update master

- update based on robot source
Interactics · Jan 9, 2021 · c541e9b · c541e9b
1 parent 73359a3
commit c541e9b
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diff --git a/bada_g2/bada_g2_bringup/scripts/motor_node.py b/bada_g2/bada_g2_bringup/scripts/motor_node.py
diff --git a/bada_g2_2dnav/.vscode/c_cpp_properties.json b/bada_g2_2dnav/.vscode/c_cpp_properties.json
@@ -0,0 +1,30 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/home/bada/catkin_ws/devel/include/**",
+                "/opt/ros/melodic/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_core/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_odom/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_complementary_filter/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_filter_madgwick/include/**",
+                "/home/bada/catkin_ws/src/laser_filters/include/**",
+                "/home/bada/catkin_ws/src/learning_tf/include/**",
+                "/home/bada/catkin_ws/src/realsense_gazebo_plugin/include/**",
+                "/home/bada/catkin_ws/src/robot_localization/include/**",
+                "/home/bada/catkin_ws/src/robot_setup_tf/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}
diff --git a/bada_g2_2dnav/.vscode/settings.json b/bada_g2_2dnav/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/bada/catkin_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}
diff --git a/bada_g2_2dnav/config/.vscode/c_cpp_properties.json b/bada_g2_2dnav/config/.vscode/c_cpp_properties.json
@@ -0,0 +1,30 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/home/bada/catkin_ws/devel/include/**",
+                "/opt/ros/melodic/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_core/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_odom/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_complementary_filter/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_filter_madgwick/include/**",
+                "/home/bada/catkin_ws/src/laser_filters/include/**",
+                "/home/bada/catkin_ws/src/learning_tf/include/**",
+                "/home/bada/catkin_ws/src/realsense_gazebo_plugin/include/**",
+                "/home/bada/catkin_ws/src/robot_localization/include/**",
+                "/home/bada/catkin_ws/src/robot_setup_tf/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}
diff --git a/bada_g2_2dnav/config/.vscode/settings.json b/bada_g2_2dnav/config/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/bada/catkin_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}
diff --git a/bada_g2_2dnav/config/dwa_local_planner_params.yaml b/bada_g2_2dnav/config/dwa_local_planner_params.yaml
@@ -1,27 +1,27 @@
 DWAPlannerROS:
-  max_vel_x: 0.1
-  min_vel_x: -0.05
+  max_vel_x: 0.15
+  min_vel_x: -0.02
   max_vel_y: 0.0
   min_vel_y: 0.0
-  max_vel_trans: 0.1
-  min_vel_trans: -0.1
+  max_vel_trans: 0.3
+  min_vel_trans: -0.3
 
 #trans_stopped_vel:0.01
-  max_vel_theta: 0.3
+  max_vel_theta: 0.5
   min_vel_theta: 0.1
 
   #rot_stopped_vel:0.01
   acc_lim_x: 0.5
   acc_lim_y: 0.0
   acc_lim_theta: 1.0
 
-  yaw_goal_tolerance: 0.20
-  xy_goal_tolerance: 0.2
+  yaw_goal_tolerance: 0.1
+  xy_goal_tolerance: 0.05
 
   sim_time: 3.5  #3.5
   vx_samples: 20
   vy_samples: 0
-  vtheta_samples: 40
+  vth_samples: 50
 
