 4255 3270 4255 3270 4256 3273 4256 3272 4256 3269 130 3273 130 3270 130 3269 4257 3244 4257 3273 4257 3274 4258 3273 4258 3244 4258 3275 4259 3273 4259 3274 4259 3275 4260 3272 4260 3273 4260 3276 4261 3272 4261 3275 4261 3275 4262 3277 4262 3276 4262 3275 4263 3278 4263 3277 4263 3274 4264 3278 4264 3275 4264 3281 4265 3278 4265 3279 4265 3279 4266 3278 4266 3280 4266 3281 4267 3277 4267 3278 4267 3274 4268 3280 4268 3278 4268 3279 0 3282 0 3281 0 3281 4269 3282 4269 3283 4269 3281 0 3283 0 3284 0 3284 4270 3277 4270 3281 4270 3284 4271 3283 4271 3287 4271 3284 4272 3287 4272 3285 4272 3285 4273 3286 4273 3284 4273 3284 4274 3286 4274 3277 4274 3289 4275 3288 4275 3287 4275 3285 4276 3287 4276 3288 4276 3289 4277 3287 4277 3290 4277 3290 4278 3287 4278 3283 4278 3293 4279 3290 4279 3291 4279 3290 4280 3283 4280 3291 4280 3292 4281 3289 4281 3290 4281 3292 0 3290 0 3293 0 3293 0 3291 0 3294 0 3294 4282 3295 4282 3293 4282 3293 4283 3296 4283 3292 4283 3293 4284 3295 4284 3296 4284 3292 4285 3296 4285 3299 4285 3297 4286 3296 4286 3295 4286 3298 0 3296 0 3297 0 3298 4287 3299 4287 3296 4287 3255 4288 3256 4288 3299 4288 3255 0 3299 0 3298 0 3300 4289 3299 4289 3256 4289 3292 4290 3299 4290 3300 4290 3300 0 3289 0 3292 0 3300 4291 3301 4291 3289 4291 3300 4292 3256 4292 3258 4292 3258 0 3301 0 3300 0 3258 4293 3302 4293 3301 4293 3302 4294 3303 4294 3301 4294 3301 4295 3303 4295 3288 4295 3301 4296 3288 4296 3289 4296 3306 4297 3303 4297 3304 4297 3302 4298 3304 4298 3303 4298 3305 4299 3288 4299 3303 4299 3305 4300 3303 4300 3306 4300 3306 0 3304 0 3307 0 3307 4301 3308 4301 3306 4301 3306 4302 3308 4302 3309 4302 3306 4303 3309 4303 3305 4303 3310 4304 3309 4304 3308 4304 3312 0 3309 0 3310 0 3305 4305 3309 4305 3311 4305 3312 4306 3311 4306 3309 4306 3313 0 3311 0 3312 0 3312 4307 3314 4307 3313 4307 3312 4308 3315 4308 3314 4308 3310 4309 3315 4309 3312 4309 3317 130 3315 130 3316 130 3310 4310 3316 4310 3315 4310 3318 130 3315 130 3317 130 3318 4311 3314 4311 3315 4311 3318 4312 3319 4312 3320 4312 3317 4313 3319 4313 3318 4313 3318 4314 3320 4314 3321 4314 3321 130 3314 130 3318 130 3321 4315 3320 4315 3322 4315 3321 4316 3322 4316 3271 4316 3271 130 3323 130 3321 130 3321 4317 3323 4317 3314 4317 3313 4318 3314 4318 3323 4318 3313 4319 3323 4319 3276 4319 3271 4320 3272 4320 3323 4320 3276 4321 3323 4321 3272 4321 3324 4322 3322 4322 3320 4322 3267 130 3322 130 3324 130 3271 4323 3322 4323 3266 4323 3267 4324 3266 4324 3322 4324 3325 4325 3327 4325 3324 4325 3324 130 3320 130 3325 130 3324 4326 3326 4326 3267 4326 3324 4327 3327 4327 3326 4327 3327 0 3328 0 3326 0 3327 0 3329 0 3328 0 3325 4328 3330 4328 3327 4328 3330 0 3329 0 3327 0 3331 4329 3330 4329 3325 4329 3331 4330 3332 4330 3330 4330 3332 0 3333 0 3330 0 3330 4331 3333 4331 3329 4331 3334 4332 3329 4332 3333 4332 3332 4333 3336 4333 3333 4333 3334 4334 3333 4334 3335 4334 3335 4335 3333 4335 3336 4335 3335 4336 3336 4336 3337 4336 3337 4337 3336 4337 3338 4337 3339 4338 3338 4338 3336 4338 3339 4339 3336 4339 3332 4339 3340 0 3338 0 3339 0 3341 4340 3340 4340 3339 4340 3341 4341 3339 4341 3342 4341 3342 4342 3339 4342 3332 4342 3342 4343 3343 4343 3341 4343 3342 4344 3332 4344 3331 4344 3331 130 3344 130 3342 130 3342 4345 3344 4345 3343 4345 3345 4346 3343 4346 3344 4346 3345 4347 3344 4347 3317 4347 3317 4348 3344 4348 3319 4348 3331 4349 3319 4349 3344 4349 3345 130 3347 130 3346 130 3346 4350 3343 4350 3345 4350 3345 4351 3316 4351 3347 4351 3317 130 3316 130 3345 130 3348 4352 3347 4352 3349 4352 3348 4353 3350 4353 3347 4353 3349 4354 3347 4354 3316 4354 3346 4355 3347 4355 3350 4355 3351 4356 3350 4356 3348 4356 3351 4357 3353 4357 3350 4357 3346 130 3350 130 3352 130 3352 4358 3350 4358 3353 4358 3355 4359 3353 4359 3354 4359 3356 4360 3354 4360 3353 4360 3352 130 3353 130 3355 130 3356 4361 3353 4361 3351 4361 3357 4362 3354 4362 3356 4362 3356 0 3358 0 3357 0 3351 0 3359 0 3356 0 3356 4363 3359 4363 3358 4363 3361 4364 3359 4364 3360 4364 3351 4365 3360 4365 3359 4365 3362 4366 3359 4366 3361 4366 3362 4367 3358 4367 3359 4367 3362 4368 3365 4368 3363 4368 3362 4300 3363 4300 3364 4300 3364 4369 3358 4369 3362 4369 3361 0 3365 0 3362 0 3368 4370 3363 4370 3365 4370 3361 4371 3366 4371 3365 4371 3367 4372 3365 4372 3366 4372 3368 4373 3365 4373 3367 4373 3369 4374 3363 4374 3368 4374 3259 4375 3368 4375 3367 4375 3369 0 3368 0 3259 0 3259 4376 3370 4376 3369 4376 3370 4377 3371 4377 3369 4377 3369 4378 3371 4378 3363 4378 3370 4379 3372 4379 3371 4379 3373 4380 3371 4380 3372 4380 3364 4381 3371 4381 3373 4381 3364 0 3363 0 3371 0 3373 0 3372 0 3374 0 3374 4382 3376 4382 3373 4382 3373 4383 3375 4383 3364 4383 3373 4384 3376 4384 3375 4384 3378 0 3376 0 3377 0 3377 4385 3376 4385 3379 4385 3378 4386 3375 4386 3376 4386 3374 4387 3379 4387 3376 4387 3382 4388 3379 4388 3380 4388 3381 4389 3380 4389 3379 4389 3377 0 3379 0 3382 0 3381 4390 3379 4390 3374 4390 3382 4391 3380 4391 3383 4391 3383 4392 3384 4392 3382 4392 3382 4393 3384 4393 3385 4393 3382 4394 3385 4394 3377 4394 3377 4395 3385 4395 3386 4395 3387 4396 3386 4396 3385 4396 3387 130 3385 130 3388 130 3388 130 3385 130 3384 130 3390 4397 3388 4397 3389 4397 3388 4398 3384 4398 3389 4398 3391 4399 3388 4399 3390 4399 3391 4400 3387 4400 3388 4400 3392 4401 3387 4401 3391 4401 3395 4402 3392 4402 3391 4402 3393 4403 3391 4403 3390 4403 3394 4404 3391 4404 3393 4404 3395 130 3391 130 3394 130 3394 4405 3396 4405 3395 4405 3395 4406 3396 4406 3397 4406 3395 4407 3397 4407 3398 4407 3398 130 3392 130 3395 130 3398 4408 3399 4408 3392 4408 3401 130 3399 130 3398 130 3398 4409 3397 4409 3400 4409 3398 4410 3400 4410 3401 4410 3401 4411 3402 4411 3399 4411 3404 4412 3402 4412 3401 4412 3401 4413 3403 4413 3404 4413 3401 4414 3400 4414 3403 4414 3404 4415 3405 4415 3407 4415 3404 4416 3403 4416 3405 4416 3404 4417 3406 4417 3402 4417 3407 130 3406 130 3404 130 3407 4418 3340 4418 3341 4418 3341 130 3408 130 3407 130 3407 4419 3405 4419 3340 4419 3407 4420 3408 4420 3406 4420 3352 4421 3406 4421 3408 4421 3352 4422 3408 4422 3346 4422 3346 4423 3408 4423 3343 4423 3341 4424 3343 4424 3408 4424 3355 4425 3406 4425 3352 4425 3355 4426 3402 4426 3406 4426 3403 0 3409 0 3405 0 3405 4427 3409 4427 3410 4427 3405 0 3410 0 3340 0 3340 4428 3410 4428 3338 4428 3411 4429 3338 4429 3410 4429 3411 4430 3410 4430 3412 4430 3412 4431 3410 4431 3409 4431 750 4432 3411 4432 3412 4432 750 4433 3412 4433 753 4433 3412 4434 3409 4434 3413 4434 753 4435 3412 4435 3413 4435 3413 4436 3409 4436 3414 4436 3413 4437 3414 4437 3415 4437 753 4438 3413 4438 3415 4438 3415 4439 3414 4439 3416 4439 3417 0 753 0 3415 0 3415 4440 3416 4440 3417 4440 3418 4441 3419 4441 3417 4441 3417 4442 3416 4442 3418 4442 3417 4443 3419 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10215 14247 10215 14248 10216 14248 10214 14248 10215 14247 10176 14247 10216 14247 10214 14249 10216 14249 10217 14249 10216 130 10180 130 10217 130 10216 130 10177 130 10180 130 10176 130 10177 130 10216 130 10217 14250 10182 14250 10218 14250 10213 14251 10217 14251 10218 14251 10214 14252 10217 14252 10213 14252 10217 14253 10180 14253 10182 14253 10212 14254 10218 14254 10219 14254 10218 14255 10184 14255 10219 14255 10213 14256 10218 14256 10212 14256 10218 14257 10182 14257 10184 14257 10212 14258 10219 14258 10207 14258 10219 14259 10184 14259 10186 14259 10219 130 10186 130 10206 130 10207 14260 10219 14260 10206 14260 10211 130 10220 130 10146 130 10145 14261 10211 14261 10146 14261 10211 14262 10221 14262 10220 14262 10209 14263 10221 14263 10211 14263 10209 14264 10224 14264 10221 14264 10221 14265 10222 14265 10220 14265 10221 14266 10223 14266 10222 14266 10224 14267 10223 14267 10221 14267 10224 14268 10225 14268 10223 14268 10226 14269 10225 14269 10224 14269 10227 14270 10226 14270 10224 14270 10227 130 10224 130 10209 130 10205 14271 10228 14271 10227 14271 10228 130 10226 130 10227 130 10204 14272 10227 14272 10209 14272 10205 14273 10227 14273 10204 14273 10201 14274 10229 14274 10228 14274 10229 130 10230 130 10228 130 10228 14275 10230 14275 10226 14275 10201 14276 10228 14276 10205 14276 10231 14277 10232 14277 10230 14277 10229 14278 10231 14278 10230 14278 10230 14279 10232 14279 10233 14279 10230 14280 10233 14280 10226 14280 10226 14281 10233 14281 10225 14281 10234 14282 10225 14282 10233 14282 10234 0 10233 0 10235 0 10235 14283 10233 14283 10232 14283 10235 14284 10236 14284 10234 14284 10235 14285 10238 14285 10236 14285 10235 14286 10232 14286 10237 14286 10237 14287 10238 14287 10235 14287 10237 14288 10241 14288 10238 14288 10240 14289 10238 14289 10239 14289 10239 14290 10238 14290 10241 14290 10240 14291 10236 14291 10238 14291 10242 14292 10241 14292 10237 14292 10242 14293 10244 14293 10241 14293 10239 0 10241 0 10243 0 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130 10334 130 10335 14504 10092 14504 10013 14504 10134 14505 10338 14505 10337 14505 10338 130 10336 130 10337 130 10134 14506 10337 14506 10135 14506 10135 14507 10337 14507 10334 14507 10133 14508 10338 14508 10134 14508 10133 14509 10340 14509 10338 14509 10338 14510 10339 14510 10336 14510 10340 130 10339 130 10338 130 10340 14511 10341 14511 10339 14511 10342 130 10341 130 10340 130 10132 14512 10342 14512 10340 14512 10132 14509 10340 14509 10133 14509 10131 14513 10343 14513 10342 14513 10343 130 10344 130 10342 130 10342 130 10344 130 10341 130 10131 14514 10342 14514 10132 14514 10343 14515 10345 14515 10344 14515 10345 14516 10029 14516 10344 14516 10344 14517 10045 14517 10341 14517 10344 14518 10029 14518 10045 14518 10347 14519 10345 14519 10343 14519 10346 14520 10011 14520 10345 14520 10347 130 10346 130 10345 130 10345 14521 10011 14521 10029 14521 10348 130 10346 130 10347 130 10129 14522 10348 14522 10347 14522 10129 14523 10347 14523 10130 14523 10130 14524 10347 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14639 10400 14639 10403 14639 10401 14640 10403 14640 10405 14640 10405 14641 10404 14641 10401 14641 10401 14642 10404 14642 10398 14642 10405 14643 10403 14643 10408 14643 10406 130 10407 130 10405 130 10405 14644 10408 14644 10406 14644 10405 14645 10407 14645 10404 14645 10375 14646 10409 14646 10408 14646 10375 14647 10408 14647 10403 14647 10406 14648 10408 14648 10409 14648 10411 14649 10409 14649 10410 14649 10410 130 10409 130 10375 130 10406 14650 10409 14650 10411 14650 10411 14651 10410 14651 10414 14651 10411 130 10412 130 10406 130 10411 14652 10413 14652 10412 14652 10414 14653 10413 14653 10411 14653 10414 14654 10410 14654 10418 14654 10414 14655 10415 14655 10413 14655 10414 14656 10416 14656 10415 14656 10417 130 10416 130 10414 130 10414 14657 10418 14657 10417 14657 10375 14658 10418 14658 10410 14658 10375 14659 10419 14659 10418 14659 10417 14660 10418 14660 10419 14660 10420 130 10419 130 10375 130 10421 14660 10419 14660 10420 14660 10417 14661 10419 14661 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10040 14682 10434 14682 10436 130 10434 130 10431 130 10434 14683 10040 14683 10057 14683 10436 14684 10438 14684 10437 14684 10436 14685 10437 14685 10439 14685 10436 14686 10440 14686 10435 14686 10431 14687 10438 14687 10436 14687 10439 130 10440 130 10436 130 10440 14688 10024 14688 10435 14688 10440 14689 9995 14689 10024 14689 10439 14690 10441 14690 10440 14690 10441 14691 9995 14691 10440 14691 10439 14692 10442 14692 10441 14692 10441 14693 9994 14693 9995 14693 10442 14694 9994 14694 10441 14694 10443 14695 10442 14695 10439 14695 10442 14696 9996 14696 9994 14696 10443 14697 10444 14697 10442 14697 10444 14698 9996 14698 10442 14698 10443 14699 10445 14699 10444 14699 10445 14700 10086 14700 10444 14700 10444 14701 10086 14701 9996 14701 10447 14702 10446 14702 10445 14702 10446 14703 10068 14703 10445 14703 10447 130 10445 130 10443 130 10445 14700 10068 14700 10086 14700 10448 130 10446 130 10447 130 10447 14704 10449 14704 10448 14704 10447 14705 10450 14705 10449 14705 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15221 10826 15222 10836 15222 10824 15222 10833 15223 10837 15223 10835 15223 1123 15224 10835 15224 10837 15224 10839 15225 10837 15225 10833 15225 10837 130 10838 130 1123 130 10839 15226 10838 15226 10837 15226 10840 130 10839 130 10831 130 10840 15227 10838 15227 10839 15227 10831 15228 10839 15228 10833 15228 10840 15229 10841 15229 10838 15229 10842 15230 10841 15230 10840 15230 10843 130 10840 130 10831 130 10843 15231 10842 15231 10840 15231 10843 15232 10846 15232 10844 15232 10844 130 10845 130 10843 130 10845 15233 10842 15233 10843 15233 10843 15234 10847 15234 10846 15234 10831 15235 10847 15235 10843 15235 10831 15236 10832 15236 10847 15236 10848 15237 10846 15237 10847 15237 10847 130 10832 130 10848 130 10854 15238 10848 15238 10849 15238 10849 15239 10848 15239 10648 15239 10848 15240 10850 15240 10846 15240 10851 130 10850 130 10848 130 10848 15241 10852 15241 10851 15241 10848 130 10869 130 10852 130 10854 15242 10853 15242 10848 15242 10853 130 10855 130 10848 130 10848 15243 10832 15243 10829 15243 10848 130 10829 130 10648 130 10848 15244 10855 15244 10856 15244 10848 130 10856 130 10871 130 10848 15245 10858 15245 10857 15245 10848 15246 10857 15246 10859 15246 10871 15247 10858 15247 10848 15247 10859 130 10872 130 10848 130 10860 130 10861 130 10848 130 10848 15248 10873 15248 10860 15248 10848 15249 10861 15249 10862 15249 10848 15250 10862 15250 10863 15250 10863 130 10864 130 10848 130 10848 15251 10864 15251 10866 15251 10865 130 10867 130 10848 130 10848 15252 10866 15252 10865 15252 10848 130 10867 130 10868 130 10848 15253 10868 15253 10870 15253 10870 130 10869 130 10848 130 10872 130 10874 130 10848 130 10848 15254 10874 15254 10873 15254 10875 15255 10874 15255 10872 15255 10876 15256 10874 15256 10875 15256 10876 15257 10873 15257 10874 15257 10875 130 10878 130 10876 130 10876 15258 10880 15258 10877 15258 10876 130 10877 130 10879 130 10876 15259 10878 15259 10880 15259 10879 15260 10873 15260 10876 15260 10878 15261 10881 15261 10880 15261 10880 15262 10881 15262 10882 15262 10880 15263 10882 15263 10877 15263 10884 130 10882 130 10883 130 10883 15264 10882 15264 10881 15264 10877 15265 10882 15265 10884 15265 10877 15266 10884 15266 10886 15266 10886 15267 10884 15267 10885 15267 10883 15268 10885 15268 10884 15268 10879 15269 10877 15269 10886 15269 10886 15270 10885 15270 10887 15270 10879 15271 10886 15271 10887 15271 10887 15272 10885 15272 10888 15272 10887 15273 10888 15273 10890 15273 10889 15274 10887 15274 10890 15274 10879 130 10887 130 10889 130 10889 15275 10890 15275 10893 15275 10893 15276 10890 15276 10891 15276 10890 15277 10892 15277 10891 15277 10890 15277 10888 15277 10892 15277 10893 15278 10861 15278 10889 15278 10893 15278 10862 15278 10861 15278 10893 130 10894 130 10895 130 10893 15279 10891 15279 10894 15279 10895 15280 10862 15280 10893 15280 10895 15280 10863 15280 10862 15280 10896 15281 10863 15281 10895 15281 10895 130 10897 130 10896 130 10895 15282 10894 15282 10897 15282 10897 130 10900 130 10896 130 10897 15283 10899 15283 10898 15283 10897 15283 10898 15283 10900 15283 10894 15284 10899 15284 10897 15284 10896 15285 10900 15285 10901 15285 10900 15286 10902 15286 10901 15286 10900 15286 10898 15286 10902 15286 10883 15287 10903 15287 10902 15287 10901 15288 10902 15288 10903 15288 10883 15289 10902 15289 10898 15289 10904 130 10903 130 10883 130 10905 15290 10903 15290 10904 15290 10901 15291 10903 15291 10905 15291 10906 130 10905 130 10908 130 10906 15292 10901 15292 10905 15292 10905 15290 10904 15290 10907 15290 10905 130 10907 130 10908 130 10908 15293 10866 15293 10906 15293 10908 15294 10907 15294 10910 15294 10909 15295 10865 15295 10908 15295 10908 15296 10865 15296 10866 15296 10908 15297 10910 15297 10909 15297 10910 15298 10913 15298 10911 15298 10910 130 10911 130 10909 130 10910 15298 10912 15298 10913 15298 10907 15299 10912 15299 10910 15299 10911 15300 10913 15300 10914 15300 10883 15301 10913 15301 10912 15301 10914 130 10913 130 10883 130 10911 15300 10914 15300 10915 15300 10916 130 10914 130 10883 130 10915 15302 10914 15302 10916 15302 10883 15303 10918 15303 10916 15303 10915 15304 10916 15304 10917 15304 10917 15305 10916 15305 10918 15305 10917 15305 10918 15305 10919 15305 10883 15306 10920 15306 10918 15306 10919 15307 10918 15307 10920 15307 10922 130 10920 130 10883 130 10919 15308 10920 15308 10921 15308 10921 15309 10920 15309 10922 15309 10924 15310 10922 15310 10923 15310 10883 15311 10923 15311 10922 15311 10921 15312 10922 15312 10924 15312 10924 15313 10923 15313 10925 15313 10924 130 10925 130 10926 130 10927 130 10924 130 10926 130 10927 15314 10921 15314 