Skip to content

Commit 2ec2a2d

Browse files
Geonhee-LEEGeonhee-LEE
committed
added big s world
1 parent d272927 commit 2ec2a2d

File tree

4 files changed

+1757
-0
lines changed

4 files changed

+1757
-0
lines changed

‎mpc_ros/launch/s_map_mpc_local_planner.launch

Lines changed: 92 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,92 @@
1+
<launch>
2+
3+
<!-- ************** Global Parameters *************** -->
4+
<param name="use_sim_time" value="true"/>
5+
<arg name="controller" default="mpc" doc="opt: dwa, mpc, pure_pursuit"/>
6+
<arg name="model" default="serving_bot" doc="opt: serving_bot"/>
7+
<arg name="tf_prefix" default=""/>
8+
9+
<!-- ************** GAZEBO Simulator *************** -->
10+
<arg name="x_pos" default="0.0"/>
11+
<arg name="y_pos" default="0.0"/>
12+
<arg name="z_pos" default="0.0"/>
13+
<arg name="roll" default="0"/>
14+
<arg name="pitch" default="0"/>
15+
<arg name="yaw" default="-1.507"/>
16+
<arg name="gui" default="false"/>
17+
18+
<!-- ************** Robot model *************** -->
19+
<param name="robot_description" command="$(find xacro)/xacro.py $(find servingbot_description)/urdf/servingbot.urdf.xacro" if="$(eval model == 'serving_bot')"/>
20+
21+
<include file="$(find gazebo_ros)/launch/empty_world.launch">
22+
<arg name="world_name" value="$(find mpc_ros)/worlds/big_s_world.world"/>
23+
<arg name="paused" value="false"/>
24+
<arg name="use_sim_time" value="true"/>
25+
<arg name="gui" value="$(arg gui)"/>
26+
<arg name="headless" value="false"/>
27+
<arg name="debug" value="false"/>
28+
</include>
29+
30+
31+
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model servingbot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -param robot_description" />
32+
33+
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
34+
<param name="publish_frequency" type="double" value="50.0" />
35+
</node>
36+
37+
38+
<!-- ************** Map ************** -->
39+
<node name="map_server" pkg="map_server" type="map_server" args="$(find mpc_ros)/map/big_s_world.yaml" output="screen">
40+
<param name="frame_id" value="map"/>
41+
</node>
42+
43+
44+
<!-- ************** Localization ************** -->
45+
46+
<node pkg="amcl" type="amcl" name="amcl" output="screen">
47+
<rosparam file="$(find mpc_ros)/params/amcl_params.yaml" command="load" />
48+
<param name="initial_pose_x" value="$(arg x_pos)"/>
49+
<param name="initial_pose_y" value="$(arg y_pos)"/>
50+
<param name="initial_pose_a" value="$(arg yaw)"/>
51+
</node>
52+
53+
<!-- ************** Navigation *************** -->
54+
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
55+
<rosparam file="$(find mpc_ros)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
56+
<rosparam file="$(find mpc_ros)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
57+
<rosparam file="$(find mpc_ros)/params/local_costmap_params.yaml" command="load" />
58+
<rosparam file="$(find mpc_ros)/params/global_costmap_params.yaml" command="load" />
59+
60+
<!-- Global Planner -->
61+
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
62+
<param name="planner_frequency" value="1.0" />
63+
<param name="planner_frequency" value="0.0" if="$(eval controller == 'pure_pursuit')"/>
64+
<param name="planner_patience" value="5.0" />
65+
<rosparam file="$(find mpc_ros)/params/global_planner_params.yaml" command="load" />
66+
67+
<!-- Local Planner -->
68+
<rosparam file="$(find mpc_ros)/params/mpc_last_params.yaml" command="load" />
69+
<param name="base_local_planner" value="mpc_ros/MPCPlannerROS" if="$(eval controller == 'mpc')"/>
70+
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" if="$(eval controller == 'dwa')"/>
71+
72+
<!-- external controller >
73+
<remap from="/cmd_vel" to="/fake_cmd" unless="$(eval controller == 'dwa')"/-->
74+
</node>
75+
76+
<!-- ************** MPC Node ************** -->
77+
<!--node name="nav_mpc" pkg="mpc_ros" type="nav_mpc" output="screen" if="$(eval controller == 'mpc')" >
78+
<rosparam file="$(find mpc_ros)/params/mpc_last_params.yaml" command="load" />
79+
</node-->
80+
81+
<!-- ************** Pure Pursuit ************** -->
82+
<!--node name="Pure_Pursuit" pkg="mpc_ros" type="Pure_Pursuit" output="screen" if="$(eval controller == 'pure_pursuit')" >
83+
<rosparam file="$(find mpc_ros)/params/pure_pursuit_params.yaml" command="load" />
84+
<remap from="/pure_pursuit/odom" to="/odom" />
85+
<remap from="/pure_pursuit/global_planner" to="/move_base/GlobalPlanner/plan" />
86+
<remap from="/pure_pursuit/goal" to="/move_base_simple/goal" />
87+
<remap from="/pure_pursuit/cmd_vel" to="/cmd_vel" />
88+
</node-->
89+
90+
<!-- ************** Visualisation ************** -->
91+
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mpc_ros)/params/total_rviz_navigation.rviz"/>
92+
</launch>

‎mpc_ros/map/big_s_world.pgm

Lines changed: 5 additions & 0 deletions
Large diffs are not rendered by default.

‎mpc_ros/map/big_s_world.yaml

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,6 @@
1+
image: big_s_world.pgm
2+
resolution: 0.050000
3+
origin: [-10.000000, -10.000000, 0.000000]
4+
negate: 0
5+
occupied_thresh: 0.65
6+
free_thresh: 0.196

0 commit comments

Comments
 (0)