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added webots #1

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b90d313
added webots
delihus Dec 28, 2022
43149b1
test husarnet
delihus Dec 29, 2022
047c983
update readme nvidia | added scan filtered
delihus Jan 10, 2023
c8e805a
added comment to params
delihus Jan 10, 2023
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4 changes: 2 additions & 2 deletions .env
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Original file line number Diff line number Diff line change
Expand Up @@ -8,5 +8,5 @@ LIDAR_BAUDRATE=256000
DDS_CONFIG=DEFAULT
# DDS_CONFIG=HUSARNET_SIMPLE_AUTO

# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
35 changes: 33 additions & 2 deletions README.md
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@@ -1,6 +1,6 @@
# rosbot-xl-mapping

Create a map of the unknow environment with ROSbot XL controlled in the LAN network or [over the Internet](https://husarion.com/manuals/rosbot/remote-access/).
Create a map of the unknow environment with ROSbot XL controlled in the LAN network or [over the Internet](https://husarion.com/manuals/rosbot/remote-access/).

## Quick Start (real robot)

Expand Down Expand Up @@ -51,7 +51,7 @@ xhost +local:docker && \
docker compose -f compose.pc.yaml up
```

#### Without the gamepad
#### Without the gamepad

```bash
xhost +local:docker && \
Expand Down Expand Up @@ -115,4 +115,35 @@ And inside the running container shell execute:
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```

## Quick Start (Webots simulation)

> **Prerequisites**
>
> The `compose.sim.webots.yaml` file uses NVIDIA Container Runtime. Make sure you have NVIDIA GPU and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) installed.
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Is it possible to run webots without nvidia runtime? For ignition-gazebo simulation we have two configs (the one without nvidia runtime is really really slow though).

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Added in readme running without nvidia.


### Run without Nvidia acceleration
Comment or delete line inside the compose file `compose.sim.webots.yaml`.
```bash
# runtime: nvidia
...
# - NVIDIA_VISIBLE_DEVICES=all
# - NVIDIA_DRIVER_CAPABILITIES=all
```

Start the containers in a new terminal:

```bash
xhost +local:docker && \
docker compose -f compose.sim.webots.yaml up
```

And in the second terminal start `telop-twist-keyboard` for manual ROSbot XL control:

```bash
docker exec -it rviz bash
```