10924 15314 10927 15315 10870 15315 10868 15315 10927 15316 10868 15316 10928 15316 10919 130 10921 130 10927 130 10928 130 10919 130 10927 130 10926 15317 10870 15317 10927 15317 10915 130 10917 130 10928 130 10909 130 10915 130 10928 130 10928 15318 10917 15318 10919 15318 10928 15319 10868 15319 10867 15319 10928 15320 10867 15320 10909 15320 10926 15321 10925 15321 10930 15321 10929 15322 10869 15322 10926 15322 10926 15317 10869 15317 10870 15317 10926 130 10930 130 10929 130 10930 15323 10933 15323 10931 15323 10930 130 10931 130 10929 130 10930 15324 10932 15324 10933 15324 10925 15325 10932 15325 10930 15325 10931 15326 10933 15326 10934 15326 10933 15327 10932 15327 10883 15327 10934 130 10933 130 10883 130 10931 15328 10934 15328 10935 15328 10883 15329 10936 15329 10934 15329 10935 15330 10934 15330 10936 15330 10883 15331 10938 15331 10936 15331 10935 15332 10936 15332 10937 15332 10937 15333 10936 15333 10938 15333 10939 15334 10938 15334 10940 15334 10937 15335 10938 15335 10939 15335 10940 130 10938 130 10883 130 10939 15336 10940 15336 10941 15336 10942 130 10940 130 10883 130 10941 15337 10940 15337 10942 15337 10883 15338 10944 15338 10942 15338 10941 15339 10942 15339 10943 15339 10943 15340 10942 15340 10944 15340 10883 15341 10946 15341 10944 15341 10943 15342 10944 15342 10945 15342 10945 15343 10944 15343 10946 15343 10947 15344 10946 15344 10948 15344 10945 15345 10946 15345 10947 15345 1123 15346 10948 15346 10946 15346 1123 130 10946 130 10883 130 10949 130 10948 130 1123 130 10947 15344 10948 15344 10845 15344 10845 15347 10948 15347 10949 15347 1123 15348 10841 15348 10949 15348 10845 15349 10949 15349 10842 15349 10842 15350 10949 15350 10841 15350 10844 15351 10947 15351 10845 15351 10945 130 10947 130 10844 130 10844 15352 10943 15352 10945 15352 10844 15353 10941 15353 10943 15353 10950 15354 10939 15354 10941 15354 10950 15355 10941 15355 10844 15355 10951 130 10939 130 10950 130 10844 15356 10850 15356 10950 15356 10950 15357 10850 15357 10851 15357 10950 15357 10851 15357 10951 15357 10951 15358 10851 15358 10852 15358 10951 15359 10852 15359 10929 15359 10951 15360 10937 15360 10939 15360 10951 15361 10935 15361 10937 15361 10929 130 10935 130 10951 130 10929 15362 10931 15362 10935 15362 10925 15363 10923 15363 10932 15363 10883 15364 10932 15364 10923 15364 10929 15365 10852 15365 10869 15365 10909 15366 10911 15366 10915 15366 10883 15367 10912 15367 10904 15367 10907 15299 10904 15299 10912 15299 10909 15368 10867 15368 10865 15368 10896 130 10901 130 10906 130 10906 15369 10864 15369 10896 15369 10906 15370 10866 15370 10864 15370 10883 15371 10899 15371 10952 15371 10898 15372 10899 15372 10883 15372 10894 15373 10952 15373 10899 15373 10883 15374 10952 15374 10892 15374 10891 15375 10952 15375 10894 15375 10891 15376 10892 15376 10952 15376 10896 15377 10864 15377 10863 15377 10892 130 10888 130 10883 130 10889 15378 10861 15378 10860 15378 10889 15378 10860 15378 10879 15378 10883 15379 10888 15379 10885 15379 1123 15380 10883 15380 1139 15380 10954 15381 10953 15381 10883 15381 10953 15382 10969 15382 10883 15382 10883 15383 10955 15383 10954 15383 10883 15384 10968 15384 10955 15384 10883 15385 10956 15385 10967 15385 10957 130 10956 130 10883 130 10883 15386 10958 15386 10957 15386 10883 15387 10959 15387 10958 15387 10960 130 10959 130 10883 130 10883 15388 10961 15388 10960 15388 10883 15389 10962 15389 10961 15389 10963 15390 10962 15390 10883 15390 10883 15391 10966 15391 10963 15391 10883 15392 10964 15392 10966 15392 10965 130 10964 130 10883 130 10883 15393 10881 15393 10965 15393 10967 130 10968 130 10883 130 10883 15394 10969 15394 1139 15394 10969 15395 10970 15395 1139 15395 10969 130 10953 130 10970 130 1139 15396 10970 15396 10972 15396 10970 15397 10971 15397 10972 15397 10973 15398 10971 15398 10970 15398 10970 130 10953 130 10626 130 10970 15399 10626 15399 10973 15399 10626 15400 10976 15400 10973 15400 10973 15401 10976 15401 10974 15401 10975 15402 10973 15402 10974 15402 10597 15403 10973 15403 10975 15403 10597 130 10598 130 10973 130 10973 130 10598 130 10971 130 10623 15404 10617 15404 10976 15404 10626 15405 10623 15405 10976 15405 10974 15406 10976 15406 10617 15406 10975 130 10974 130 10977 130 10977 15407 10597 15407 10975 15407 10977 130 10617 130 10608 130 10606 14894 10977 14894 10608 14894 10606 15408 10597 15408 10977 15408 10977 15409 10974 15409 10617 15409 1139 15410 10972 15410 10978 15410 10972 15411 10971 15411 10978 15411 10971 15412 10979 15412 10978 15412 10978 15413 10979 15413 1141 15413 10978 15414 1141 15414 1139 15414 10979 15415 10980 15415 1141 15415 10971 15416 10980 15416 10979 15416 10598 130 10980 130 10971 130 10980 15417 10598 15417 1140 15417 1141 15418 10980 15418 1140 15418 10981 15419 10968 15419 10982 15419 10981 15419 10955 15419 10968 15419 10982 15420 10968 15420 10967 15420 10983 15421 10981 15421 10982 15421 10983 15422 10982 15422 10984 15422 10982 15420 10967 15420 10985 15420 10984 15423 10982 15423 10985 15423 10984 15424 10985 15424 10986 15424 10986 15425 10985 15425 10849 15425 10985 15426 10967 15426 10956 15426 10985 15427 10956 15427 10987 15427 10849 15428 10985 15428 10987 15428 10849 130 10987 130 10854 130 10854 15429 10987 15429 10988 15429 10987 15430 10957 15430 10988 15430 10987 15431 10956 15431 10957 15431 10854 130 10988 130 10989 130 10988 15432 10957 15432 10958 15432 10989 15433 10988 15433 10990 15433 10988 15434 10958 15434 10990 15434 10989 15435 10990 15435 10992 15435 10990 15436 10958 15436 10959 15436 10990 15437 10959 15437 10991 15437 10992 15438 10990 15438 10991 15438 10992 130 10991 130 10993 130 10992 15439 10856 15439 10855 15439 10992 15440 10855 15440 10989 15440 10993 15441 10856 15441 10992 15441 10993 15442 10991 15442 10995 15442 10993 15441 10871 15441 10856 15441 10994 15443 10871 15443 10993 15443 10993 130 10995 130 10994 130 10995 15444 10960 15444 10961 15444 10991 15445 10960 15445 10995 15445 10995 15446 10961 15446 10996 15446 10994 15447 10995 15447 10996 15447 10996 15448 10961 15448 10962 15448 10996 15449 10962 15449 10997 15449 10998 15450 10996 15450 10997 15450 10994 130 10996 130 10998 130 10998 130 10997 130 10999 130 10999 15451 10857 15451 10998 15451 10998 15452 10857 15452 10858 15452 10998 15452 10858 15452 10994 15452 10999 15453 11000 15453 11001 15453 10999 15454 10997 15454 11000 15454 10999 15451 10859 15451 10857 15451 11001 15455 10859 15455 10999 15455 11000 130 11003 130 11001 130 11001 15456 10872 15456 10859 15456 10875 15457 10872 15457 11001 15457 11001 15458 11003 15458 11002 15458 11001 130 11002 130 10875 130 11003 15459 10966 15459 10964 15459 11003 15459 10964 15459 11002 15459 11000 15460 10966 15460 11003 15460 10875 15461 11002 15461 10878 15461 11002 15462 10964 15462 10965 15462 11002 15463 10965 15463 10878 15463 11000 15464 10963 15464 10966 15464 10997 15465 10963 15465 11000 15465 10997 15465 10962 15465 10963 15465 10994 15443 10858 15443 10871 15443 10991 15466 10959 15466 10960 15466 10989 15467 10853 15467 10854 15467 10989 15468 10855 15468 10853 15468 10849 15469 10648 15469 10986 15469 10986 15470 10647 15470 10984 15470 10986 15471 10648 15471 10647 15471 10984 15472 10646 15472 10983 15472 10984 15472 10647 15472 10646 15472 11004 130 10981 130 10983 130 10983 15473 10645 15473 11004 15473 10983 15474 10646 15474 10645 15474 11004 15475 10645 15475 10644 15475 11004 15476 11005 15476 10981 15476 11004 15477 10644 15477 11005 15477 11005 130 11006 130 10981 130 11005 15478 10643 15478 11006 15478 11005 15479 10644 15479 10643 15479 10981 15480 11006 15480 11007 15480 11006 15481 10642 15481 11007 15481 11006 15482 10643 15482 10642 15482 11007 15483 10641 15483 11008 15483 11007 15484 10642 15484 10641 15484 10981 15485 11007 15485 11008 15485 11008 15486 10641 15486 10640 15486 11008 130 11009 130 10981 130 11008 15487 10640 15487 11009 15487 10981 15488 11009 15488 11010 15488 11009 15489 10639 15489 11010 15489 11009 15490 10640 15490 10639 15490 10981 15491 11010 15491 11011 15491 11010 15492 10638 15492 11011 15492 11010 15492 10639 15492 10638 15492 11011 15493 10638 15493 11012 15493 11011 15494 11012 15494 11013 15494 11011 130 11013 130 10981 130 10981 15495 11013 15495 10628 15495 11013 15496 10630 15496 10628 15496 11013 15497 11012 15497 10630 15497 10632 15498 11012 15498 10638 15498 10630 130 11012 130 10632 130 10981 15499 10628 15499 10626 15499 10981 15500 10626 15500 10955 15500 10878 15501 10965 15501 10881 15501 10955 15502 10626 15502 10954 15502 10626 15503 10953 15503 10954 15503 10879 15504 10860 15504 10873 15504 10844 15505 10846 15505 10850 15505 1123 15506 10838 15506 10841 15506 10648 15507 10829 15507 10828 15507 10818 15508 11014 15508 10828 15508 10648 15509 10828 15509 11014 15509 10732 15510 11014 15510 10818 15510 10732 15511 10729 15511 11014 15511 11014 130 10729 130 10648 130 10822 130 10819 130 10818 130 10725 15512 10039 15512 10558 15512 10725 15513 10023 15513 10039 15513 10648 15514 10723 15514 10720 15514 10648 15515 10715 15515 10712 15515 10648 15516 10701 15516 10698 15516 10693 130 10691 130 10648 130 10648 15517 10691 15517 10688 15517 10648 15518 10683 15518 10680 15518 10675 130 10672 130 10648 130 10648 130 10667 130 10665 130 10648 15519 10665 15519 10662 15519 10558 15520 11015 15520 10633 15520 11015 15521 10622 15521 10633 15521 10620 130 11015 130 10558 130 11015 15522 10619 15522 10622 15522 10620 15523 10619 15523 11015 15523 10558 15524 10616 15524 10620 15524 10558 15525 10559 15525 10616 15525 10605 15526 10579 15526 10596 15526 10604 15527 10586 15527 10589 15527 10602 15528 10583 15528 10604 15528 10604 15529 10583 15529 10586 15529 10601 15530 10584 15530 10602 15530 10602 15528 10584 15528 10583 15528 10599 15531 10585 15531 10601 15531 10601 15532 10585 15532 10584 15532 1140 15533 10598 15533 10600 15533 1126 130 10600 130 10078 130 1140 15534 10600 15534 1126 15534 10599 15535 10580 15535 10585 15535 10595 15536 10580 15536 10599 15536 10596 15537 10582 15537 10594 15537 10596 15538 10579 15538 10582 15538 10594 15539 10581 15539 10595 15539 10595 15540 10581 15540 10580 15540 10594 15539 10582 15539 10581 15539 10365 15541 10587 15541 10577 15541 10562 15542 10578 15542 10560 15542 10366 15543 10577 15543 10370 15543 10365 15544 10577 15544 10366 15544 10056 15545 10558 15545 10039 15545 10553 15546 10491 15546 10492 15546 10553 15546 10492 15546 10493 15546 10550 15547 10006 15547 10008 15547 10547 15548 10488 15548 10548 15548 10548 14827 10488 14827 10489 14827 10545 15549 10487 15549 10547 15549 10547 15548 10487 15548 10488 15548 10545 15549 10486 15549 10487 15549 10543 15550 10486 15550 10545 15550 10540 15551 10485 15551 10543 15551 10543 15552 10485 15552 10486 15552 10540 15553 10484 15553 10485 15553 10537 15554 10482 15554 10483 15554 10534 15555 9971 15555 9970 15555 10532 14798 10479 14798 10480 14798 10529 15556 10016 15556 10530 15556 10530 15557 10016 15557 10033 15557 10530 15558 10033 15558 10527 15558 10529 15559 9972 15559 10016 15559 10527 15560 10033 15560 10049 15560 10527 15561 10049 15561 10524 15561 10524 15562 10049 15562 10064 15562 10522 15563 10080 15563 9975 15563 10522 15563 9975 15563 10520 15563 10520 15564 9975 15564 9974 15564 10520 15565 9974 15565 10519 15565 10519 15566 9974 15566 9973 15566 10519 15566 9973 15566 10517 15566 10517 15567 9973 15567 10017 15567 10517 15568 10017 15568 10515 15568 10515 15569 10017 15569 10044 15569 10515 15570 10044 15570 10514 15570 10514 15571 10044 15571 10050 15571 10514 15571 10050 15571 10513 15571 10511 15572 10513 15572 11016 15572 10513 15573 10074 15573 11016 15573 10513 15574 10050 15574 10074 15574 10511 130 11016 130 11017 130 11016 15575 10074 15575 10081 15575 11016 15576 10081 15576 11018 15576 11017 15577 11016 15577 11018 15577 11018 15578 9977 15578 11019 15578 11018 15579 11019 15579 11020 15579 11017 130 11018 130 11020 130 11018 15578 10081 15578 9977 15578 11021 15580 10507 15580 11020 15580 11020 130 11022 130 11021 130 11020 15581 11019 15581 11022 15581 11020 15582 10507 15582 10508 15582 11020 15583 10508 15583 11017 15583 11022 130 11023 130 11021 130 11019 15584 9976 15584 11022 15584 11022 15585 9976 15585 9978 15585 11022 15586 9978 15586 11023 15586 11023 15587 9978 15587 10018 15587 11023 15587 10018 15587 11024 15587 11021 15588 11023 15588 11024 15588 11021 130 11024 130 11025 130 11024 130 11026 130 11025 130 11024 15589 10018 15589 10034 15589 11024 15590 10034 15590 11026 15590 11026 15591 10051 15591 11027 15591 11025 15592 11026 15592 11027 15592 11026 15591 10034 15591 10051 15591 11027 15593 10065 15593 11028 15593 11027 130 11028 130 11029 130 11025 130 11027 130 11029 130 11027 15594 10051 15594 10065 15594 11029 130 11028 130 11030 130 11029 130 11030 130 11031 130 11029 15595 10497 15595 11025 15595 11029 15596 10498 15596 10497 15596 11031 15597 10498 15597 11029 15597 11031 15598 11033 15598 11032 15598 11032 15599 10505 15599 11031 15599 11031 15597 10505 15597 10498 15597 11031 15600 11034 15600 11033 15600 11030 130 11034 130 11031 130 11034 15601 9980 15601 11033 15601 11034 15602 9981 15602 9980 15602 11030 15603 9981 15603 11034 15603 11033 15604 9979 15604 11035 15604 11033 130 11035 130 11032 130 11033 15605 9980 15605 9979 15605 11032 15606 11035 15606 11036 15606 11035 15607 10019 15607 11036 15607 11035 15607 9979 15607 10019 15607 11032 130 11036 130 11037 130 11036 130 11038 130 11037 130 11036 15608 10019 15608 10035 15608 11036 15609 10035 15609 11038 15609 11037 15610 11038 15610 11039 15610 11038 15611 10052 15611 11039 15611 11038 15611 10035 15611 10052 15611 11037 130 11039 130 11041 130 11039 15612 10066 15612 11040 15612 11039 130 11040 130 11041 130 11039 15613 10052 15613 10066 15613 11041 15614 11040 15614 11042 15614 11041 130 11042 130 11043 130 11043 15615 10500 15615 11041 15615 11041 15616 10500 15616 10504 15616 11041 15616 10504 15616 11037 15616 11043 15617 11044 15617 11045 15617 11043 15618 11042 15618 11044 15618 11043 15615 10499 15615 10500 15615 11045 15619 10499 15619 11043 15619 11046 15620 10501 15620 11045 15620 11045 130 11047 130 11046 130 11045 15621 11048 15621 11047 15621 11049 130 11048 130 11045 130 11045 15622 11044 15622 11049 15622 11045 15619 10501 15619 10499 15619 11049 15623 9984 15623 11048 15623 11044 15624 9982 15624 11049 15624 11049 15625 9982 15625 9984 15625 11048 15626 9984 15626 10020 15626 11048 15627 10020 15627 11047 15627 11047 130 11050 130 11046 130 11047 15628 10036 15628 11050 15628 11047 15629 10020 15629 10036 15629 11050 15630 10053 15630 11051 15630 11046 15631 11050 15631 11051 15631 11050 15630 10036 15630 10053 15630 11051 15632 10067 15632 11052 15632 11053 15633 11051 15633 11052 15633 11046 15634 11051 15634 11053 15634 11051 15635 10053 15635 10067 15635 11053 130 11052 130 10468 130 11053 15636 10502 15636 11046 15636 11053 15637 10503 15637 10502 15637 10468 15638 10503 15638 11053 15638 11052 15639 10084 15639 11054 15639 10468 15640 11052 15640 11054 15640 11052 15641 10067 15641 10084 15641 10468 15642 11054 15642 11055 15642 11054 15643 10084 15643 9986 15643 11054 15644 9986 15644 11055 15644 11056 130 10468 130 11055 130 11055 15645 9986 15645 9985 15645 11055 15646 9985 15646 11056 15646 10469 130 10468 130 11056 130 11056 15647 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130 10375 130 10457 15671 9990 15671 10456 15671 10457 15672 9988 15672 9990 15672 10456 15673 9990 15673 10022 15673 10456 15674 10022 15674 10455 15674 10455 15675 10022 15675 10038 15675 10455 15676 10038 15676 11057 15676 10455 130 11057 130 10448 130 11057 15677 10038 15677 10055 15677 11057 15678 10055 15678 10446 15678 10448 15679 11057 15679 10446 15679 10446 15680 10055 15680 10068 15680 10375 15681 10437 15681 10438 15681 10431 15682 10429 15682 10438 15682 10438 130 10429 130 10375 130 10435 15683 10024 15683 10040 15683 10375 15684 10429 15684 10430 15684 10423 15685 10420 15685 10430 15685 10375 15686 10430 15686 10420 15686 10427 15687 10088 15687 9998 15687 10417 15688 10422 15688 10416 15688 10422 15689 10041 15689 10416 15689 10422 15690 10025 15690 10041 15690 10416 15691 10058 15691 10415 15691 10416 15692 10041 15692 10058 15692 10415 15693 10071 15693 10413 15693 10415 15694 10058 15694 10071 15694 10413 15695 10071 15695 10089 15695 10413 15696 10089 15696 10412 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26317 16557 26317 16553 26317 16555 26318 16558 26318 16556 26318 16556 26319 224 26319 16557 26319 16558 130 224 130 16556 130 16560 26320 16558 26320 16555 26320 16560 26321 16559 26321 16558 26321 16559 130 225 130 16558 130 16558 