   path_distance_bias: 32.0
   goal_distance_bias: 24.0

diff --git a/bada_g2_2dnav/config/global_costmap_params.yaml b/bada_g2_2dnav/config/global_costmap_params.yaml
@@ -1,5 +1,5 @@
 global_costmap:
-  global_frame: map
+  global_frame: odom #map
   robot_base_frame: base_footprint_link # cam_2_link 
   update_frequency: 3.0
   publish_frequency: 5.0
@@ -8,5 +8,5 @@ global_costmap:
   static_map: true
   plugins:
      - {name: static_layer,            type: "costmap_2d::StaticLayer"}
-     - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
+    #  - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
      - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
diff --git a/bada_g2_2dnav/config/local_costmap_params.yaml b/bada_g2_2dnav/config/local_costmap_params.yaml
@@ -11,5 +11,6 @@
    resolution: 0.05
    transform_tolerance: 0.5
    plugins:
-    - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
+    #- {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
     - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
+    #- {name: static_layer,            type: "costmap_2d::StaticLayer"}
diff --git a/bada_g2_2dnav/launch/.vscode/c_cpp_properties.json b/bada_g2_2dnav/launch/.vscode/c_cpp_properties.json
@@ -0,0 +1,30 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/home/bada/catkin_ws/devel/include/**",
+                "/opt/ros/melodic/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_core/include/**",
+                "/home/bada/catkin_ws/src/bada_g2_odom/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_complementary_filter/include/**",
+                "/home/bada/catkin_ws/src/imu_tools/imu_filter_madgwick/include/**",
+                "/home/bada/catkin_ws/src/laser_filters/include/**",
+                "/home/bada/catkin_ws/src/learning_tf/include/**",
+                "/home/bada/catkin_ws/src/realsense_gazebo_plugin/include/**",
+                "/home/bada/catkin_ws/src/robot_localization/include/**",
+                "/home/bada/catkin_ws/src/robot_setup_tf/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}
diff --git a/bada_g2_2dnav/launch/.vscode/settings.json b/bada_g2_2dnav/launch/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/bada/catkin_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}
diff --git a/bada_g2_2dnav/launch/amcl.launch b/bada_g2_2dnav/launch/amcl.launch
@@ -6,22 +6,22 @@
   <node pkg="amcl" type="amcl" name="amcl">
     <param name="use_map_topic" value="$(arg use_map_topic)"/>
     <!-- Publish scans from best pose at a max of 10 Hz -->
-    <param name="odom_model_type" value="diff"/>
+    <param name="odom_model_type" value="diff-corrected"/>
     <param name="odom_alpha5" value="0.1"/>
     <param name="gui_publish_rate" value="10.0"/>
     <param name="laser_max_beams" value="720"/>
     <param name="laser_min_range" value="0.1"/>
     <param name="laser_max_range" value="15.0"/>
     <param name="min_particles" value="500"/>
-    <param name="max_particles" value="2000"/>
+    <param name="max_particles" value="2500"/>
     <!-- Maximum error between the true distribution and the estimated distribution. -->
-    <param name="kld_err" value="0.05"/>
+    <param name="kld_err" value="0.07"/>
     <param name="kld_z" value="0.99"/>
-    <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
+    <param name="odom_alpha1" value="0.4"/>
+    <param name="odom_alpha2" value="0.6"/>
     <!-- translation std dev, m -->
-    <param name="odom_alpha3" value="0.2"/>
-    <param name="odom_alpha4" value="0.2"/>
+    <param name="odom_alpha3" value="0.6"/>
+    <param name="odom_alpha4" value="0.8"/>
     <param name="laser_z_hit" value="0.5"/>
     <param name="laser_z_short" value="0.05"/>
     <param name="laser_z_max" value="0.05"/>
@@ -32,11 +32,11 @@
     <!-- Maximum distance to do obstacle inflation on map, for use in likelihood_field model. -->
     <param name="laser_likelihood_max_dist" value="2.0"/>
     <!-- Translational movement required before performing a filter update.  -->
-    <param name="update_min_d" value="0.1"/>
+    <param name="update_min_d" value="0.01"/>
     <!--Rotational movement required before performing a filter update. -->
-    <param name="update_min_a" value="0.314"/>
+    <param name="update_min_a" value="0.078"/>
     <param name="odom_frame_id" value="odom"/>
-    <param name="base_frame_id" value="base_link"/>
+    <param name="base_frame_id" value="base_footprint_link"/>
     <param name="global_frame_id" value="map"/>
     <!-- Number of filter updates required before resampling. -->
     <param name="resample_interval" value="1"/>

diff --git a/bada_g2_2dnav/launch/amcl_navigation.launch b/bada_g2_2dnav/launch/amcl_navigation.launch
@@ -4,14 +4,24 @@
   <arg name="scan_topic" default="scan_filtered" />
 
   <!-- Run the map server -->
- <arg name="map_file" default="$(find bada_g2_2dnav)/maps/112map.yaml"/>
+ <arg name="map_file" default="$(find bada_g2_2dnav)/maps/testmap.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
 
   <!--- Run AMCL -->
-  <include file="$(find bada_g2_2dnav)/launch/amcl.launch">
+  <!-- <include file="$(find bada_g2_2dnav)/launch/amcl.launch">
     <arg name="use_map_topic" value="$(arg use_map_topic)" />
     <arg name="scan_topic"    value="$(arg scan_topic)" />
-  </include>
+  </include> -->
+<!-- 
+  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
+    <remap from="scan" to="scan_filtered"/>
+    <param name="base_frame" value="base_footprint_link"/>
+    <param name="fixed_frame" value="odom"/>
+    <param name="use_alpha_beta" value="true"/>
+    <param name="max_iterations" value="10"/>
+    <param name="publish_tf" value="false"/>
+    <param name="publish_pose_stamped" value="true"/>
+  </node> -->
 
   <!--- Run Move Base -->
  <include file="$(find bada_g2_2dnav)/launch/move_base.launch" />

diff --git a/bada_g2_2dnav/maps/finalmap (copy).pgm b/bada_g2_2dnav/maps/finalmap (copy).pgm