And inside the running container shell execute:

```bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
5 changes: 2 additions & 3 deletions compose.pc.yaml
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Expand Up @@ -31,12 +31,11 @@ services:
ipc: host
devices:
- /dev/input
volumes:
volumes:
- ./config/joy2twist.yaml:/joy2twist.yaml
environment:
- DDS_CONFIG
- RMW_IMPLEMENTATION
command: >
command: >
ros2 launch joy2twist gamepad_controller.launch.py
joy2twist_params_file:=/joy2twist.yaml

57 changes: 57 additions & 0 deletions compose.sim.webots.yaml
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@@ -0,0 +1,57 @@
services:

rviz:
image: husarion/rviz2:humble-22-12-20
runtime: nvidia
container_name: rviz
network_mode: host
ipc: host
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ./config/rosbot.rviz:/root/.rviz2/default.rviz
environment:
- DDS_CONFIG
- RMW_IMPLEMENTATION
- DISPLAY=${DISPLAY:?err}
- NVIDIA_VISIBLE_DEVICES=all
- NVIDIA_DRIVER_CAPABILITIES=all

rosbot-xl:
image: husarion/webots:galactic
runtime: nvidia
network_mode: host
ipc: host
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
environment:
- DDS_CONFIG
- RMW_IMPLEMENTATION
- DISPLAY=${DISPLAY:?err}
- NVIDIA_VISIBLE_DEVICES=all
- NVIDIA_DRIVER_CAPABILITIES=all
command: ros2 launch webots_ros2_husarion robot_launch.py robot_name:="rosbot_xl"

mapping:
image: husarion/slam-toolbox:humble-22-12-07
network_mode: host
ipc: host
volumes:
- ./config/slam_toolbox_params_webots.yaml:/slam_params.yaml
environment:
- DDS_CONFIG
- RMW_IMPLEMENTATION
command: >
ros2 launch slam_toolbox online_sync_launch.py
slam_params_file:=/slam_params.yaml
use_sim_time:=True

map-saver:
image: husarion/nav2-map-server:humble-22-12-07
network_mode: host
ipc: host
volumes:
- ./maps:/maps
environment:
- DDS_CONFIG
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Not sure if DDS_CONFIG is necessary, and if it is, it should be also included in other containers.

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Added in every service

- RMW_IMPLEMENTATION
command: bash -c "while true; do ros2 run nav2_map_server map_saver_cli --free 0.15 --fmt png -f /maps/map; sleep 5; done"
87 changes: 13 additions & 74 deletions config/rosbot.rviz
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Expand Up @@ -6,6 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /tf1/Frames1
- /scan1/Topic1
Splitter Ratio: 0.6294117569923401
Tree Height: 871
- Class: rviz_common/Selection
Expand Down Expand Up @@ -53,16 +54,10 @@ Visualization Manager:
Value: true
body_link:
Value: false
camera_link:
Value: false
cover_link:
Value: false
fl_range:
Value: false
fl_wheel_link:
Value: true
fr_range:
Value: false
fr_wheel_link:
Value: true
imu_link:
Expand All @@ -73,20 +68,10 @@ Visualization Manager:
Value: false
odom:
Value: false
orbbec_astra_depth_link:
Value: false
orbbec_astra_depth_reference_link:
Value: false
orbbec_astra_link:
Value: false
rl_range:
Value: false
rl_wheel_link:
Value: true
rplidar_a2_link:
Value: false
rr_range:
Value: false
rplidar_s1_link:
Value: true
rr_wheel_link:
Value: true
Marker Scale: 0.4000000059604645
Expand All @@ -97,36 +82,24 @@ Visualization Manager:
Tree:
base_link:
body_link:
camera_link:
orbbec_astra_link:
orbbec_astra_depth_link:
orbbec_astra_depth_reference_link:
{}
cover_link:
rplidar_a2_link:
rplidar_s1_link:
laser:
{}
fl_range:
{}
fl_wheel_link:
{}
fr_range:
{}
fr_wheel_link:
{}
imu_link:
{}
rl_range:
{}
rl_wheel_link:
{}
rr_range:
{}
rr_wheel_link:
{}
map:
odom:
{}
{}
odom:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Expand Down Expand Up @@ -180,7 +153,7 @@ Visualization Manager:
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Value: /scan_filtered
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand Down Expand Up @@ -211,28 +184,15 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
cover_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_range:
Alpha: 1
Show Axes: false
Show Trail: false
fl_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_range:
Alpha: 1
Show Axes: false
Show Trail: false
fr_wheel_link:
Alpha: 1
Show Axes: false
Expand All @@ -246,37 +206,16 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
orbbec_astra_depth_link:
Alpha: 1
Show Axes: false
Show Trail: false
orbbec_astra_depth_reference_link:
Alpha: 1
Show Axes: false
Show Trail: false
orbbec_astra_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rl_range:
Alpha: 1
Show Axes: false
Show Trail: false
rl_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rplidar_a2_link:
rplidar_s1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rr_range:
Alpha: 1
Show Axes: false
Show Trail: false
rr_wheel_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -364,13 +303,13 @@ Window Geometry:
Hide Right Dock: false
Navigation 2:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000176000003a2fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001a000000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000000c00430061006d00650072006101000001fc000001a40000000000000000fb00000018004e0061007600690067006100740069006f006e00200032000000013e000000c20000012300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000020c000000c00000000000000000fb0000000a0049006d0061006700650100000295000001040000000000000000000000010000014f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000970000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000467000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000176000003a2fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001a000000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000000c00430061006d00650072006101000001fc000001a40000000000000000fb00000018004e0061007600690067006100740069006f006e00200032000000013e000000c20000012300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000020c000000c00000000000000000fb0000000a0049006d0061006700650100000295000001040000000000000000000000010000014f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000970000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000465000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 3912
Y: 552
Width: 1846
X: 74
Y: 27
76 changes: 76 additions & 0 deletions config/slam_toolbox_params_webots.yaml
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# This is the second param file for the slam_toolbox. The difference between this and the slam_toolbox_params.yaml is the use_scan_matching param which
# is set to false. Webots has a bugged lidar parser to the LidarScan message type that's why the map is building incorrectly. It looks like every frame
# of map is rotating about the center of the robot. Summing up there is no robot position correction during mapping.

# Follow the issue:
# https://github.com/cyberbotics/webots/issues/5540

slam_toolbox:
ros__parameters:
# Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None #HuberLoss

# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /scan_filtered
mode: mapping #localization

debug_logging: false
throttle_scans: 1
transform_publish_period: 0.04
map_update_interval: 1.0
resolution: 0.05
max_laser_range: 12.0 #for rastering images
minimum_time_interval: 0.05
transform_timeout: 0.1
tf_buffer_duration: 20.0
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode: false

# General Parameters
# The localization correction based on the lidar measurements is turned off because of bug with lidar in webots simulator.
# https://github.com/cyberbotics/webots/issues/5540
use_scan_matching: false
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still not fixed? :D It would be nice to add a comment that this parameter is changed, and a general one at the beginning of the file, explaining why it is necessary to have a separate config. Also a link to the issue will be nice, so that we can keep track of it, and remove this config once it is solved.

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Added the comment at the beginning of the file.

use_scan_barycenter: true
minimum_travel_distance: 0.2
minimum_travel_heading: 0.1
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 0.5
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 0.75
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45

# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1

# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03

# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0

fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

use_sim_time: False