26322 225 26322 224 26322 16560 130 16555 130 16524 130 16524 26323 16561 26323 16560 26323 16561 26324 16559 26324 16560 26324 16563 26325 16562 26325 16561 26325 16561 26326 16562 26326 16559 26326 16524 26327 16563 26327 16561 26327 16563 26328 16564 26328 16562 26328 16565 130 16563 130 16524 130 16565 26329 16564 26329 16563 26329 16524 26330 16566 26330 16565 26330 16565 26331 249 26331 16564 26331 16566 26332 249 26332 16565 26332 16524 26333 548 26333 16566 26333 16566 26334 248 26334 249 26334 548 26335 248 26335 16566 26335 16564 130 16567 130 16562 130 16564 26336 246 26336 16567 26336 249 130 246 130 16564 130 16562 26337 16567 26337 227 26337 228 26338 227 26338 16567 26338 228 26339 16567 26339 245 26339 245 26340 16567 26340 246 26340 16562 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16537 26361 16574 26361 16574 26362 16537 26362 16539 26362 183 2581 16575 2581 186 2581 16575 26363 16536 26363 16537 26363 16576 26364 16536 26364 16575 26364 183 26365 16576 26365 16575 26365 16578 26366 16577 26366 16576 26366 16576 26367 16577 26367 16536 26367 180 26368 16578 26368 16576 26368 180 0 16576 0 183 0 177 0 16578 0 180 0 16578 26369 16579 26369 16577 26369 16580 26370 16579 26370 16578 26370 177 26371 16580 26371 16578 26371 16582 26372 16581 26372 16580 26372 16580 26373 16581 26373 16579 26373 174 0 16580 0 177 0 174 26374 16582 26374 16580 26374 16582 26375 16584 26375 16581 26375 16583 26376 16584 26376 16582 26376 171 26377 16583 26377 16582 26377 171 0 16582 0 174 0 16583 26378 16520 26378 16584 26378 16522 26379 16584 26379 16520 26379 16526 26380 16584 26380 16522 26380 16526 26381 16581 26381 16584 26381 168 26382 16519 26382 16583 26382 16519 26378 16520 26378 16583 26378 168 0 16583 0 171 0 16528 26383 16579 26383 16581 26383 16528 26384 16581 26384 16526 26384 16530 130 16579 130 16528 130 16530 26385 16577 26385 16579 26385 16532 26386 16536 26386 16577 26386 16532 130 16577 130 16530 130 16540 26387 16571 26387 16539 26387 16543 130 16571 130 16540 130 198 26388 16569 26388 203 26388 195 0 16569 0 198 0 634 26389 16524 26389 636 26389 634 26390 546 26390 16524 26390 546 130 548 130 16524 130 636 26391 16524 26391 640 26391 165 26392 16519 26392 168 26392 165 26393 16517 26393 16519 26393 159 26394 156 26394 16517 26394 159 0 16517 0 165 0 655 26395 16515 26395 654 26395 16513 26396 155 26396 152 26396 646 26397 16513 26397 16585 26397 16513 130 152 130 16585 130 16585 130 149 130 16586 130 647 26398 16585 26398 16586 26398 16585 26399 152 26399 149 26399 646 26400 16585 26400 647 26400 647 26401 16586 26401 648 26401 648 26402 16586 26402 143 26402 16586 26403 149 26403 144 26403 16586 743 144 743 143 743 618 26404 643 26404 619 26404 618 26404 638 26404 643 26404 620 721 638 721 618 721 633 26405 546 26405 634 26405 16587 26406 547 26406 633 26406 633 130 631 130 16587 130 633 26406 547 26406 546 26406 16588 26407 545 26407 16587 26407 16587 130 16589 130 16588 130 16587 130 631 130 16589 130 16587 26408 545 26408 547 26408 16588 17194 16589 17194 16590 17194 625 26409 16590 26409 16589 26409 628 26410 16589 26410 631 26410 625 26409 16589 26409 628 26409 16588 130 16590 130 16591 130 616 26411 16590 26411 625 26411 616 26412 16592 26412 16590 26412 16591 26413 16590 26413 16592 26413 615 26414 16592 26414 616 26414 615 26415 16594 26415 16592 26415 16593 26416 16592 26416 16594 26416 16591 26417 16592 26417 16593 26417 617 26418 16594 26418 615 26418 16596 26419 16594 26419 16595 26419 617 26418 16595 26418 16594 26418 16593 130 16594 130 16596 130 16596 130 16595 130 16597 130 16597 26420 541 26420 16596 26420 16596 26421 541 26421 542 26421 16596 26422 542 26422 16593 26422 16597 26423 16595 26423 16598 26423 16597 130 16598 130 16599 130 16597 26424 549 26424 541 26424 16599 26425 549 26425 16597 26425 16601 26426 550 26426 16599 26426 16599 26427 550 26427 549 26427 16599 26428 16598 26428 16600 26428 16599 130 16600 130 16601 130 16601 26429 554 26429 550 26429 16601 26430 16600 26430 16602 26430 16601 130 16602 130 16603 130 16603 26431 554 26431 16601 26431 16603 26432 16602 26432 16604 26432 16603 130 16604 130 16605 130 16605 26433 553 26433 16603 26433 16603 26434 553 26434 554 26434 16605 26435 16604 26435 16606 26435 16605 130 16606 130 16607 130 16607 26436 551 26436 16605 26436 16605 26436 551 26436 553 26436 16607 26437 16606 26437 16608 26437 16607 130 16608 130 16609 130 16607 26438 552 26438 551 26438 16609 26439 552 26439 16607 26439 16609 26440 540 26440 552 26440 16610 26441 540 26441 16609 26441 16609 130 603 130 16610 130 16609 26442 16608 26442 603 26442 599 26443 539 26443 16610 26443 16610 26443 539 26443 540 26443 16610 26444 603 26444 600 26444 16610 130 600 130 599 130 604 26445 16608 26445 621 26445 621 26446 16608 26446 16606 26446 604 26447 603 26447 16608 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\n \n \n \n \n \n \n \n 1 0 0 0 0 1 0 0 0 0 1 -0.035574 0 0 0 1\n \n \n \n \n \n \n \n" }, { "path": "lidarbot_description/package.xml", "content": "\n\n\n lidarbot_description\n 0.0.0\n Lidarbot Description Package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n joint_state_publisher\n robot_state_publisher\n rviz2\n\n urdf\n xacro\n\n \n ament_cmake\n \n \n\n" }, { "path": "lidarbot_description/rviz/description.rviz", "content": "Panels:\n - Class: rviz_common/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Global Options1\n - /TF1/Frames1\n Splitter Ratio: 0.5\n Tree Height: 814\n - Class: rviz_common/Selection\n Name: Selection\n - Class: rviz_common/Tool Properties\n Expanded:\n - /2D Goal Pose1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.5886790156364441\n - Class: rviz_common/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz_default_plugins/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz_default_plugins/RobotModel\n Collision Enabled: false\n Description File: \"\"\n Description Source: Topic\n Description Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /robot_description\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link_optical:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n caster_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n imu_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n left_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n lidar_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n right_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Mass Properties:\n Inertia: false\n Mass: false\n Name: RobotModel\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n - Class: rviz_default_plugins/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: false\n base_footprint:\n Value: true\n base_link:\n Value: false\n camera_link:\n Value: false\n camera_link_optical:\n Value: true\n caster_wheel:\n Value: false\n imu_link:\n Value: false\n left_wheel:\n Value: false\n lidar_link:\n Value: false\n right_wheel:\n Value: false\n Marker Scale: 1\n Name: TF\n Show Arrows: false\n Show Axes: false\n Show Names: false\n Tree:\n base_footprint:\n base_link:\n camera_link:\n camera_link_optical:\n {}\n caster_wheel:\n {}\n imu_link:\n {}\n left_wheel:\n {}\n lidar_link:\n {}\n right_wheel:\n {}\n Update Interval: 0\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: base_footprint\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz_default_plugins/Interact\n Hide Inactive Objects: true\n - Class: rviz_default_plugins/MoveCamera\n - Class: rviz_default_plugins/Select\n - Class: rviz_default_plugins/FocusCamera\n - Class: rviz_default_plugins/Measure\n Line color: 128; 128; 0\n - Class: rviz_default_plugins/SetInitialPose\n Covariance x: 0.25\n Covariance y: 0.25\n Covariance yaw: 0.06853891909122467\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /initialpose\n - Class: rviz_default_plugins/SetGoal\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /goal_pose\n - Class: rviz_default_plugins/PublishPoint\n Single click: true\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /clicked_point\n Transformation:\n Current:\n Class: rviz_default_plugins/TF\n Value: true\n Views:\n Current:\n Class: rviz_default_plugins/Orbit\n Distance: 1.8121755123138428\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Focal Point:\n X: -0.06942704319953918\n Y: 0.09426036477088928\n Z: -0.20152248442173004\n Focal Shape Fixed Size: true\n Focal Shape Size: 0.05000000074505806\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Pitch: 0.705397367477417\n Target Frame: \n Value: Orbit (rviz)\n Yaw: 0.9653966426849365\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 1043\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd000000040000000000000156000003b9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000050f000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1920\n X: 1920\n Y: 0\n" }, { "path": "lidarbot_description/rviz/lidarbot_sim.rviz", "content": "Panels:\n - Class: rviz_common/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded: ~\n Splitter Ratio: 0.5\n Tree Height: 583\n - Class: rviz_common/Selection\n Name: Selection\n - Class: rviz_common/Tool Properties\n Expanded:\n - /2D Goal Pose1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.5886790156364441\n - Class: rviz_common/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz_default_plugins/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz_default_plugins/RobotModel\n Collision Enabled: false\n Description File: \"\"\n Description Source: Topic\n Description Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /robot_description\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n camera_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link_optical:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n caster_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n chassis_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n imu_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n left_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n lidar_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n right_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Mass Properties:\n Inertia: false\n Mass: false\n Name: RobotModel\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n - Class: rviz_default_plugins/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: false\n base_footprint:\n Value: false\n base_link:\n Value: false\n camera_link:\n Value: false\n camera_link_optical:\n Value: false\n caster_wheel:\n Value: false\n chassis_link:\n Value: false\n imu_link:\n Value: false\n left_wheel:\n Value: false\n lidar_link:\n Value: false\n odom:\n Value: false\n right_wheel:\n Value: false\n Marker Scale: 1\n Name: TF\n Show Arrows: false\n Show Axes: true\n Show Names: false\n Tree:\n odom:\n base_link:\n base_footprint:\n {}\n chassis_link:\n camera_link:\n camera_link_optical:\n {}\n caster_wheel:\n {}\n imu_link:\n {}\n left_wheel:\n {}\n lidar_link:\n {}\n right_wheel:\n {}\n Update Interval: 0\n Value: true\n - Alpha: 1\n Autocompute Intensity Bounds: true\n Autocompute Value Bounds:\n Max Value: 10\n Min Value: -10\n Value: true\n Axis: Z\n Channel Name: intensity\n Class: rviz_default_plugins/LaserScan\n Color: 255; 255; 255\n Color Transformer: Intensity\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 255; 255\n Max Intensity: 0\n Min Color: 0; 0; 0\n Min Intensity: 0\n Name: LaserScan\n Position Transformer: XYZ\n Selectable: true\n Size (Pixels): 3\n Size (m): 0.05000000074505806\n Style: Flat Squares\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n - Class: rviz_default_plugins/Camera\n Enabled: true\n Far Plane Distance: 100\n Image Rendering: background and overlay\n Name: Camera\n Overlay Alpha: 0.5\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /camera/image_raw\n Value: true\n Visibility:\n Grid: true\n LaserScan: true\n RobotModel: true\n TF: true\n Value: true\n Zoom Factor: 1\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: odom\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz_default_plugins/Interact\n Hide Inactive Objects: true\n - Class: rviz_default_plugins/MoveCamera\n - Class: rviz_default_plugins/Select\n - Class: rviz_default_plugins/FocusCamera\n - Class: rviz_default_plugins/Measure\n Line color: 128; 128; 0\n - Class: rviz_default_plugins/SetInitialPose\n Covariance x: 0.25\n Covariance y: 0.25\n Covariance yaw: 0.06853891909122467\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /initialpose\n - Class: rviz_default_plugins/SetGoal\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /goal_pose\n - Class: rviz_default_plugins/PublishPoint\n Single click: true\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /clicked_point\n Transformation:\n Current:\n Class: rviz_default_plugins/TF\n Value: true\n Views:\n Current:\n Class: rviz_default_plugins/Orbit\n Distance: 3.455502510070801\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Focal Point:\n X: -0.07789774239063263\n Y: 0.0782514214515686\n Z: -0.0004336079000495374\n Focal Shape Fixed Size: true\n Focal Shape Size: 0.05000000074505806\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Pitch: 0.7103976011276245\n Target Frame: \n Value: Orbit (rviz)\n Yaw: 5.46358060836792\n Saved: ~\nWindow Geometry:\n Camera:\n collapsed: false\n Displays:\n collapsed: false\n Height: 1016\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000315000000c60000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000050f0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1920\n X: 0\n Y: 27\n" }, { "path": "lidarbot_description/urdf/camera.xacro", "content": "\n\n\n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n\n \n \n \n \n \n\n \n\n \n 0 0 0 0 0 0 \n false\n 10\n \n 0.934\n \n R8G8B8\n 640\n 480\n \n \n 0.05\n 8.0\n \n \n \n camera_link_optical\n \n \n \n\n\n" }, { "path": "lidarbot_description/urdf/gazebo_control.xacro", "content": "\n\n\n \n \n\n \n left_wheel_joint\n right_wheel_joint\n 0.134\n 0.067\n\n \n 20\n 2\n \n \n odom\n base_footprint\n true\n true \n true\n\n \n \n\n\n" }, { "path": "lidarbot_description/urdf/imu.xacro", "content": "\n\n\n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n imu_link\n \n ~/out:=imu_broadcaster/imu\n \n false\n \n true\n 100\n true\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n \n \n\n\n" }, { "path": "lidarbot_description/urdf/inertial_macros.xacro", "content": "\n\n\n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "lidarbot_description/urdf/lidar.xacro", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n\n \n \n 0 0 0 0 0 0\n true\n false\n 10\n \n \n \n 360\n -3.14\n 3.14\n \n \n \n 0.15\n 6.0\n \n 0.01500\n\t\t \n \n gaussian\n 0.0\n 0.01\n \n \n \n \n ~/out:=scan\n \n sensor_msgs/LaserScan\n lidar_link\n \n \n \n\n\n" }, { "path": "lidarbot_description/urdf/lidarbot.urdf.xacro", "content": "\n\n\n \n \n\n \n\n \n \n \n\n \n \n \n\n \n \n \n\n\n" }, { "path": "lidarbot_description/urdf/lidarbot_core.xacro", "content": "\n\n\n \n\n \n \n \n \n\n \n \n \n \n\n \n \n\n \t\n\n \n \n \n \n \n\t\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "lidarbot_description/urdf/ros2_control.xacro", "content": "\n\n \n \n \n \n \n lidarbot_base/LidarbotHardware\n left_wheel_joint\n right_wheel_joint\n\t 1084\n 30.0\n \n \n \n -10\n 10\n \n \n \n \n \n \n -10\n 10\n \n \n \n \n \n\n \n \n \n lidarbot_bringup/MPU6050Hardware\n mpu6050\n imu_link\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n gazebo_ros2_control/GazeboSystem\n \n \n \n -10\n 10\n \n \n \n \n \n \n -10\n 10\n \n \n \n \n \n \n\n \n \n $(find lidarbot_bringup)/config/controllers.yaml\n $(find lidarbot_bringup)/config/gazebo_ros2_ctl_use_sim.yaml\n \n \n\n\n" }, { "path": "lidarbot_gazebo/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_gazebo)\n\nfind_package(ament_cmake REQUIRED)\nfind_package(urdf REQUIRED)\n\ninstall(\n DIRECTORY config launch worlds\n DESTINATION share/${PROJECT_NAME}\n)\n\nament_package()" }, { "path": "lidarbot_gazebo/config/gazebo_params.yaml", "content": "gazebo:\n ros__parameters:\n publish_rate: 400.0" }, { "path": "lidarbot_gazebo/launch/gazebo_launch.py", "content": "# Launches the lidarbot in Gazebo to be controlled using a joystick. There are a number of launch arguments that can be toggled.\n# Such as using the gazebo_ros package or the ros2_control package, using Gazebo's sim time or not.