Merge pull request #21 from khaledhazime/master

FInishing up to v3

.vscode/c_cpp_properties.json

@@ -0,0 +1,24 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/home/athome/doris_ws/devel/include",
+                "/opt/ros/melodic/include",
+                "/home/athome/doris_ws/src/openslam_gmapping/include",
+                "/home/athome/doris_ws/src/turtlebot3_simulations/turtlebot3_fake/include",
+                "/home/athome/doris_ws/src/turtlebot3_simulations/turtlebot3_gazebo/include",
+                "/usr/include"
+            ],
+            "name": "Linux",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "c++17"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/athome/doris_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}

INSTALL.sh

@@ -0,0 +1,31 @@
+sudo apt install terminator -y
+sudo apt-get install zsh curl git -y
+sh -c "$(curl -fsSL https://raw.githubusercontent.com/robbyrussell/oh-my-zsh/master/tools/install.sh)" -y
+curl -sSL git.io/jovial | sudo bash -s $USER
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+sudo apt update
+sudo apt install ros-melodic-desktop-full -y
+sudo rosdep init
+rosdep update
+echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
+source ~/.zshrc
+sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential -y
+mkdir -p ~/doris_ws/src
+cd ~/doris_ws
+catkin_make
+source devel/setup.zsh
+cd src
+git clone https://github.com/ros-perception/openslam_gmapping
+cd ..
+catkin_make
+cd src
+git clone https://github.com/ros-perception/slam_gmapping
+cd ..
+catkin_make
+sudo apt-get install ros-melodic-amcl -y
+sudo apt-get install ros-melodic-move-base -y
+sudo apt-get install ros-melodic-sick-scan -y
+sudo apt-get install ros-melodic-map-server -y
+cd ~/doris_ws/src
+

butia_navigation_description/.vscode/c_cpp_properties.json

@@ -0,0 +1,19 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "",
+        "limitSymbolsToIncludedHeaders": true
+      },
+      "includePath": [
+        "/home/athome/doris_ws/devel/include",
+        "/opt/ros/melodic/include",
+        "/home/athome/doris_ws/src/openslam_gmapping/include",
+        "/home/athome/doris_ws/src/turtlebot3_simulations/turtlebot3_fake/include",
+        "/home/athome/doris_ws/src/turtlebot3_simulations/turtlebot3_gazebo/include",
+        "/usr/include"
+      ],
+      "name": "Linux"
+    }
+  ]
+}

butia_navigation_description/config/gmapping.launch.xml

@@ -7,10 +7,10 @@
     <param name="ymax" value="1.0"/>
 
     <param name="lskip" value="10"/>
-    <param name="linearUpdate" value="0.1"/>
-    <param name="angularUpdate" value="0.1"/>
+    <param name="linearUpdate" value="1.0"/>
+    <param name="angularUpdate" value="0.5"/>
     <!-- <param name="temporalUpdate" value="3"/> -->
-    <param name="maxRange" value="4.0"/> <!-- reduces random spikes -->
+    <param name="maxRange" value="12.0"/> <!-- reduces random spikes -->
     <!-- <param name="minimumScore" value="50"/> -->
 
     <!-- <remap from="scan" to="$(arg scan_topic)"/> -->

butia_navigation_description/config/param/.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "",
+        "limitSymbolsToIncludedHeaders": true
+      },
+      "includePath": [
+        "/home/athome/doris_ws/devel/include/**",
+        "/opt/ros/melodic/include/**",
+        "/home/athome/doris_ws/src/openslam_gmapping/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS"
+    }
+  ]
+}

butia_navigation_description/config/param/.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/athome/doris_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}

butia_navigation_description/config/param/costmap_common_params.yaml

@@ -1,49 +1,51 @@
-max_obstacle_height: 1.0  # assume something like an arm is mounted on top of the robot
+max_obstacle_height: 1.9  # assume something like an arm is mounted on top of the robot
 
 # Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
 # robot_radius: 0.35  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
-footprint: [[0.75, 0.25], [0.30, -0.25], [-0.30, -0.25], [-0.30, 0.25]]   # if the robot is not circular
+# footprint: [[0.75, 0.0], [0.30, -0.25], [-0.30, -0.25], [-0.30, 0.25], [0.30, 0.25]]   # if the robot is not circular
+footprint: [[0.75, 0.0], [0.75, 0.075], [0.30, 0.075], [0.30, 0.25], [-0.30, 0.25], [-0.30, -0.25], [0.30, -0.25], [0.30, -0.075], [0.75, -0.075]]
 
 map_type: voxel
 
 obstacle_layer:
   enabled:              true
-  max_obstacle_height:  0.6
+  max_obstacle_height:  1.9
   origin_z:             0.0
   z_resolution:         0.2
-  z_voxels:             2        # set higher to enable voxels
+  z_voxels:             10        # set higher to enable voxels
   unknown_threshold:    15
   mark_threshold:       0
   combination_method:   1
   track_unknown_space:  true    # true needed for disabling global path planning through unknown space
   footprint_clearing_enabled: true
   obstacle_range: 3.5
-  raytrace_range: 4.0
+  raytrace_range: 8.0
   publish_voxel_map: false
-  observation_sources:  scan ground_scan
-  scan:
+  observation_sources:  body_scan ground_scan
+  body_scan:
     data_type: LaserScan
     topic: scan
     marking: true   # whether the sensor will be used to add obstacle information to the costmap
     clearing: true  # whether the sensor will be used to clear obstacle information from the costmap
-    min_obstacle_height: 0.25
-    max_obstacle_height: 0.35
+    min_obstacle_height: 0.68
+    max_obstacle_height: 1.9
     observation_persistence: 0.0  # parametros sendo testados
-    raytrace_range: 4.0
+    raytrace_range: 8.0
     inf_is_valid: true
   ground_scan:
     data_type: LaserScan
     topic: scan2
     marking: true   # whether the sensor will be used to add obstacle information to the costmap
     clearing: true  # whether the sensor will be used to clear obstacle information from the costmap
-    min_obstacle_height: 0.25
-    max_obstacle_height: 0.35
+    min_obstacle_height: 0.0
+    max_obstacle_height: 0.68
     observation_persistence: 0.0  # parametros sendo testados
     raytrace_range: 4.0
-    inf_is_valid: true
-
+    inf_is_valid: true  
+    footprint_clearing_enabled: true
   # for debugging only, let's you see the entire voxel grid
 
+
 #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
 inflation_layer:
   enabled:              true

butia_navigation_description/config/param/dwa_local_planner_params.yaml

@@ -20,7 +20,7 @@ DWAPlannerROS:
   rot_stopped_vel: 0.2  ##
 
   acc_lim_x: 1.0 # maximum is theoretically 2.0, but we 
-  acc_lim_theta: 1.5
+  acc_lim_th: 1.0
   acc_lim_y: 0.0      # diff drive robot
 
 # Goal Tolerance Parameters

butia_navigation_description/config/param/local_costmap_params.yaml

@@ -7,7 +7,7 @@ local_costmap:
    rolling_window: true
    width: 4.0
    height: 4.0
-   resolution: 0.025
+   resolution: 0.05
    transform_tolerance: 0.5
    plugins:
     - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}

butia_navigation_description/config/sick_lms_1xx.launch.xml

@@ -1,10 +1,9 @@
 <?xml version="1.0"?>
 <!-- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT. -->
 <launch>
-  <arg name="hostname" default="169.254.147.28" />
-    <!-- Sick_link declaration-->
-  <node pkg="tf" type="static_transform_publisher" name="sick_broadcaster" args="0.108 0 0.68 0 0 0 1 base_link sick_link 100" />
-
+  <!-- Sick_link declaration-->
+  <!-- <node pkg="tf" type="static_transform_publisher" name="sick_broadcaster" args="0.108 0 0.68 0 0 0 1 base_link sick_link 100" /> -->
+  <arg name="hostname" default="192.168.0.127" />
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
 
   <node name="sick_lms_1xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen">
@@ -22,16 +21,13 @@
 	<param name="min_ang" type="double" value="-1.658" />
 	<param name="max_ang" type="double" value="1.658" />
     -->
-
-
       <param name="frame_id" type="str" value="sick_link" />
-
     	<param name="use_binary_protocol" type="bool" value="False" />
 	<param name="scanner_type" type="string" value="sick_lms_1xx"/>
 	<param name="range_max" type="double" value="25.0" />
         <param name="hostname" type="string" value="$(arg hostname)" />
 	<param name="port" type="string" value="2111" />
 	<param name="timelimit" type="int" value="5" />
 
-
+</node>    
 </launch>

butia_navigation_description/config/urg.launch.xml

@@ -3,6 +3,8 @@
   <node pkg="urg_node" type="urg_node" name="urg_node">
     <param name="frame_id" value="hokuyo_link"/>
     <remap from="scan" to="scan2"/>
+    <param name="angle_min" type="double" value="-1.5708" />
+    <param name="angle_max" type="double" value="1.5708" />
   </node>
-
+  
 </launch>