\n#\n# File adapted from https://automaticaddison.com\n\nimport os\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument, IncludeLaunchDescription\nfrom launch.conditions import IfCondition\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.substitutions import LaunchConfiguration\n\nfrom launch_ros.actions import Node\nfrom launch_ros.substitutions import FindPackageShare\n\n\ndef generate_launch_description():\n\n # Set the path to different files and folders\n pkg_path = FindPackageShare(package=\"lidarbot_gazebo\").find(\"lidarbot_gazebo\")\n pkg_description = FindPackageShare(package=\"lidarbot_description\").find(\n \"lidarbot_description\"\n )\n pkg_teleop = FindPackageShare(package=\"lidarbot_teleop\").find(\"lidarbot_teleop\")\n pkg_gazebo_ros = FindPackageShare(package=\"gazebo_ros\").find(\"gazebo_ros\")\n pkg_navigation = FindPackageShare(package=\"lidarbot_navigation\").find(\n \"lidarbot_navigation\"\n )\n\n gazebo_params_file = os.path.join(pkg_path, \"config/gazebo_params.yaml\")\n twist_mux_params_file = os.path.join(pkg_teleop, \"config/twist_mux.yaml\")\n ekf_params_file = os.path.join(pkg_navigation, \"config/ekf.yaml\")\n world_filename = \"obstacles.world\"\n world_path = os.path.join(pkg_path, \"worlds\", world_filename)\n\n # Launch configuration variables specific to simulation\n use_sim_time = LaunchConfiguration(\"use_sim_time\")\n use_ros2_control = LaunchConfiguration(\"use_ros2_control\")\n world = LaunchConfiguration(\"world\")\n use_robot_localization = LaunchConfiguration(\"use_robot_localization\")\n\n # Declare the launch arguments\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n name=\"use_sim_time\",\n default_value=\"True\",\n description=\"Use simulation (Gazebo) clock if true\",\n )\n\n declare_use_ros2_control_cmd = DeclareLaunchArgument(\n name=\"use_ros2_control\",\n default_value=\"True\",\n description=\"Use ros2_control if true\",\n )\n\n declare_world_cmd = DeclareLaunchArgument(\n name=\"world\",\n default_value=world_path,\n description=\"Full path to the world model to load\",\n )\n\n declare_use_robot_localization_cmd = DeclareLaunchArgument(\n name=\"use_robot_localization\",\n default_value=\"True\",\n description=\"Use robot_localization package if true\",\n )\n\n # Start robot state publisher\n start_robot_state_publisher_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_description, \"launch\", \"robot_state_publisher_launch.py\")]\n ),\n launch_arguments={\n \"use_sim_time\": use_sim_time,\n \"use_ros2_control\": use_ros2_control,\n }.items(),\n )\n\n # Launch Gazebo\n start_gazebo_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_gazebo_ros, \"launch\", \"gazebo.launch.py\")]\n ),\n launch_arguments={\n \"world\": world,\n \"extra_gazebo_args\": \"--ros-args --params-file \" + gazebo_params_file,\n }.items(),\n )\n\n # Spawn robot in Gazebo\n start_spawner_cmd = Node(\n package=\"gazebo_ros\",\n executable=\"spawn_entity.py\",\n output=\"screen\",\n arguments=[\"-topic\", \"robot_description\", \"-entity\", \"lidarbot\"],\n )\n\n # Spawn diff_controller\n start_diff_controller_cmd = Node(\n condition=IfCondition(use_ros2_control),\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"diff_controller\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Spawn joint_state_broadcaser\n start_joint_broadcaster_cmd = Node(\n condition=IfCondition(use_ros2_control),\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"joint_broadcaster\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Start robot localization using an Extended Kalman Filter\n start_robot_localization_cmd = Node(\n condition=IfCondition(use_robot_localization),\n package=\"robot_localization\",\n executable=\"ekf_node\",\n parameters=[ekf_params_file],\n remappings=[(\"/odometry/filtered\", \"/odom\")],\n )\n\n # Start joystick node for use with ros2_control\n start_joystick_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_teleop, \"launch\", \"joystick_launch.py\")]\n )\n )\n\n # Start twist mux\n start_twist_mux_cmd = Node(\n package=\"twist_mux\",\n executable=\"twist_mux\",\n parameters=[twist_mux_params_file, {\"use_sim_time\": True}],\n remappings=[(\"/cmd_vel_out\", \"/diff_controller/cmd_vel_unstamped\")],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Declare the launch options\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_use_ros2_control_cmd)\n ld.add_action(declare_world_cmd)\n ld.add_action(declare_use_robot_localization_cmd)\n\n # Add any actions\n ld.add_action(start_robot_state_publisher_cmd)\n ld.add_action(start_gazebo_cmd)\n ld.add_action(start_spawner_cmd)\n ld.add_action(start_diff_controller_cmd)\n ld.add_action(start_joint_broadcaster_cmd)\n ld.add_action(start_robot_localization_cmd)\n ld.add_action(start_joystick_cmd)\n ld.add_action(start_twist_mux_cmd)\n\n return ld\n" }, { "path": "lidarbot_gazebo/package.xml", "content": "\n\n\n lidarbot_gazebo\n 0.0.0\n Lidarbot gazebo package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n gazebo_ros2_control \n gazebo_ros_pkgs \n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_gazebo/worlds/obstacles.world", "content": "\n \n \n 1\n 0 0 10 0 -0 0\n 0.8 0.8 0.8 1\n 0.2 0.2 0.2 1\n \n 1000\n 0.9\n 0.01\n 0.001\n \n -0.5 0.1 -0.9\n \n 0\n 0\n 0\n \n \n \n 1\n \n \n \n \n 0 0 1\n 100 100\n \n \n \n \n 65535\n \n \n \n \n 100\n 50\n \n \n \n \n \n \n \n 10\n \n \n 0\n \n \n 0 0 1\n 100 100\n \n \n \n \n \n \n 0\n 0\n 0\n \n \n 0 0 -9.8\n 6e-06 2.3e-05 -4.2e-05\n \n \n 0.001\n 1\n 1000\n \n \n 0.4 0.4 0.4 1\n 0.7 0.7 0.7 1\n 1\n \n \n \n EARTH_WGS84\n 0\n 0\n 0\n 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -0.756237 1.39226 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n 1.80022 0.377178 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -2.19745 -2.25046 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -1.40494 -2.55135 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -0.501986 -2.9745 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.09724 -2.18232 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -3.69879 0.345038 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -0.406438 -4.23374 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.38815 -3.2576 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.39316 -4.49605 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -3.00495 -2.78053 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -4.64786 -0.646522 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -5.3108 -2.23708 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -2.07692 -4.26198 0 0 -0 0\n \n \n 457 444000000\n 459 829915274\n 1646216792 728719362\n 457444\n \n -0.756319 1.39223 0 0 0 -2.4e-05\n 1 1 1\n \n -0.756319 1.39223 0 0 0 -2.4e-05\n 0 0 0 0 -0 0\n 3.45865 5.7443 4.40608 1.34644 0.778762 3.14097\n 1729.32 2872.15 2203.04 0 -0 0\n \n \n \n 1.80014 0.377148 0 0 0 -2.2e-05\n 1 1 1\n \n 1.80014 0.377148 0 0 0 -2.2e-05\n 0 0 0 0 -0 0\n 3.45864 5.7443 4.40608 1.34642 0.778778 3.14097\n 1729.32 2872.15 2203.04 0 -0 0\n \n \n \n -5.31082 -2.23709 -0 0 -0 -7e-06\n 1 1 1\n \n -5.31082 -2.23709 -0 0 -0 -7e-06\n 0 0 0 0 -0 0\n -3.87743 -2.8936 0.727843 -2.17783 0.268134 -3.13538\n -1938.71 -1446.8 363.922 0 -0 0\n \n \n \n -2.07693 -4.26199 -0 0 0 -4e-06\n 1 1 1\n \n -2.07693 -4.26199 -0 0 0 -4e-06\n 0 0 0 0 -0 0\n 7.60795 0.965639 1.20183 -2.41278 0.170207 0.001195\n 3803.98 482.819 600.916 0 -0 0\n \n \n \n -2.19745 -2.25046 -0 0 -0 0\n 1 1 1\n \n -2.19745 -2.25046 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n -1.40494 -2.55135 -0 0 -0 0\n 1 1 1\n \n -1.40494 -2.55135 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n -0.501986 -2.9745 -0 0 -0 0\n 1 1 1\n \n -0.501986 -2.9745 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n 2.09724 -2.18232 -0 1e-06 -0 0\n 1 1 1\n \n 2.09724 -2.18232 -0 1e-06 -0 0\n 0 0 0 0 -0 0\n -0 -0 -9.79988 3e-05 2e-05 -0\n -0 -0 -9.79988 0 -0 0\n \n \n \n -3.69879 0.345038 -1e-05 0 -0 0\n 1 1 1\n \n -3.69879 0.345038 -1e-05 0 -0 0\n 0 0 0 0 -0 0\n 0 0 -9.8 0 -0 0\n 0 0 -9.8 0 -0 0\n \n \n \n -0.406438 -4.23374 -0 0 -1e-06 0\n 1 1 1\n \n -0.406438 -4.23374 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n 2.38815 -3.2576 -0 0 -0 0\n 1 1 1\n \n 2.38815 -3.2576 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n 2.39316 -4.49605 -0 0 -1e-06 0\n 1 1 1\n \n 2.39316 -4.49605 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n -3.00495 -2.78053 -0 0 -1e-06 0\n 1 1 1\n \n -3.00495 -2.78053 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n -4.64786 -0.646522 -0 0 -1e-06 0\n 1 1 1\n \n -4.64786 -0.646522 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n 0 0 0 0 -0 0\n 1 1 1\n \n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n \n \n \n 0 0 10 0 -0 0\n \n \n \n \n -15.5892 0.392985 21.6628 0 0.851642 0.028194\n orbit\n perspective\n \n \n \n\n" }, { "path": "lidarbot_gz/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_gz)\n\nfind_package(ament_cmake REQUIRED)\nfind_package(urdf REQUIRED)\n\ninstall(\n DIRECTORY config launch models urdf worlds\n DESTINATION share/${PROJECT_NAME}\n)\n\nament_package()\n\n" }, { "path": "lidarbot_gz/config/lidarbot_bridge.yaml", "content": "# gz topic published by the simulator core\n- ros_topic_name: \"clock\"\n gz_topic_name: \"clock\"\n ros_type_name: \"rosgraph_msgs/msg/Clock\"\n gz_type_name: \"gz.msgs.Clock\"\n direction: GZ_TO_ROS\n\n# gz topic published by IMU plugin\n- ros_topic_name: \"imu_broadcaster/imu\"\n gz_topic_name: \"imu_broadcaster/imu\"\n ros_type_name: \"sensor_msgs/msg/Imu\"\n gz_type_name: \"gz.msgs.IMU\"\n direction: GZ_TO_ROS\n\n# gz topic published by Sensors plugin\n- ros_topic_name: \"scan\"\n gz_topic_name: \"scan\"\n ros_type_name: \"sensor_msgs/msg/LaserScan\"\n gz_type_name: \"gz.msgs.LaserScan\"\n direction: GZ_TO_ROS\n\n# gz topic published by Sensors plugin (Camera)\n- ros_topic_name: \"camera/camera_info\"\n gz_topic_name: \"camera/camera_info\"\n ros_type_name: \"sensor_msgs/msg/CameraInfo\"\n gz_type_name: \"gz.msgs.CameraInfo\"\n direction: GZ_TO_ROS\n\n# gz topic subscribed to from Differential Drive controller\n- ros_topic_name: \"diff_controller/cmd_vel_unstamped\"\n gz_topic_name: \"diff_controller/cmd_vel_unstamped\"\n ros_type_name: \"geometry_msgs/msg/Twist\"\n gz_type_name: \"gz.msgs.Twist\"\n direction: ROS_TO_GZ" }, { "path": "lidarbot_gz/launch/gz_launch.py", "content": "# Launches the lidarbot in Gazebo Fortress to be controlled using a joystick.\n#\n# File adapted from https://automaticaddison.com\n\nimport os\n\nfrom launch import LaunchDescription\nfrom launch.actions import (\n DeclareLaunchArgument,\n IncludeLaunchDescription,\n AppendEnvironmentVariable,\n)\nfrom launch.conditions import IfCondition\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.substitutions import LaunchConfiguration\n\nfrom launch_ros.actions import Node\nfrom launch_ros.substitutions import FindPackageShare\n\n\ndef generate_launch_description():\n\n # Set the path to different files and folders\n pkg_path = FindPackageShare(package=\"lidarbot_gz\").find(\"lidarbot_gz\")\n pkg_description = FindPackageShare(package=\"lidarbot_description\").find(\n \"lidarbot_description\"\n )\n pkg_teleop = FindPackageShare(package=\"lidarbot_teleop\").find(\"lidarbot_teleop\")\n pkg_ros_ign_gazebo = FindPackageShare(package=\"ros_ign_gazebo\").find(\n \"ros_ign_gazebo\"\n )\n pkg_navigation = FindPackageShare(package=\"lidarbot_navigation\").find(\n \"lidarbot_navigation\"\n )\n\n bridge_params = os.path.join(pkg_path, \"config/lidarbot_bridge.yaml\")\n ekf_params_file = os.path.join(pkg_navigation, \"config/ekf.yaml\")\n urdf_model_path = os.path.join(pkg_path, \"urdf/lidarbot_gz.urdf.xacro\")\n twist_mux_params_file = os.path.join(pkg_teleop, \"config/twist_mux.yaml\")\n world_filename = \"obstacles.sdf\"\n world_path = os.path.join(pkg_path, \"worlds\", world_filename)\n set_env_vars_resources = AppendEnvironmentVariable(\n \"GZ_SIM_RESOURCE_PATH\", os.path.join(pkg_path, \"models\")\n )\n\n # Launch configuration variables specific to simulation\n use_sim_time = LaunchConfiguration(\"use_sim_time\")\n use_ros2_control = LaunchConfiguration(\"use_ros2_control\")\n urdf_path = LaunchConfiguration(\"urdf_path\")\n world = LaunchConfiguration(\"world\")\n use_robot_localization = LaunchConfiguration(\"use_robot_localization\")\n\n # Declare the launch arguments\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n name=\"use_sim_time\",\n default_value=\"True\",\n description=\"Use simulation (Gazebo) clock if true\",\n )\n\n declare_use_ros2_control_cmd = DeclareLaunchArgument(\n name=\"use_ros2_control\",\n default_value=\"True\",\n description=\"Use ros2_control if true\",\n )\n\n declare_world_cmd = DeclareLaunchArgument(\n name=\"world\",\n default_value=world_path,\n description=\"Full path to the world model to load\",\n )\n\n declare_urdf_path = DeclareLaunchArgument(\n name=\"urdf_path\",\n default_value=urdf_model_path,\n description=\"Path to the main urdf model\",\n )\n\n declare_use_robot_localization_cmd = DeclareLaunchArgument(\n name=\"use_robot_localization\",\n default_value=\"True\",\n description=\"Use robot_localization package if true\",\n )\n\n # Start robot state publisher\n start_robot_state_publisher_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_description, \"launch\", \"robot_state_publisher_launch.py\")]\n ),\n launch_arguments={\n \"use_sim_time\": use_sim_time,\n \"use_ros2_control\": use_ros2_control,\n \"urdf_path\": urdf_path,\n }.items(),\n )\n\n # Launch Gazebo\n start_gazebo_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_ros_ign_gazebo, \"launch\", \"ign_gazebo.launch.py\")]\n ),\n launch_arguments={\n \"gz_args\": [\"-r -v4 \", world],\n \"on_exit_shutdown\": \"true\",\n }.items(),\n )\n\n # Spawn robot in Gazebo\n start_spawner_cmd = Node(\n package=\"ros_gz_sim\",\n executable=\"create\",\n arguments=[\"-topic\", \"robot_description\", \"-name\", \"lidarbot\"],\n output=\"screen\",\n )\n\n # Start Gazebo ROS bridge\n start_gazebo_ros_bridge_cmd = Node(\n package=\"ros_gz_bridge\",\n executable=\"parameter_bridge\",\n arguments=[\n \"--ros-args\",\n \"-p\",\n f\"config_file:={bridge_params}\",\n ],\n output=\"screen\",\n )\n\n # Start Gazebo ROS Image bridge\n start_gazebo_ros_image_bridge_cmd = Node(\n package=\"ros_gz_image\",\n executable=\"image_bridge\",\n arguments=[\"/camera/image_raw\"],\n output=\"screen\",\n )\n\n # Spawn diff_controller\n start_diff_controller_cmd = Node(\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"diff_controller\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Spawn joint_state_broadcaser\n start_joint_broadcaster_cmd = Node(\n package=\"controller_manager\",\n executable=\"spawner\",\n arguments=[\"joint_broadcaster\", \"--controller-manager\", \"/controller_manager\"],\n )\n\n # Start robot localization using an Extended Kalman Filter\n start_robot_localization_cmd = Node(\n condition=IfCondition(use_robot_localization),\n package=\"robot_localization\",\n executable=\"ekf_node\",\n parameters=[\n ekf_params_file,\n {'use_sim_time': LaunchConfiguration('use_sim_time')},\n ],\n remappings=[(\"/odometry/filtered\", \"/odom\")],\n )\n\n # Start joystick node for use with ros2_control\n start_joystick_cmd = IncludeLaunchDescription(\n PythonLaunchDescriptionSource(\n [os.path.join(pkg_teleop, \"launch\", \"joystick_launch.py\")]\n ),\n launch_arguments={\n \"use_sim_time\": use_sim_time,\n }.items(),\n )\n \n # Start twist mux\n start_twist_mux_cmd = Node(\n package=\"twist_mux\",\n executable=\"twist_mux\",\n parameters=[twist_mux_params_file, {\"use_sim_time\": True}],\n remappings=[(\"/cmd_vel_out\", \"/diff_controller/cmd_vel_unstamped\")],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Declare the launch options\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_use_ros2_control_cmd)\n ld.add_action(declare_urdf_path)\n ld.add_action(declare_world_cmd)\n ld.add_action(declare_use_robot_localization_cmd)\n ld.add_action(set_env_vars_resources)\n\n # Add any actions\n ld.add_action(start_robot_state_publisher_cmd)\n ld.add_action(start_gazebo_cmd)\n ld.add_action(start_spawner_cmd)\n ld.add_action(start_gazebo_ros_bridge_cmd)\n ld.add_action(start_gazebo_ros_image_bridge_cmd)\n ld.add_action(start_robot_localization_cmd)\n ld.add_action(start_diff_controller_cmd)\n ld.add_action(start_joint_broadcaster_cmd)\n ld.add_action(start_joystick_cmd)\n ld.add_action(start_twist_mux_cmd)\n\n return ld\n" }, { "path": "lidarbot_gz/models/construction_barrel/meshes/construction_barrel.dae", "content": "\n\n \n \n Cole\n OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static\n \n 2013-02-02T13:29:30\n 2013-02-02T13:29:30\n \n Z_UP\n \n \n \n \n \n \n Construction_Barrel_Diffuse_tga\n \n \n \n \n Construction_Barrel_Diffuse_tga-surface\n \n \n \n \n Construction_Barrel_Spec_tga\n \n \n \n \n Construction_Barrel_Spec_tga-surface\n \n \n \n \n \n 0.2 0.2 0.2 1\n \n \n 1.0 1.0 1.0 1\n \n \n \n \n \n 0.9 0.9 0.9 1\n \n \n 1\n \n \n 0 0 0 1\n \n \n 1 1 1 1\n \n \n 1\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 0\n 0\n 0\n 1.5\n 0\n 3\n 1\n 0\n \n \n 1\n 1\n 0\n 0.1\n 0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 20.07607 5.02713e-8 0 19.39199 5.19607 0 17.38639 10.03804 0 14.19593 14.19593 0 10.03804 17.38639 0 5.196071 19.39199 0 1.27153e-6 20.07607 0 -5.196067 19.392 0 -10.03803 17.38639 0 -14.19592 14.19593 0 -17.38639 10.03804 0 -19.39199 5.196076 0 -20.07607 7.86818e-6 0 -19.392 -5.196062 0 -17.38639 -10.03803 0 -14.19594 -14.19592 0 -10.03804 -17.38638 0 -5.196078 -19.39199 0 -9.57779e-6 -20.07607 0 5.196059 -19.392 0 10.03803 -17.38639 0 14.19592 -14.19594 0 17.38638 -10.03805 0 19.39199 -5.196084 0 20.07608 1.69289e-7 0.8006894 19.392 5.196071 0.800689 17.38639 10.03804 0.8006892 14.19593 14.19593 0.8006894 10.03804 17.38639 0.8006891 5.196071 19.392 0.8006891 1.27153e-6 20.07608 0.8006889 -5.196069 19.392 0.8006891 -10.03803 17.38639 0.8006891 -14.19593 14.19593 0.8006894 -17.38639 10.03804 0.8006892 -19.392 5.196076 0.800689 -20.07608 7.9872e-6 0.8006894 -19.39201 -5.196063 0.8006894 -17.3864 -10.03803 0.8006891 -14.19594 -14.19592 0.8006889 -10.03804 -17.38639 0.8006894 -5.19608 -19.392 0.8006894 -9.57779e-6 -20.07608 0.8006894 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1.870758 10.9028 -6.294744 1.870758 12.16049 -3.258406 1.870758 18.78262 2.04334e-7 1.192665 18.14262 4.8613 1.192665 16.26623 9.391311 1.192665 13.28132 13.28132 1.192665 9.391309 16.26623 1.192664 4.8613 18.14262 1.192665 9.89642e-7 18.78262 1.192664 -4.861299 18.14262 1.192665 -9.391308 16.26623 1.192664 -13.28132 13.28132 1.192665 -16.26622 9.391315 1.192665 -18.14262 4.861305 1.192665 -18.78262 7.40016e-6 1.192665 -18.14262 -4.861293 1.192665 -16.26623 -9.391304 1.192665 -13.28133 -13.28131 1.192664 -9.391317 -16.26622 1.192665 -4.861307 -18.14262 1.192665 -8.73214e-6 -18.78262 1.192665 4.86129 -18.14262 1.192665 9.391301 -16.26623 1.192665 13.28132 -13.28133 1.192664 16.26622 -9.391323 1.192665 18.14262 -4.861315 1.192665 2.907676 -10.85158 22.93836 2.79633 -10.43602 23.13443 -8.248117 8.248122 1.663016 -7.943908 7.943912 22.93836 -7.6397 7.639704 31.29224 -10.10184 5.832304 14.58448 -9.729262 5.617197 22.93836 -8.984174 5.187018 39.65863 -9.729262 5.617197 14.78055 -7.639702 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\n \n \n \n \n \n \n \n \n 0 0 0\n \n \n \n \n \n \n ../materials/textures/Construction_Barrel_Diffuse.png\n \n \n ../materials/textures/Construction_Barrel_Spec.png\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_barrel/model-1_3.sdf", "content": "\n\n \n true\n \n \n 0 0 0.4 0 0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_barrel/model-1_4.sdf", "content": "\n\n \n \n \n 0 0 0.4 0 0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_barrel/model.config", "content": "\n\n\n Construction Barrel\n 1.0\n model-1_3.sdf\n model-1_4.sdf\n model.sdf\n\n \n Cole Biesemeyer\n cole.bsmr@gmail.com\n \n\n \n Nate Koenig\n nate@osrfoundation.com\n \n\n \n An orange construction barrel\n \n\n\n" }, { "path": "lidarbot_gz/models/construction_barrel/model.sdf", "content": "\n\n \n \n \n 0 0 0.4 0 0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_cone/meshes/construction_cone.dae", "content": "\n\n \n \n Cole\n OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static\n \n 2013-01-29T21:43:10\n 2013-01-29T21:43:10\n \n Z_UP\n \n \n \n \n \n \n Construction_Cone_Diffuse_tga\n \n \n \n \n Construction_Cone_Diffuse_tga-surface\n \n \n \n \n \n 0.2 0.2 0.2 1\n \n \n 0.5882353 0.5882353 0.5882353 1\n \n \n \n \n \n 0.9 0.9 0.9 1\n \n \n 27\n \n \n 0 0 0 1\n \n \n 1 1 1 1\n \n \n 1\n \n \n \n \n \n \n \n 0\n 0\n 0\n 1.5\n 0\n 3\n 1\n 0\n \n \n 1\n 1\n 0\n 0.1\n 0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n -0.6700001 -0.99 0 0.6700001 -0.99 0 -0.99 0.6700001 0 0.99 0.6700001 0 -0.6700001 -0.99 0.2590999 0.99 -0.6700001 0.2590999 -0.99 0.6700001 0.2590999 0.6700001 0.99 0.2590999 -0.99 -0.6700001 0 0.99 -0.6700001 0 -0.6700001 0.99 0 0.6700001 0.99 0 -0.95 -0.6534315 0.2990999 0.6700001 -0.99 0.2590999 -0.6534315 0.95 0.2990999 0.99 0.6700001 0.2590999 -0.6534315 -0.95 0.2990999 0.95 -0.6534315 0.2990999 -0.95 0.6534315 0.2990999 0.6534315 0.95 0.2990999 -0.99 -0.6700001 0.2590999 0.6534315 -0.95 0.2990999 -0.6700001 0.99 0.2590999 0.95 0.6534315 0.2990999 -0.3953661 0.661109 0.2990999 -0.6611091 0.3953661 0.2990999 -0.6611091 -0.3953659 0.2990999 0.2031441 -3.55414e-9 4.26 0.1759279 0.1015721 4.26 0.101572 0.175928 4.26 -7.64086e-8 0.2031442 4.26 -0.1015722 0.175928 4.26 -0.1759281 0.1015721 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0.08553088 0.995111 -0.04938135 0.08553088 0.995111 -0.08553085 0.04938125 0.995111 0.6307502 -0.3641636 0.6852294 0.7283275 -1.15421e-7 0.6852292 0.6307502 -0.3641636 0.6852294 -0.08553085 0.04938125 0.995111 -0.08553085 0.04938125 0.995111 -0.09876245 -1.19279e-8 0.9951111 0.7283275 -1.15421e-7 0.6852292 0.6307502 0.3641634 0.6852292 0.7283275 -1.15421e-7 0.6852292 -0.09876245 -1.19279e-8 0.9951111 -0.09876245 -1.19279e-8 0.9951111 -0.08553112 -0.04938136 0.995111 0.6307502 0.3641634 0.6852292 0.364164 0.6307499 0.6852294 0.6307502 0.3641634 0.6852292 -0.08553112 -0.04938136 0.995111 -0.08553112 -0.04938136 0.995111 -0.04938127 -0.08553074 0.995111 0.364164 0.6307499 0.6852294 4.03973e-7 0.7283273 0.6852295 0.364164 0.6307499 0.6852294 -0.04938127 -0.08553074 0.995111 -0.04938127 -0.08553074 0.995111 -6.11303e-8 -0.09876278 0.995111 4.03973e-7 0.7283273 0.6852295 -0.3641634 0.6307502 0.6852295 4.03973e-7 0.7283273 0.6852295 -6.11303e-8 -0.09876278 0.995111 -6.11303e-8 -0.09876278 0.995111 0.04938125 -0.08553097 0.995111 -0.3641634 0.6307502 0.6852295 -0.6307498 0.3641639 0.6852294 -0.3641634 0.6307502 0.6852295 0.04938125 -0.08553097 0.995111 0.04938125 -0.08553097 0.995111 0.085531 -0.04938136 0.995111 -0.6307498 0.3641639 0.6852294 -0.7283275 8.65657e-8 0.6852294 -0.6307498 0.3641639 0.6852294 0.085531 -0.04938136 0.995111 0.085531 -0.04938136 0.995111 0.09876256 -2.98196e-8 0.995111 -0.7283275 8.65657e-8 0.6852294\n \n \n \n \n \n \n \n \n \n 0.1437581 0.00176994 0 0.001868038 0.1436598 0 0.001868038 0.7378242 0 0.1437581 0.879714 0 0.7379224 0.879714 0 0.8798124 0.7378242 0 0.8798124 0.1436598 0 0.7379224 0.00176994 0 0.2315648 0.8947714 0 0.8777048 0.8947714 0 0.8777048 0.9911309 0 0.2315648 0.9911309 0 0.6607696 0.8947714 0 0.01462963 0.8947714 0 0.01462963 0.9911309 0 0.6607696 0.9911309 0 0.2315648 0.8947714 0 0.01462963 0.8947714 0 0.01462963 0.9911309 0 0.2315648 0.9911309 0 0.2315648 0.8947714 0 0.8777048 0.8947714 0 0.8777048 0.9911309 0 0.2315648 0.9911309 0 0.1511046 0.0195062 0 0.1437581 0.00176994 0 0.7379224 0.00176994 0 0.7305759 0.0195062 0 0.862076 0.1510065 0 0.8798124 0.1436598 0 0.8798124 0.7378242 0 0.862076 0.7304776 0 0.8777048 0.8947714 0 0.8777048 0.9911309 0 0.01462966 0.8947714 0 0.01462966 0.9911309 0 0.8777048 0.8947714 0 0.8777048 0.9911309 0 0.6607696 0.8947714 0 0.6607696 0.9911309 0 0.7305759 0.8619778 0 0.7379224 0.879714 0 0.1437581 0.879714 0 0.1511046 0.8619778 0 0.01960441 0.7304776 0 0.001868038 0.7378242 0 0.001868038 0.1436598 0 0.01960441 0.1510065 0 0.4408401 0.101545 0 0.7800373 0.440742 0 0.73398 0.2654341 0 0.7339801 0.6160498 0 0.6161479 0.1476021 0 0.1016432 0.4407421 0 0.2655323 0.1476022 0 0.1477004 0.2654344 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.95882 0.9952412 0 0.4408402 0.7799391 0 0.9909106 0.02534963 0 0.1477004 0.6160498 0 0.2655324 0.7338818 0 0.616148 0.733882 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9008009 0.02534953 0 0.9245095 0.8332815 0 0.9168261 0.8619881 0 0.9063684 0.8559547 0 0.9124359 0.8332815 0 0.8958218 0.8830132 0 0.8897823 0.87256 0 0.8671146 0.8907121 0 0.8671146 0.8786399 0 0.8384076 0.8830132 0 0.844447 0.8725598 0 0.8174033 0.8619881 0 0.827861 0.8559547 0 0.8097203 0.8332815 0 0.9328915 0.995241 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.9948128 0.004677464 0 0.8217939 0.8332815 0 0.8174038 0.8045748 0 0.8278614 0.8106082 0 0.8384079 0.7835498 0 0.8968989 0.00467754 0 0.8444473 0.7940032 0 0.8671147 0.7758506 0 0.8671148 0.7879229 0 0.9948128 0.004677464 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9328915 0.995241 0 0.9008009 0.02534953 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8958219 0.7835494 0 0.8897825 0.7940028 0 0.9168262 0.8045747 0 0.9063686 0.810608 0 0.9003624 0.8332815 0 0.8959104 0.8499218 0 0.07186812 0.8145298 0 0.8837424 0.8621067 0 0.8671146 0.8665676 0 0.8504869 0.8621064 0 0.8383189 0.8499219 0 0.8338675 0.8332815 0 0.8383192 0.816641 0 0.8504872 0.8044562 0 0.8671148 0.7999952 0 0.8837426 0.804456 0 0.8959106 0.8166408 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.9008009 0.02534953 0 0.9909106 0.02534963 0 0.95882 0.9952412 0 0.9948128 0.004677464 0 0.9328915 0.995241 0 0.8968989 0.00467754 0 0.10907 0.8724196 0 0.09262928 0.8801363 0 0.07474211 0.8832843 0 0.05665355 0.8816417 0 0.03962392 0.8753226 0 0.02484011 0.864767 0 0.01333255 0.8507085 0 0.005904772 0.8341299 0 0.003073875 0.816187 0 0.00503601 0.7981309 0 0.0116534 0.7812185 0 0.02246423 0.7666267 0 0.1229187 0.8606709 0 0.6607696 0.8947714 0 0.6607696 0.9911309 0 0.01462966 0.8947714 0 0.01462966 0.9911309 0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n

8 0 1 2 1 2 10 2 3 10 3 3 11 4 4 3 5 5 8 6 1 10 7 3 3 8 5 3 9 5 9 10 6 1 11 7 8 12 1 3 13 5 1 14 7 0 15 0 8 16 1 1 17 7 0 18 8 1 19 36 13 20 37 13 21 37 4 22 11 0 23 8 9 24 12 3 25 184 15 26 185 15 27 185 5 28 15 9 29 12 11 30 16 10 31 32 22 32 33 22 33 33 7 34 19 11 35 16 2 36 182 8 37 34 20 38 35 20 39 35 6 40 183 2 41 182 1 42 9 9 43 12 5 44 15 5 45 15 13 46 10 1 47 9 4 48 39 20 49 22 8 50 21 8 51 21 0 52 38 4 53 39 3 54 13 11 55 16 7 56 19 7 57 19 15 58 14 3 59 13 10 60 17 2 61 20 6 62 23 6 63 23 22 64 18 10 65 17 16 66 24 4 67 25 13 68 26 13 69 26 21 70 27 16 71 24 17 72 28 5 73 29 15 74 30 15 75 30 23 76 31 17 77 28 19 78 40 7 79 41 22 80 42 22 81 42 14 82 43 19 83 40 18 84 44 6 85 45 20 86 46 20 87 46 12 88 47 18 89 44 4 90 25 16 91 24 12 92 47 12 93 47 20 94 46 4 95 25 5 96 29 17 97 28 21 98 27 21 99 27 13 100 26 5 101 29 6 102 45 18 103 44 14 104 43 14 105 43 22 106 42 6 107 45 7 108 41 19 109 40 23 110 31 23 111 31 15 112 30 7 113 41 56 114 48 16 115 24 21 116 27 28 117 57 27 118 119 64 119 120 64 120 120 65 121 56 28 122 57 29 123 65 28 124 123 65 125 122 65 126 122 66 127 64 29 128 65 30 129 67 29 130 126 66 131 125 66 132 125 67 133 66 30 134 67 31 135 69 30 136 129 67 137 128 67 138 128 59 139 68 31 140 69 32 141 71 31 142 132 59 143 131 59 144 131 60 145 70 32 146 71 33 147 73 32 148 135 60 149 134 60 150 134 61 151 72 33 152 73 34 153 75 33 154 138 61 155 137 61 156 137 63 157 74 34 158 75 35 159 77 34 160 158 63 161 157 63 162 157 69 163 76 35 164 77 36 165 79 35 166 161 69 167 160 69 168 160 70 169 78 36 170 79 37 171 165 36 172 167 70 173 163 70 174 163 71 175 164 37 176 165 38 177 96 37 178 94 71 179 80 71 180 80 72 181 95 38 182 96 28 183 82 74 184 83 73 185 84 73 186 84 27 187 81 28 188 82 29 189 85 75 190 86 74 191 83 74 192 83 28 193 82 29 194 85 30 195 87 76 196 88 75 197 86 75 198 86 29 199 85 30 200 87 31 201 89 77 202 90 76 203 88 76 204 88 30 205 87 31 206 89 32 207 91 78 208 92 77 209 90 77 210 90 31 211 89 32 212 91 33 213 93 79 214 107 78 215 92 78 216 92 32 217 91 33 218 93 34 219 108 80 220 109 79 221 107 79 222 107 33 223 93 34 224 108 35 225 110 81 226 112 80 227 109 80 228 109 34 229 108 35 230 110 36 231 113 82 232 114 81 233 112 81 234 112 35 235 110 36 236 113 37 237 139 83 238 140 82 239 114 82 240 114 36 241 113 37 242 139 38 243 141 84 244 142 83 245 140 83 246 140 37 247 139 38 248 141 27 249 81 73 250 84 84 251 142 84 252 142 38 253 141 27 254 81 39 255 169 40 256 170 51 257 145 40 258 170 41 259 171 51 260 145 41 261 171 42 262 172 51 263 145 42 264 172 43 265 173 51 266 145 43 267 173 44 268 174 51 269 145 44 270 174 45 271 175 51 272 145 45 273 175 46 274 176 51 275 145 46 276 176 47 277 177 51 278 145 47 279 177 48 280 178 51 281 145 48 282 178 49 283 179 51 284 145 49 285 179 50 286 180 51 287 145 50 288 181 39 289 169 51 290 145 27 291 58 38 292 117 72 293 116 72 294 116 64 295 60 27 296 58 52 297 49 58 298 50 17 299 28 23 300 31 53 301 51 52 302 49 52 303 49 17 304 28 23 305 31 21 306 27 57 307 52 56 308 48 62 309 53 18 310 44 12 311 47 21 312 27 17 313 28 58 314 50 58 315 50 57 316 52 21 317 27 16 318 24 56 319 48 55 320 54 55 321 54 26 322 55 12 323 47 12 324 47 16 325 24 55 326 54 12 327 47 26 328 55 62 329 53 68 330 59 19 331 40 14 332 43 18 333 44 62 334 53 25 335 61 25 336 61 24 337 62 14 338 43 14 339 43 18 340 44 25 341 61 14 342 43 24 343 62 68 344 59 53 345 51 23 346 31 19 347 40 19 348 40 54 349 63 53 350 51 19 351 40 68 352 59 54 353 63 25 354 97 60 355 70 59 356 131 59 357 131 24 358 133 25 359 97 62 360 99 61 361 72 60 362 134 60 363 134 25 364 136 62 365 99 26 366 100 63 367 74 61 368 137 61 369 137 62 370 156 26 371 100 55 372 101 69 373 76 63 374 157 63 375 157 26 376 159 55 377 101 64 378 120 52 379 121 53 380 103 53 381 103 65 382 56 64 383 120 65 384 122 53 385 124 54 386 104 54 387 104 66 388 64 65 389 122 66 390 125 54 391 127 68 392 105 68 393 105 67 394 66 66 395 125 67 396 128 68 397 130 24 398 98 24 399 98 59 400 68 67 401 128 69 402 160 55 403 162 56 404 106 56 405 106 70 406 78 69 407 160 70 408 163 56 409 168 57 410 166 57 411 166 71 412 164 70 413 163 72 414 116 58 415 118 52 416 102 52 417 102 64 418 60 72 419 116 71 420 80 57 421 111 58 422 115 58 423 115 72 424 95 71 425 80 40 426 144 39 427 143 73 428 84 73 429 84 74 430 83 40 431 144 41 432 146 40 433 144 74 434 83 74 435 83 75 436 86 41 437 146 42 438 147 41 439 146 75 440 86 75 441 86 76 442 88 42 443 147 43 444 148 42 445 147 76 446 88 76 447 88 77 448 90 43 449 148 44 450 149 43 451 148 77 452 90 77 453 90 78 454 92 44 455 149 45 456 150 44 457 149 78 458 92 78 459 92 79 460 107 45 461 150 46 462 151 45 463 150 79 464 107 79 465 107 80 466 109 46 467 151 47 468 152 46 469 151 80 470 109 80 471 109 81 472 112 47 473 152 48 474 153 47 475 152 81 476 112 81 477 112 82 478 114 48 479 153 49 480 154 48 481 153 82 482 114 82 483 114 83 484 140 49 485 154 50 486 155 49 487 154 83 488 140 83 489 140 84 490 142 50 491 155 39 492 143 50 493 155 84 494 142 84 495 142 73 496 84 39 497 143

\n \n \n \n \n \n \n \n \n 0 0 0\n \n \n \n \n \n \n ../materials/textures/Construction_Cone_Diffuse.png\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_cone/model-1_3.sdf", "content": "\n\n \n true\n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_cone/model-1_4.sdf", "content": "\n\n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/models/construction_cone/model.config", "content": "\n\n\n Construction Cone\n 1.0\n model-1_3.sdf\n model-1_4.sdf\n model.sdf\n\n \n Cole Biesemeyer\n cole.bsmr@gmail.com\n \n\n \n Nate Koenig\n nate@osrfoundation.com\n \n\n \n An orange construction cone\n \n\n\n" }, { "path": "lidarbot_gz/models/construction_cone/model.sdf", "content": "\n\n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n \n \n\n" }, { "path": "lidarbot_gz/package.xml", "content": "\n\n\n lidarbot_gz\n 0.0.0\n Lidarbot Gazebo Fortress package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n ament_lint_auto\n ament_lint_common\n\n lidarbot_description\n lidarbot_bringup\n\n ign_ros2_control\n ros_gz_bridge\n ros_gz_image\n ros_gz_sim\n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_gz/urdf/lidarbot_gz.urdf.xacro", "content": "\n\n\n \n \n\n \n \n \n ign_ros2_control/IgnitionSystem\n \n \n \n -1\n 1\n \n \n \n \n \n \n -1\n 1\n \n \n \n \n \n\n \n \n $(find lidarbot_bringup)/config/controllers.yaml\n \n \n\n\n" }, { "path": "lidarbot_gz/urdf/lidarbot_gz_core.xacro", "content": "\n\n\n \n\n \n \n \n \n\n \n \n \n \n\n \n \n\n \t\n\n \n \n \n \n \n\t\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "lidarbot_gz/urdf/sensors.xacro", "content": "\n\n\n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n true\n 100\n imu_broadcaster/imu\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n 0.0\n 2e-4\n \n \n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n 0.0\n 1.7e-2\n \n \n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n 0.0\n 2e-3\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n\n \n \n \n \n \n\n \n \n true\n true\n 30\n camera/image_raw\n camera_link\n \n camera/camera_info\n 0.934\n \n R8G8B8\n 640\n 480\n \n \n 0.05\n 8.0\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n\n \n \n true\n true\n 10\n scan\n lidar_link\n \n \n \n 360\n -3.14\n 3.14\n \n \n \n 0.15\n 6.0\n \n 0.01500\n \n \n gaussian\n 0.0\n 0.01\n \n \n \n \n\n\n" }, { "path": "lidarbot_gz/worlds/obstacles.sdf", "content": "\n\n \n\n \n 0.001\n 1.0\n \n\n \n \n\n \n \n\n \n \n\n \n ogre2\n \n\n \n \n\n \n \n https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane\n \n \n\n \n \n https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun\n \n \n\n 0.0 0.0 -9.8\n 6e-06 2.3e-05 -4.2e-05\n \n \n 0.4 0.4 0.4 1\n 0.7 0.7 0.7 1\n false\n \n \n \n EARTH_WGS84\n 0\n 0\n 0\n 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -0.756237 1.39226 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n 1.80022 0.377178 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -2.19745 -2.25046 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -1.40494 -2.55135 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -0.501986 -2.9745 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.09724 -2.18232 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -3.69879 0.345038 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -0.406438 -4.23374 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.38815 -3.2576 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n 2.39316 -4.49605 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -3.00495 -2.78053 0 0 -0 0\n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 10 10 10\n model://construction_cone/meshes/construction_cone.dae\n \n \n \n 0\n \n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n 1\n \n 0\n 0\n \n -4.64786 -0.646522 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -5.3108 -2.23708 0 0 -0 0\n \n \n \n \n 0 0 0.4 0 -0 0\n 500\n \n 51.2096\n 51.2096\n 25\n 0\n 0\n 0\n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n 10\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n model://construction_barrel/meshes/construction_barrel.dae\n \n \n \n 0\n 0\n 0\n \n -2.07692 -4.26198 0 0 -0 0\n \n \n 457 444000000\n 459 829915274\n 1646216792 728719362\n 457444\n \n -0.756319 1.39223 0 0 0 -2.4e-05\n 1 1 1\n \n -0.756319 1.39223 0 0 0 -2.4e-05\n 0 0 0 0 -0 0\n 3.45865 5.7443 4.40608 1.34644 0.778762 3.14097\n 1729.32 2872.15 2203.04 0 -0 0\n \n \n \n 1.80014 0.377148 0 0 0 -2.2e-05\n 1 1 1\n \n 1.80014 0.377148 0 0 0 -2.2e-05\n 0 0 0 0 -0 0\n 3.45864 5.7443 4.40608 1.34642 0.778778 3.14097\n 1729.32 2872.15 2203.04 0 -0 0\n \n \n \n -5.31082 -2.23709 -0 0 -0 -7e-06\n 1 1 1\n \n -5.31082 -2.23709 -0 0 -0 -7e-06\n 0 0 0 0 -0 0\n -3.87743 -2.8936 0.727843 -2.17783 0.268134 -3.13538\n -1938.71 -1446.8 363.922 0 -0 0\n \n \n \n -2.07693 -4.26199 -0 0 0 -4e-06\n 1 1 1\n \n -2.07693 -4.26199 -0 0 0 -4e-06\n 0 0 0 0 -0 0\n 7.60795 0.965639 1.20183 -2.41278 0.170207 0.001195\n 3803.98 482.819 600.916 0 -0 0\n \n \n \n -2.19745 -2.25046 -0 0 -0 0\n 1 1 1\n \n -2.19745 -2.25046 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n -1.40494 -2.55135 -0 0 -0 0\n 1 1 1\n \n -1.40494 -2.55135 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n -0.501986 -2.9745 -0 0 -0 0\n 1 1 1\n \n -0.501986 -2.9745 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n 2.09724 -2.18232 -0 1e-06 -0 0\n 1 1 1\n \n 2.09724 -2.18232 -0 1e-06 -0 0\n 0 0 0 0 -0 0\n -0 -0 -9.79988 3e-05 2e-05 -0\n -0 -0 -9.79988 0 -0 0\n \n \n \n -3.69879 0.345038 -1e-05 0 -0 0\n 1 1 1\n \n -3.69879 0.345038 -1e-05 0 -0 0\n 0 0 0 0 -0 0\n 0 0 -9.8 0 -0 0\n 0 0 -9.8 0 -0 0\n \n \n \n -0.406438 -4.23374 -0 0 -1e-06 0\n 1 1 1\n \n -0.406438 -4.23374 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n 2.38815 -3.2576 -0 0 -0 0\n 1 1 1\n \n 2.38815 -3.2576 -0 0 -0 0\n 0 0 0 0 -0 0\n 0 -0 -0.008512 -2.58585 1.13682 3.14159\n 0 -0 -0.008512 0 -0 0\n \n \n \n 2.39316 -4.49605 -0 0 -1e-06 0\n 1 1 1\n \n 2.39316 -4.49605 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n -3.00495 -2.78053 -0 0 -1e-06 0\n 1 1 1\n \n -3.00495 -2.78053 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n -4.64786 -0.646522 -0 0 -1e-06 0\n 1 1 1\n \n -4.64786 -0.646522 -0 0 -1e-06 0\n 0 0 0 0 -0 0\n -0 0 0.008512 2.58585 -1.13682 -3.14159\n -0 0 0.008512 0 -0 0\n \n \n \n 0 0 0 0 -0 0\n 1 1 1\n \n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n 0 0 0 0 -0 0\n \n \n \n 0 0 10 0 -0 0\n \n \n\n \n \n \n -15.5892 0.392985 21.6628 0 0.851642 0.028194\n orbit\n perspective\n \n \n \n\n" }, { "path": "lidarbot_navigation/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_navigation)\n\nfind_package(ament_cmake REQUIRED)\nfind_package(ament_cmake_python REQUIRED)\nfind_package(rclpy REQUIRED)\n\ninstall(\n DIRECTORY config launch maps\n DESTINATION share/${PROJECT_NAME}\n)\n\n# Install Python modules\nament_python_install_package(${PROJECT_NAME})\n\n# Install Python executables\ninstall(PROGRAMS\n scripts/trajectory_visualizer.py\n DESTINATION lib/${PROJECT_NAME}\n)\n\nament_package()\n" }, { "path": "lidarbot_navigation/config/ekf.yaml", "content": "### ekf config file ###\nekf_filter_node:\n ros__parameters:\n\n use_sim_time: true\n \n frequency: 30.0\n two_d_mode: false #true\n\n map_frame: map\n odom_frame: odom\n base_link_frame: base_footprint\n world_frame: odom\n\n odom0: diff_controller/odom\n imu0: imu_broadcaster/imu\n\n # [x_pos , y_pos , z_pos,\n # roll , pitch , yaw,\n # x_vel , y_vel , z_vel,\n # roll_vel, pitch_vel, yaw_vel,\n # x_accel , y_accel , z_accel]\n\n odom0_config: [false, false, false,\n false, false, false,\n true, true, false, \n false, false, true,\n false, false, false]\n\n imu0_config: [false, false, false, \n false, false, false, \n false, false, false,\n false, false, true, \n true, false, false]\n" }, { "path": "lidarbot_navigation/config/nav2_params.yaml", "content": "amcl:\n ros__parameters:\n use_sim_time: True\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: \"base_footprint\"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: \"map\"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: \"likelihood_field\"\n max_beams: 60\n max_particles: 2000\n min_particles: 500\n odom_frame_id: \"odom\"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: \"nav2_amcl::DifferentialMotionModel\"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n scan_topic: scan\n\nbt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom \n bt_loop_duration: 10\n default_server_timeout: 20\n # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:\n # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml\n # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml\n # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_assisted_teleop_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_assisted_teleop_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n - nav2_is_battery_charging_condition_bt_node\n\nbt_navigator_navigate_through_poses_rclcpp_node:\n ros__parameters:\n use_sim_time: True\n\nbt_navigator_navigate_to_pose_rclcpp_node:\n ros__parameters:\n use_sim_time: True\n\ncontroller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 20.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: \"progress_checker\"\n goal_checker_plugins: [\"general_goal_checker\"] # \"precise_goal_checker\"\n controller_plugins: [\"FollowPath\"]\n\n # Progress checker parameters\n progress_checker:\n plugin: \"nav2_controller::SimpleProgressChecker\"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n # Goal checker parameters\n #precise_goal_checker:\n # plugin: \"nav2_controller::SimpleGoalChecker\"\n # xy_goal_tolerance: 0.25\n # yaw_goal_tolerance: 0.25\n # stateful: True\n general_goal_checker:\n stateful: True\n plugin: \"nav2_controller::SimpleGoalChecker\"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n # DWB parameters\n FollowPath:\n plugin: \"dwb_core::DWBLocalPlanner\"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n # Add high threshold velocity for turtlebot 3 issue.\n # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: [\"RotateToGoal\", \"Oscillation\", \"BaseObstacle\", \"GoalAlign\", \"PathAlign\", \"PathDist\", \"GoalDist\"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\nlocal_costmap:\n local_costmap:\n ros__parameters:\n update_frequency: 5.0\n publish_frequency: 2.0\n global_frame: odom\n robot_base_frame: base_link\n use_sim_time: True\n rolling_window: true\n width: 3\n height: 3\n resolution: 0.05\n robot_radius: 0.15\n plugins: [\"voxel_layer\", \"inflation_layer\"]\n inflation_layer:\n plugin: \"nav2_costmap_2d::InflationLayer\"\n cost_scaling_factor: 3.0\n inflation_radius: 0.40\n voxel_layer:\n plugin: \"nav2_costmap_2d::VoxelLayer\"\n enabled: True\n publish_voxel_map: True\n origin_z: 0.0\n z_resolution: 0.05\n z_voxels: 16\n max_obstacle_height: 2.0\n mark_threshold: 0\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: \"LaserScan\"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n plugin: \"nav2_costmap_2d::StaticLayer\"\n map_subscribe_transient_local: True\n always_send_full_costmap: True\n\nglobal_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: [\"static_layer\", \"obstacle_layer\", \"inflation_layer\"]\n obstacle_layer:\n plugin: \"nav2_costmap_2d::ObstacleLayer\"\n enabled: True\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: \"LaserScan\"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n plugin: \"nav2_costmap_2d::StaticLayer\"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: \"nav2_costmap_2d::InflationLayer\"\n cost_scaling_factor: 3.0\n inflation_radius: 0.40\n always_send_full_costmap: True\n\nmap_server:\n ros__parameters:\n use_sim_time: True\n # Overridden in launch by the \"map\" launch configuration or provided default value.\n # To use in yaml, remove the default \"map\" value in the tb3_simulation_launch.py file & provide full path to map below.\n yaml_filename: \"\"\n\nmap_saver:\n ros__parameters:\n use_sim_time: True\n save_map_timeout: 5.0\n free_thresh_default: 0.25\n occupied_thresh_default: 0.65\n map_subscribe_transient_local: True\n\nplanner_server:\n ros__parameters:\n expected_planner_frequency: 20.0\n use_sim_time: True\n planner_plugins: [\"GridBased\"]\n GridBased:\n plugin: \"nav2_navfn_planner/NavfnPlanner\"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n\nsmoother_server:\n ros__parameters:\n use_sim_time: True\n smoother_plugins: [\"simple_smoother\"]\n simple_smoother:\n plugin: \"nav2_smoother::SimpleSmoother\"\n tolerance: 1.0e-10\n max_its: 1000\n do_refinement: True\n\nbehavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: [\"spin\", \"backup\", \"drive_on_heading\", \"assisted_teleop\", \"wait\"]\n spin:\n plugin: \"nav2_behaviors/Spin\"\n backup:\n plugin: \"nav2_behaviors/BackUp\"\n drive_on_heading:\n plugin: \"nav2_behaviors/DriveOnHeading\"\n wait:\n plugin: \"nav2_behaviors/Wait\"\n assisted_teleop:\n plugin: \"nav2_behaviors/AssistedTeleop\"\n global_frame: odom\n robot_base_frame: base_link\n transform_tolerance: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n\nrobot_state_publisher:\n ros__parameters:\n use_sim_time: True\n\nwaypoint_follower:\n ros__parameters:\n use_sim_time: True\n loop_rate: 20\n stop_on_failure: false\n waypoint_task_executor_plugin: \"wait_at_waypoint\"\n wait_at_waypoint:\n plugin: \"nav2_waypoint_follower::WaitAtWaypoint\"\n enabled: True\n waypoint_pause_duration: 200\n\nvelocity_smoother:\n ros__parameters:\n use_sim_time: True\n smoothing_frequency: 20.0\n scale_velocities: False\n feedback: \"OPEN_LOOP\"\n max_velocity: [0.26, 0.0, 1.0]\n min_velocity: [-0.26, 0.0, -1.0]\n max_accel: [2.5, 0.0, 3.2]\n max_decel: [-2.5, 0.0, -3.2]\n odom_topic: \"odom\"\n odom_duration: 0.1\n deadband_velocity: [0.0, 0.0, 0.0]\n velocity_timeout: 1.0\n" }, { "path": "lidarbot_navigation/launch/localization_launch.py", "content": "# Copyright (c) 2018 Intel Corporation\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless required by applicable law or agreed to in writing, software\n# distributed under the License is distributed on an \"AS IS\" BASIS,\n# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n# See the License for the specific language governing permissions and\n# limitations under the License.\n\nimport os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable\nfrom launch.conditions import IfCondition\nfrom launch.substitutions import LaunchConfiguration, PythonExpression\nfrom launch_ros.actions import LoadComposableNodes\nfrom launch_ros.actions import Node\nfrom launch_ros.descriptions import ComposableNode, ParameterFile\nfrom nav2_common.launch import RewrittenYaml\n\n\ndef generate_launch_description():\n # Get the launch directory\n bringup_dir = get_package_share_directory('lidarbot_navigation')\n\n namespace = LaunchConfiguration('namespace')\n map_yaml_file = LaunchConfiguration('map')\n use_sim_time = LaunchConfiguration('use_sim_time')\n autostart = LaunchConfiguration('autostart')\n params_file = LaunchConfiguration('params_file')\n use_composition = LaunchConfiguration('use_composition')\n container_name = LaunchConfiguration('container_name')\n container_name_full = (namespace, '/', container_name)\n use_respawn = LaunchConfiguration('use_respawn')\n log_level = LaunchConfiguration('log_level')\n\n lifecycle_nodes = ['map_server', 'amcl']\n\n # Map fully qualified names to relative ones so the node's namespace can be prepended.\n # In case of the transforms (tf), currently, there doesn't seem to be a better alternative\n # https://github.com/ros/geometry2/issues/32\n # https://github.com/ros/robot_state_publisher/pull/30\n # TODO(orduno) Substitute with `PushNodeRemapping`\n # https://github.com/ros2/launch_ros/issues/56\n remappings = [('/tf', 'tf'),\n ('/tf_static', 'tf_static')]\n\n # Create our own temporary YAML files that include substitutions\n param_substitutions = {\n 'use_sim_time': use_sim_time,\n 'yaml_filename': map_yaml_file}\n\n configured_params = ParameterFile(\n RewrittenYaml(\n source_file=params_file,\n root_key=namespace,\n param_rewrites=param_substitutions,\n convert_types=True),\n allow_substs=True)\n\n stdout_linebuf_envvar = SetEnvironmentVariable(\n 'RCUTILS_LOGGING_BUFFERED_STREAM', '1')\n\n declare_namespace_cmd = DeclareLaunchArgument(\n 'namespace',\n default_value='',\n description='Top-level namespace')\n\n declare_map_yaml_cmd = DeclareLaunchArgument(\n 'map',\n description='Full path to map yaml file to load')\n\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n 'use_sim_time',\n default_value='false',\n description='Use simulation (Gazebo) clock if true')\n\n declare_params_file_cmd = DeclareLaunchArgument(\n 'params_file',\n default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),\n description='Full path to the ROS2 parameters file to use for all launched nodes')\n\n declare_autostart_cmd = DeclareLaunchArgument(\n 'autostart', default_value='true',\n description='Automatically startup the nav2 stack')\n\n declare_use_composition_cmd = DeclareLaunchArgument(\n 'use_composition', default_value='False',\n description='Use composed bringup if True')\n\n declare_container_name_cmd = DeclareLaunchArgument(\n 'container_name', default_value='nav2_container',\n description='the name of conatiner that nodes will load in if use composition')\n\n declare_use_respawn_cmd = DeclareLaunchArgument(\n 'use_respawn', default_value='False',\n description='Whether to respawn if a node crashes. Applied when composition is disabled.')\n\n declare_log_level_cmd = DeclareLaunchArgument(\n 'log_level', default_value='info',\n description='log level')\n\n load_nodes = GroupAction(\n condition=IfCondition(PythonExpression(['not ', use_composition])),\n actions=[\n Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_localization',\n output='screen',\n arguments=['--ros-args', '--log-level', log_level],\n parameters=[{'use_sim_time': use_sim_time},\n {'autostart': autostart},\n {'node_names': lifecycle_nodes}])\n ]\n )\n\n load_composable_nodes = LoadComposableNodes(\n condition=IfCondition(use_composition),\n target_container=container_name_full,\n composable_node_descriptions=[\n ComposableNode(\n package='nav2_map_server',\n plugin='nav2_map_server::MapServer',\n name='map_server',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_amcl',\n plugin='nav2_amcl::AmclNode',\n name='amcl',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_lifecycle_manager',\n plugin='nav2_lifecycle_manager::LifecycleManager',\n name='lifecycle_manager_localization',\n parameters=[{'use_sim_time': use_sim_time,\n 'autostart': autostart,\n 'node_names': lifecycle_nodes}]),\n ],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Set environment variables\n ld.add_action(stdout_linebuf_envvar)\n\n # Declare the launch options\n ld.add_action(declare_namespace_cmd)\n ld.add_action(declare_map_yaml_cmd)\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_params_file_cmd)\n ld.add_action(declare_autostart_cmd)\n ld.add_action(declare_use_composition_cmd)\n ld.add_action(declare_container_name_cmd)\n ld.add_action(declare_use_respawn_cmd)\n ld.add_action(declare_log_level_cmd)\n\n # Add the actions to launch all of the localiztion nodes\n ld.add_action(load_nodes)\n ld.add_action(load_composable_nodes)\n\n return ld" }, { "path": "lidarbot_navigation/launch/navigation_launch.py", "content": "# Copyright (c) 2018 Intel Corporation\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this file except in compliance with the License.\n# You may obtain a copy of the License at\n#\n# http://www.apache.org/licenses/LICENSE-2.0\n#\n# Unless required by applicable law or agreed to in writing, software\n# distributed under the License is distributed on an \"AS IS\" BASIS,\n# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n# See the License for the specific language governing permissions and\n# limitations under the License.\n\nimport os\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable\nfrom launch.conditions import IfCondition\nfrom launch.substitutions import LaunchConfiguration, PythonExpression\nfrom launch_ros.actions import LoadComposableNodes\nfrom launch_ros.actions import Node\nfrom launch_ros.descriptions import ComposableNode, ParameterFile\nfrom nav2_common.launch import RewrittenYaml\n\n\ndef generate_launch_description():\n # Get the launch directory\n bringup_dir = get_package_share_directory('lidarbot_navigation')\n\n namespace = LaunchConfiguration('namespace')\n use_sim_time = LaunchConfiguration('use_sim_time')\n autostart = LaunchConfiguration('autostart')\n params_file = LaunchConfiguration('params_file')\n use_composition = LaunchConfiguration('use_composition')\n container_name = LaunchConfiguration('container_name')\n container_name_full = (namespace, '/', container_name)\n use_respawn = LaunchConfiguration('use_respawn')\n log_level = LaunchConfiguration('log_level')\n\n lifecycle_nodes = ['controller_server',\n 'smoother_server',\n 'planner_server',\n 'behavior_server',\n 'bt_navigator',\n 'waypoint_follower',\n 'velocity_smoother']\n\n # Map fully qualified names to relative ones so the node's namespace can be prepended.\n # In case of the transforms (tf), currently, there doesn't seem to be a better alternative\n # https://github.com/ros/geometry2/issues/32\n # https://github.com/ros/robot_state_publisher/pull/30\n # TODO(orduno) Substitute with `PushNodeRemapping`\n # https://github.com/ros2/launch_ros/issues/56\n remappings = [('/tf', 'tf'),\n ('/tf_static', 'tf_static')]\n\n # Create our own temporary YAML files that include substitutions\n param_substitutions = {\n 'use_sim_time': use_sim_time,\n 'autostart': autostart}\n\n configured_params = ParameterFile(\n RewrittenYaml(\n source_file=params_file,\n root_key=namespace,\n param_rewrites=param_substitutions,\n convert_types=True),\n allow_substs=True)\n\n stdout_linebuf_envvar = SetEnvironmentVariable(\n 'RCUTILS_LOGGING_BUFFERED_STREAM', '1')\n\n declare_namespace_cmd = DeclareLaunchArgument(\n 'namespace',\n default_value='',\n description='Top-level namespace')\n\n declare_use_sim_time_cmd = DeclareLaunchArgument(\n 'use_sim_time',\n default_value='false',\n description='Use simulation (Gazebo) clock if true')\n\n declare_params_file_cmd = DeclareLaunchArgument(\n 'params_file',\n default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),\n description='Full path to the ROS2 parameters file to use for all launched nodes')\n\n declare_autostart_cmd = DeclareLaunchArgument(\n 'autostart', default_value='true',\n description='Automatically startup the nav2 stack')\n\n declare_use_composition_cmd = DeclareLaunchArgument(\n 'use_composition', default_value='False',\n description='Use composed bringup if True')\n\n declare_container_name_cmd = DeclareLaunchArgument(\n 'container_name', default_value='nav2_container',\n description='the name of conatiner that nodes will load in if use composition')\n\n declare_use_respawn_cmd = DeclareLaunchArgument(\n 'use_respawn', default_value='False',\n description='Whether to respawn if a node crashes. Applied when composition is disabled.')\n\n declare_log_level_cmd = DeclareLaunchArgument(\n 'log_level', default_value='info',\n description='log level')\n\n load_nodes = GroupAction(\n condition=IfCondition(PythonExpression(['not ', use_composition])),\n actions=[\n Node(\n package='nav2_controller',\n executable='controller_server',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),\n Node(\n package='nav2_smoother',\n executable='smoother_server',\n name='smoother_server',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_behaviors',\n executable='behavior_server',\n name='behavior_server',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_waypoint_follower',\n executable='waypoint_follower',\n name='waypoint_follower',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings),\n Node(\n package='nav2_velocity_smoother',\n executable='velocity_smoother',\n name='velocity_smoother',\n output='screen',\n respawn=use_respawn,\n respawn_delay=2.0,\n parameters=[configured_params],\n arguments=['--ros-args', '--log-level', log_level],\n remappings=remappings +\n [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_navigation',\n output='screen',\n arguments=['--ros-args', '--log-level', log_level],\n parameters=[{'use_sim_time': use_sim_time},\n {'autostart': autostart},\n {'node_names': lifecycle_nodes}]),\n ]\n )\n\n load_composable_nodes = LoadComposableNodes(\n condition=IfCondition(use_composition),\n target_container=container_name_full,\n composable_node_descriptions=[\n ComposableNode(\n package='nav2_controller',\n plugin='nav2_controller::ControllerServer',\n name='controller_server',\n parameters=[configured_params],\n remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),\n ComposableNode(\n package='nav2_smoother',\n plugin='nav2_smoother::SmootherServer',\n name='smoother_server',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_planner',\n plugin='nav2_planner::PlannerServer',\n name='planner_server',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_behaviors',\n plugin='behavior_server::BehaviorServer',\n name='behavior_server',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_bt_navigator',\n plugin='nav2_bt_navigator::BtNavigator',\n name='bt_navigator',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_waypoint_follower',\n plugin='nav2_waypoint_follower::WaypointFollower',\n name='waypoint_follower',\n parameters=[configured_params],\n remappings=remappings),\n ComposableNode(\n package='nav2_velocity_smoother',\n plugin='nav2_velocity_smoother::VelocitySmoother',\n name='velocity_smoother',\n parameters=[configured_params],\n remappings=remappings +\n [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),\n ComposableNode(\n package='nav2_lifecycle_manager',\n plugin='nav2_lifecycle_manager::LifecycleManager',\n name='lifecycle_manager_navigation',\n parameters=[{'use_sim_time': use_sim_time,\n 'autostart': autostart,\n 'node_names': lifecycle_nodes}]),\n ],\n )\n\n # Create the launch description and populate\n ld = LaunchDescription()\n\n # Set environment variables\n ld.add_action(stdout_linebuf_envvar)\n\n # Declare the launch options\n ld.add_action(declare_namespace_cmd)\n ld.add_action(declare_use_sim_time_cmd)\n ld.add_action(declare_params_file_cmd)\n ld.add_action(declare_autostart_cmd)\n ld.add_action(declare_use_composition_cmd)\n ld.add_action(declare_container_name_cmd)\n ld.add_action(declare_use_respawn_cmd)\n ld.add_action(declare_log_level_cmd)\n # Add the actions to launch all of the navigation nodes\n ld.add_action(load_nodes)\n ld.add_action(load_composable_nodes)\n\n return ld" }, { "path": "lidarbot_navigation/lidarbot_navigation/__init__.py", "content": "" }, { "path": "lidarbot_navigation/maps/real_map3.yaml", "content": "image: real_map3.pgm\nmode: trinary\nresolution: 0.05\norigin: [-3.4, -6.49, 0]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.25" }, { "path": "lidarbot_navigation/maps/sim_map.yaml", "content": "image: sim_map.pgm\nmode: trinary\nresolution: 0.05\norigin: [-5.21, -5.44, 0]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.25\n" }, { "path": "lidarbot_navigation/package.xml", "content": "\n\n\n lidarbot_navigation\n 0.0.0\n Lidarbot navigation package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n ament_cmake_python\n\n ament_lint_auto\n ament_lint_common\n\n robot_localization\n navigation2\n nav2_bringup\n rclpy\n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_navigation/rviz/lidarbot_nav.rviz", "content": "Panels:\n - Class: rviz_common/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Map1/Topic1\n - /Odometry2/Shape1\n Splitter Ratio: 0.5\n Tree Height: 359\n - Class: rviz_common/Selection\n Name: Selection\n - Class: rviz_common/Tool Properties\n Expanded:\n - /2D Goal Pose1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.5886790156364441\n - Class: rviz_common/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\n - Class: slam_toolbox::SlamToolboxPlugin\n Name: SlamToolboxPlugin\n - Class: nav2_rviz_plugins/Navigation 2\n Name: Navigation 2\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz_default_plugins/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz_default_plugins/RobotModel\n Collision Enabled: false\n Description File: \"\"\n Description Source: Topic\n Description Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /robot_description\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link_optical:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n caster_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n imu_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n left_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n lidar_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n right_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Mass Properties:\n Inertia: false\n Mass: false\n Name: RobotModel\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n - Class: rviz_default_plugins/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: false\n base_footprint:\n Value: false\n base_link:\n Value: false\n camera_link:\n Value: false\n camera_link_optical:\n Value: false\n caster_wheel:\n Value: false\n imu_link:\n Value: false\n left_wheel:\n Value: false\n lidar_link:\n Value: false\n map:\n Value: true\n odom:\n Value: true\n right_wheel:\n Value: false\n Marker Scale: 1\n Name: TF\n Show Arrows: true\n Show Axes: true\n Show Names: false\n Tree:\n map:\n odom:\n base_footprint:\n base_link:\n camera_link:\n camera_link_optical:\n {}\n caster_wheel:\n {}\n imu_link:\n {}\n left_wheel:\n {}\n lidar_link:\n {}\n right_wheel:\n {}\n Update Interval: 0\n Value: true\n - Alpha: 1\n Autocompute Intensity Bounds: true\n Autocompute Value Bounds:\n Max Value: 10\n Min Value: -10\n Value: true\n Axis: Z\n Channel Name: intensity\n Class: rviz_default_plugins/LaserScan\n Color: 255; 255; 255\n Color Transformer: Intensity\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 255; 255\n Max Intensity: 0\n Min Color: 0; 0; 0\n Min Intensity: 0\n Name: LaserScan\n Position Transformer: XYZ\n Selectable: true\n Size (Pixels): 3\n Size (m): 0.05000000074505806\n Style: Flat Squares\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n - Class: rviz_default_plugins/Camera\n Enabled: false\n Far Plane Distance: 100\n Image Rendering: background and overlay\n Name: Camera\n Overlay Alpha: 0.5\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /camera/image_raw\n Value: false\n Visibility:\n Grid: true\n LaserScan: true\n Map: true\n Odometry: true\n Path: true\n RobotModel: true\n TF: true\n Value: true\n Zoom Factor: 1\n - Alpha: 0.699999988079071\n Class: rviz_default_plugins/Map\n Color Scheme: map\n Draw Behind: false\n Enabled: true\n Name: Map\n Topic:\n Depth: 5\n Durability Policy: Transient Local\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /map\n Update Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /map_updates\n Use Timestamp: false\n Value: true\n - Alpha: 0.699999988079071\n Class: rviz_default_plugins/Map\n Color Scheme: costmap\n Draw Behind: false\n Enabled: true\n Name: Map\n Topic:\n Depth: 5\n Durability Policy: Transient Local\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /global_costmap/costmap\n Update Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /global_costmap/costmap_updates\n Use Timestamp: false\n Value: true\n - Angle Tolerance: 0.10000000149011612\n Class: rviz_default_plugins/Odometry\n Covariance:\n Orientation:\n Alpha: 0.5\n Color: 255; 255; 127\n Color Style: Unique\n Frame: Local\n Offset: 1\n Scale: 1\n Value: true\n Position:\n Alpha: 0.30000001192092896\n Color: 204; 51; 204\n Scale: 1\n Value: true\n Value: false\n Enabled: true\n Keep: 3\n Name: Odometry\n Position Tolerance: 0.10000000149011612\n Shape:\n Alpha: 1\n Axes Length: 1\n Axes Radius: 0.10000000149011612\n Color: 53; 132; 228\n Head Length: 0.30000001192092896\n Head Radius: 0.10000000149011612\n Shaft Length: 1\n Shaft Radius: 0.05000000074505806\n Value: Arrow\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /diff_controller/odom\n Value: true\n - Angle Tolerance: 0.10000000149011612\n Class: rviz_default_plugins/Odometry\n Covariance:\n Orientation:\n Alpha: 0.5\n Color: 255; 255; 127\n Color Style: Unique\n Frame: Local\n Offset: 1\n Scale: 1\n Value: true\n Position:\n Alpha: 0.30000001192092896\n Color: 204; 51; 204\n Scale: 1\n Value: true\n Value: false\n Enabled: true\n Keep: 3\n Name: Odometry\n Position Tolerance: 0.10000000149011612\n Shape:\n Alpha: 1\n Axes Length: 1\n Axes Radius: 0.10000000149011612\n Color: 46; 194; 126\n Head Length: 0.30000001192092896\n Head Radius: 0.10000000149011612\n Shaft Length: 1\n Shaft Radius: 0.05000000074505806\n Value: Arrow\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /odom\n Value: true\n - Alpha: 1\n Buffer Length: 1\n Class: rviz_default_plugins/Path\n Color: 25; 255; 0\n Enabled: true\n Head Diameter: 0.30000001192092896\n Head Length: 0.20000000298023224\n Length: 0.30000001192092896\n Line Style: Billboards\n Line Width: 0.029999999329447746\n Name: Path\n Offset:\n X: 0\n Y: 0\n Z: 0\n Pose Color: 255; 85; 255\n Pose Style: None\n Radius: 0.029999999329447746\n Shaft Diameter: 0.10000000149011612\n Shaft Length: 0.10000000149011612\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /received_global_plan\n Value: true\n - Alpha: 1\n Buffer Length: 1\n Class: rviz_default_plugins/Path\n Color: 255; 85; 0\n Enabled: true\n Head Diameter: 0.30000001192092896\n Head Length: 0.20000000298023224\n Length: 0.30000001192092896\n Line Style: Billboards\n Line Width: 0.05000000074505806\n Name: Path\n Offset:\n X: 0\n Y: 0\n Z: 0\n Pose Color: 255; 85; 255\n Pose Style: None\n Radius: 0.029999999329447746\n Shaft Diameter: 0.10000000149011612\n Shaft Length: 0.10000000149011612\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /local_plan\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: map\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz_default_plugins/Interact\n Hide Inactive Objects: true\n - Class: rviz_default_plugins/MoveCamera\n - Class: rviz_default_plugins/Select\n - Class: rviz_default_plugins/FocusCamera\n - Class: rviz_default_plugins/Measure\n Line color: 128; 128; 0\n - Class: rviz_default_plugins/SetInitialPose\n Covariance x: 0.25\n Covariance y: 0.25\n Covariance yaw: 0.06853891909122467\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /initialpose\n - Class: rviz_default_plugins/SetGoal\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /goal_pose\n - Class: rviz_default_plugins/PublishPoint\n Single click: true\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /clicked_point\n - Class: nav2_rviz_plugins/GoalTool\n Transformation:\n Current:\n Class: rviz_default_plugins/TF\n Value: true\n Views:\n Current:\n Angle: -1.579999327659607\n Class: rviz_default_plugins/TopDownOrtho\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Scale: 111.98409271240234\n Target Frame: \n Value: TopDownOrtho (rviz_default_plugins)\n X: -0.36854273080825806\n Y: -1.5199042558670044\n Saved: ~\nWindow Geometry:\n Camera:\n collapsed: false\n Displays:\n collapsed: false\n Height: 1016\n Hide Left Dock: false\n Hide Right Dock: false\n Navigation 2:\n collapsed: false\n QMainWindow State: 000000ff00000000fd0000000400000000000002170000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001f2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000235000001a60000012600ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006ce0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n SlamToolboxPlugin:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 2560\n X: 0\n Y: 27\n" }, { "path": "lidarbot_navigation/scripts/trajectory_visualizer.py", "content": "#!/usr/bin/python3\n\n# Node to visualize the robot trajectory in Rviz.\n# Adapted from https://github.com/RBinsonB/trajectory_visualization\n\n# WIP\n\nimport rclpy\nfrom rclpy.node import Node\n\nfrom nav_msgs.msg import Path\nfrom geometry_msgs.msg import (\n Point,\n PoseStamped,\n)\n\n\nclass TrajectoryVisualizer(Node):\n\n def __init__(self, name):\n super().__init__(name)\n\n # Declare parameters\n self.max_poses_param = self.declare_parameter(\"max_poses\", 1000).value\n self.threshold_param = self.declare_parameter(\"threshold\", 0.001).value\n self.frame_id_param = self.declare_parameter(\"frame_id\", \"map\").value\n\n self.trajectory_path_msg = Path()\n self.previous_pose_position = Point()\n\n # Setup trajectory path publisher\n self.trajectory_path_pub = self.create_publisher(Path, \"/trajectory_path\", 10)\n\n # Setup subscriber to odometry\n self.odom_sub = self.create_subscription(\n Path,\n \"/transformed_global_plan\",\n # Odometry,\n # /odometry/filtered,\n self.odom_callback,\n 10,\n )\n\n # Callback function for odometry type messages\n def odom_callback(self, odom_msg):\n\n # Process message position and add it to path\n # self.publish_trajectory_path(odom_msg.pose.pose.position)\n self.publish_trajectory_path(odom_msg.poses[0].pose.position)\n\n # Add pose and publish trajectory path message\n def publish_trajectory_path(self, position):\n\n # If the pose has moved more than a set threshold, add it ot the path message and publish\n if (abs(self.previous_pose_position.x - position.x) > self.threshold_param) or (\n abs(self.previous_pose_position.y - position.y) > self.threshold_param\n ):\n\n # Add current pose to path\n self.trajectory_path_msg.header.stamp = self.get_clock().now().to_msg()\n self.trajectory_path_msg.header.frame_id = self.frame_id_param\n pose_stamped_msg = PoseStamped()\n pose_stamped_msg.header.stamp = self.get_clock().now().to_msg()\n pose_stamped_msg.pose.position.x = position.x\n pose_stamped_msg.pose.position.y = position.y\n pose_stamped_msg.pose.orientation.w = 1.0\n\n # If max number of poses in path has not been reach, just add pose to message\n if len(self.trajectory_path_msg.poses) < self.max_poses_param:\n self.trajectory_path_msg.poses.append(pose_stamped_msg)\n\n # Else rotate the list to dismiss oldest value and add newer value at the end\n else:\n self.get_logger().debug(\n \"Max number of poses reached, erasing oldest pose\"\n )\n self.trajectory_path_msg.poses = self.trajectory_path_msg.poses[1:]\n self.trajectory_path_msg.poses.append(pose_stamped_msg)\n\n self.previous_pose_position = pose_stamped_msg.pose.position\n self.trajectory_path_pub.publish(self.trajectory_path_msg)\n\n\ndef main(args=None):\n rclpy.init(args=args)\n\n pose_to_path_node = TrajectoryVisualizer(\"pose_to_path_node\")\n rclpy.spin(pose_to_path_node)\n\n pose_to_path_node.destroy_node()\n rclpy.shutdown()\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "lidarbot_slam/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_slam)\n\nfind_package(ament_cmake REQUIRED)\n\ninstall(\n DIRECTORY config launch rviz\n DESTINATION share/${PROJECT_NAME}\n)\n\nament_package()\n" }, { "path": "lidarbot_slam/config/mapper_params_online_async.yaml", "content": "slam_toolbox:\n ros__parameters:\n\n # Plugin params\n solver_plugin: solver_plugins::CeresSolver\n ceres_linear_solver: SPARSE_NORMAL_CHOLESKY\n ceres_preconditioner: SCHUR_JACOBI\n ceres_trust_strategy: LEVENBERG_MARQUARDT\n ceres_dogleg_type: TRADITIONAL_DOGLEG\n ceres_loss_function: None\n\n # ROS Parameters\n odom_frame: odom\n map_frame: map\n base_frame: base_footprint\n scan_topic: /scan\n use_map_saver: true\n mode: localization #mapping\n\n # if you'd like to immediately start continuing a map at a given pose\n # or at the dock, but they are mutually exclusive, if pose is given\n # will use pose\n #map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/real_map\n # map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/sim_map\n # map_start_pose: [0.0, 0.0, 0.0]\n #map_start_at_dock: true\n\n debug_logging: false\n throttle_scans: 1\n transform_publish_period: 0.02 #if 0 never publishes odometry\n map_update_interval: 5.0\n resolution: 0.05\n max_laser_range: 20.0 #for rastering images\n minimum_time_interval: 0.5\n transform_timeout: 0.2\n tf_buffer_duration: 30.\n stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps\n enable_interactive_mode: true\n\n # General Parameters\n use_scan_matching: true\n use_scan_barycenter: true\n minimum_travel_distance: 0.5\n minimum_travel_heading: 0.5\n scan_buffer_size: 10\n scan_buffer_maximum_scan_distance: 10.0\n link_match_minimum_response_fine: 0.1 \n link_scan_maximum_distance: 1.5\n loop_search_maximum_distance: 3.0\n do_loop_closing: true \n loop_match_minimum_chain_size: 10 \n loop_match_maximum_variance_coarse: 3.0 \n loop_match_minimum_response_coarse: 0.35 \n loop_match_minimum_response_fine: 0.45\n\n # Correlation Parameters - Correlation Parameters\n correlation_search_space_dimension: 0.5\n correlation_search_space_resolution: 0.01\n correlation_search_space_smear_deviation: 0.1 \n\n # Correlation Parameters - Loop Closure Parameters\n loop_search_space_dimension: 8.0\n loop_search_space_resolution: 0.05\n loop_search_space_smear_deviation: 0.03\n\n # Scan Matcher Parameters\n distance_variance_penalty: 0.5 \n angle_variance_penalty: 1.0 \n\n fine_search_angle_offset: 0.00349 \n coarse_search_angle_offset: 0.349 \n coarse_angle_resolution: 0.0349 \n minimum_angle_penalty: 0.9\n minimum_distance_penalty: 0.5\n use_response_expansion: true\n" }, { "path": "lidarbot_slam/launch/online_async_launch.py", "content": "import os\n\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument, LogInfo\nfrom launch.conditions import UnlessCondition\nfrom launch.substitutions import LaunchConfiguration, PythonExpression\n\nfrom launch_ros.actions import Node\n\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom nav2_common.launch import HasNodeParams\n\ndef generate_launch_description():\n use_sim_time = LaunchConfiguration('use_sim_time')\n slam_params_file = LaunchConfiguration('slam_params_file')\n default_params_file = os.path.join(get_package_share_directory('lidarbot_slam'),\n 'config', 'mapper_params_online_async.yaml')\n \n declare_use_sim_time_argument = DeclareLaunchArgument(\n 'use_sim_time',\n default_value='true',\n description='Use simulation/Gazebo clock')\n \n declare_params_file_cmd = DeclareLaunchArgument(\n 'slam_params_file',\n default_value=default_params_file,\n description='Full path to the ROS2 parameters file to use for the slam_toolbox node')\n\n # If the provided param file doesn't have slam_toolbox params, we must pass the\n # default_params_file instead. This could happen due to automatic propagation of\n # LaunchArguments. See:\n # https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866\n has_node_params = HasNodeParams(source_file=slam_params_file,\n node_name='slam_toolbox')\n\n actual_params_file = PythonExpression(['\"', slam_params_file, '\" if ', has_node_params,\n ' else \"', default_params_file, '\"'])\n\n log_param_change = LogInfo(msg=['provided params_file ', slam_params_file,\n ' does not contain slam_toolbox parameters. Using default: ',\n default_params_file],\n condition=UnlessCondition(has_node_params))\n\n start_async_slam_toolbox_node = Node(\n parameters=[\n actual_params_file,\n {'use_sim_time': use_sim_time}\n ],\n package='slam_toolbox',\n executable='async_slam_toolbox_node',\n name='slam_toolbox',\n output='screen')\n\n ld = LaunchDescription()\n\n ld.add_action(declare_use_sim_time_argument)\n ld.add_action(declare_params_file_cmd)\n ld.add_action(log_param_change)\n ld.add_action(start_async_slam_toolbox_node)\n\n return ld" }, { "path": "lidarbot_slam/package.xml", "content": "\n\n\n lidarbot_slam\n 0.0.0\n Lidarbot SLAM package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n slam_toolbox\n \n ament_lint_auto\n ament_lint_common\n\n \n ament_cmake\n \n\n" }, { "path": "lidarbot_slam/rviz/lidarbot_slam.rviz", "content": "Panels:\n - Class: rviz_common/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Odometry2\n - /Odometry2/Shape1\n Splitter Ratio: 0.5\n Tree Height: 419\n - Class: rviz_common/Selection\n Name: Selection\n - Class: rviz_common/Tool Properties\n Expanded:\n - /2D Goal Pose1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.5886790156364441\n - Class: rviz_common/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\n - Class: slam_toolbox::SlamToolboxPlugin\n Name: SlamToolboxPlugin\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz_default_plugins/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz_default_plugins/RobotModel\n Collision Enabled: false\n Description File: \"\"\n Description Source: Topic\n Description Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /robot_description\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n camera_link_optical:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n caster_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n imu_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n left_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n lidar_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n right_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Mass Properties:\n Inertia: false\n Mass: false\n Name: RobotModel\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n - Class: rviz_default_plugins/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: false\n base_footprint:\n Value: false\n base_link:\n Value: false\n camera_link:\n Value: false\n camera_link_optical:\n Value: false\n caster_wheel:\n Value: false\n imu_link:\n Value: false\n left_wheel:\n Value: false\n lidar_link:\n Value: false\n right_wheel:\n Value: false\n Marker Scale: 1\n Name: TF\n Show Arrows: true\n Show Axes: true\n Show Names: false\n Tree:\n {}\n Update Interval: 0\n Value: true\n - Alpha: 1\n Autocompute Intensity Bounds: true\n Autocompute Value Bounds:\n Max Value: 10\n Min Value: -10\n Value: true\n Axis: Z\n Channel Name: intensity\n Class: rviz_default_plugins/LaserScan\n Color: 255; 255; 255\n Color Transformer: Intensity\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 255; 255\n Max Intensity: 15\n Min Color: 0; 0; 0\n Min Intensity: 3\n Name: LaserScan\n Position Transformer: XYZ\n Selectable: true\n Size (Pixels): 3\n Size (m): 0.05000000074505806\n Style: Flat Squares\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n - Class: rviz_default_plugins/Camera\n Enabled: false\n Far Plane Distance: 100\n Image Rendering: background and overlay\n Name: Camera\n Overlay Alpha: 0.5\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /camera/image_raw\n Value: false\n Visibility:\n Grid: true\n LaserScan: true\n Map: true\n Odometry: true\n RobotModel: true\n TF: true\n Value: true\n Zoom Factor: 1\n - Alpha: 0.699999988079071\n Class: rviz_default_plugins/Map\n Color Scheme: map\n Draw Behind: false\n Enabled: true\n Name: Map\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /map\n Update Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /map_updates\n Use Timestamp: false\n Value: true\n - Angle Tolerance: 0.10000000149011612\n Class: rviz_default_plugins/Odometry\n Covariance:\n Orientation:\n Alpha: 0.5\n Color: 255; 255; 127\n Color Style: Unique\n Frame: Local\n Offset: 1\n Scale: 1\n Value: true\n Position:\n Alpha: 0.30000001192092896\n Color: 204; 51; 204\n Scale: 1\n Value: true\n Value: false\n Enabled: true\n Keep: 5\n Name: Odometry\n Position Tolerance: 0.10000000149011612\n Shape:\n Alpha: 1\n Axes Length: 1\n Axes Radius: 0.10000000149011612\n Color: 53; 132; 228\n Head Length: 0.30000001192092896\n Head Radius: 0.10000000149011612\n Shaft Length: 1\n Shaft Radius: 0.05000000074505806\n Value: Arrow\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /diff_controller/odom\n Value: true\n - Angle Tolerance: 0.10000000149011612\n Class: rviz_default_plugins/Odometry\n Covariance:\n Orientation:\n Alpha: 0.5\n Color: 255; 255; 127\n Color Style: Unique\n Frame: Local\n Offset: 1\n Scale: 1\n Value: true\n Position:\n Alpha: 0.30000001192092896\n Color: 204; 51; 204\n Scale: 1\n Value: true\n Value: false\n Enabled: true\n Keep: 5\n Name: Odometry\n Position Tolerance: 0.10000000149011612\n Shape:\n Alpha: 1\n Axes Length: 1\n Axes Radius: 0.10000000149011612\n Color: 46; 194; 126\n Head Length: 0.30000001192092896\n Head Radius: 0.10000000149011612\n Shaft Length: 1\n Shaft Radius: 0.05000000074505806\n Value: Arrow\n Topic:\n Depth: 5\n Durability Policy: Volatile\n Filter size: 10\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /odometry/filtered\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: map\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz_default_plugins/Interact\n Hide Inactive Objects: true\n - Class: rviz_default_plugins/MoveCamera\n - Class: rviz_default_plugins/Select\n - Class: rviz_default_plugins/FocusCamera\n - Class: rviz_default_plugins/Measure\n Line color: 128; 128; 0\n - Class: rviz_default_plugins/SetInitialPose\n Covariance x: 0.25\n Covariance y: 0.25\n Covariance yaw: 0.06853891909122467\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /initialpose\n - Class: rviz_default_plugins/SetGoal\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /goal_pose\n - Class: rviz_default_plugins/PublishPoint\n Single click: true\n Topic:\n Depth: 5\n Durability Policy: Volatile\n History Policy: Keep Last\n Reliability Policy: Reliable\n Value: /clicked_point\n Transformation:\n Current:\n Class: rviz_default_plugins/TF\n Value: true\n Views:\n Current:\n Angle: 0\n Class: rviz_default_plugins/TopDownOrtho\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Scale: 152.72531127929688\n Target Frame: \n Value: TopDownOrtho (rviz_default_plugins)\n X: -0.07789774239063263\n Y: 0.0782514214515686\n Saved: ~\nWindow Geometry:\n Camera:\n collapsed: false\n Displays:\n collapsed: false\n Height: 1043\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000022e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0100000271000001850000018500ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n SlamToolboxPlugin:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1920\n X: 1920\n Y: 0\n" }, { "path": "lidarbot_teleop/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(lidarbot_teleop)\n\n# find dependencies\nfind_package(ament_cmake REQUIRED)\n\ninstall(\n DIRECTORY config launch \n DESTINATION share/${PROJECT_NAME}\n)\nament_package()" }, { "path": "lidarbot_teleop/config/joystick.yaml", "content": "joy_node:\n ros__parameters:\n device_id: 0\n deadzone: 0.25\n autorepeat_rate: 20.0 # milliseconds\n\nteleop_node:\n ros__parameters:\n axis_linear:\n x: 1\n scale_linear:\n x: 0.4\n \n axis_angular:\n yaw: 2 \n scale_angular:\n yaw: 1.0\n \n enable_button: 4\n enable_turbo_button: -1 \n\n require_enable_button: true\n" }, { "path": "lidarbot_teleop/config/twist_mux.yaml", "content": "twist_mux:\n ros__parameters:\n topics:\n navigation:\n topic : cmd_vel\n timeout : 0.5\n priority: 10\n joystick:\n topic : cmd_vel_joy\n timeout : 0.5\n priority: 100" }, { "path": "lidarbot_teleop/launch/joystick_launch.py", "content": "# Launch joystick used to drive the robot\n\nimport os\nfrom ament_index_python.packages import get_package_share_directory\n\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrom launch.substitutions import LaunchConfiguration\n\ndef generate_launch_description():\n use_sim_time = LaunchConfiguration('use_sim_time')\n\n joy_params = os.path.join(get_package_share_directory('lidarbot_teleop'), 'config', 'joystick.yaml')\n\n joy_node = Node(\n package='joy',\n executable='joy_node',\n parameters=[joy_params, {'use_sim_time': use_sim_time}]\n )\n\n teleop_node = Node(\n package='teleop_twist_joy',\n executable='teleop_node',\n name='teleop_node',\n parameters=[joy_params, {'use_sim_time': use_sim_time}],\n remappings=[('/cmd_vel', '/cmd_vel_joy')]\n )\n\n return LaunchDescription([\n joy_node,\n teleop_node\n ])" }, { "path": "lidarbot_teleop/package.xml", "content": "\n\n\n lidarbot_teleop\n 0.0.0\n Lidarbot teleop package\n Chinedu Amadi\n BSD 3-Clause\n\n ament_cmake\n\n ament_lint_auto\n ament_lint_common\n\n joy\n joy_tester\n teleop_twist_joy\n \n \n ament_cmake\n \n\n" } ]