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"TP: Robot_Servicio, Alumnos: Bonn y Castellaro" #198

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bc21be5
"TP: Robot_Servicio, Alumnos: Bonn y Castellaro"
fedecastellaro Jun 8, 2020
10f9162
Agrego maps y configuracion de Rviz
fedecastellaro Jun 8, 2020
06edc64
Robot_Servicio Final.
fedecastellaro Jul 12, 2020
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93 changes: 83 additions & 10 deletions ca_tools/rviz/localization.rviz
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,11 @@ Panels:
Property Tree Widget:
Expanded:
- /Odometry1/Shape1
- /Axes1
- /LaserScan1
- /LaserScan1/Status1
Splitter Ratio: 0.5
Tree Height: 732
Tree Height: 344
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -25,7 +28,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
Expand Down Expand Up @@ -84,6 +87,16 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
battery_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_wheel_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -279,6 +292,66 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /create1/move_base/NavfnROS/plan
Unreliable: false
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /create1/rplidar/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -307,7 +380,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 17.197004318237305
Distance: 13.281335830688477
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Expand All @@ -322,18 +395,18 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Pitch: 1.3447965383529663
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.675397276878357
Yaw: 1.6753971576690674
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1208
Height: 713
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001dc000003cafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000069000003ca0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000004e20000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000076100000050fc0100000002fb0000000800540069006d00650100000000000007610000045300fffffffb0000000800540069006d0065010000000000000450000000000000000000000579000003ca00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001dc0000021dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000021d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000004e2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055600000050fc0100000002fb0000000800540069006d00650100000000000005560000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003740000021d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -342,6 +415,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1889
X: 966
Y: 279
Width: 1366
X: 0
Y: 27
36 changes: 22 additions & 14 deletions ca_tools/rviz/navigation.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,10 @@ Panels:
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded: ~
Expanded:
- /Axes1
Splitter Ratio: 0.5
Tree Height: 726
Tree Height: 344
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -378,6 +379,13 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: false
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: map
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -405,7 +413,7 @@ Visualization Manager:
Value: true
Views:
Current:
Angle: 3.221593141555786
Angle: 6.2765936851501465
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Expand All @@ -415,27 +423,27 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 161.00779724121094
Scale: 110.78874206542969
Target Frame: create1_tf/base_footprint
Value: TopDownOrtho (rviz)
X: -0.3720692992210388
Y: -1.142160415649414
X: 0.5590792298316956
Y: 0.6026081442832947
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1095
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000002b20000039bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b0000039b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d20000039bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000039b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050600000050fc0100000002fb0000000800540069006d00650100000000000005060000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000005060000039b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
collapsed: false
Height: 713
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000021dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000021d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d20000021dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000021d000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055600000050fc0100000002fb0000000800540069006d00650100000000000005560000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003fa0000021d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1286
X: 717
collapsed: false
Width: 1366
X: 0
Y: 27
5 changes: 5 additions & 0 deletions navigation/ca_move_base/maps/restaurant.pgm
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7 changes: 7 additions & 0 deletions navigation/ca_move_base/maps/restaurant.yaml
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@@ -0,0 +1,7 @@
image: restaurant.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

24 changes: 24 additions & 0 deletions robot_servicio/CMakeLists.txt
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@@ -0,0 +1,24 @@
cmake_minimum_required(VERSION 2.8.3)
project(robot_servicio)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
geometry_msgs
move_base
move_base_msgs
rospy
std_msgs
tf
amcl
octomap_server
)

catkin_package(
CATKIN_DEPENDS
move_base_msgs
)

include_directories(${catkin_INCLUDE_DIRS})
1 change: 1 addition & 0 deletions robot_servicio/execute.sh
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@@ -0,0 +1 @@
GUI=false LOCALIZATION=amcl RVIZ_CONFIG=localization LASER=rplidar roslaunch robot_servicio ejecutable.launch
9 changes: 9 additions & 0 deletions robot_servicio/launch/ejecutable.launch
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@@ -0,0 +1,9 @@
<launch>
<arg name="robot_id" default="$(optenv ID 1)" doc="Unique identifier of the robot [1-Inf.)"/>
<arg name="ns" value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>

<node name="move" pkg="robot_servicio" type="move.py" ns="$(arg ns)" />
<node name="send_goals" pkg="robot_servicio" type="send_goals.py" ns="$(arg ns)" />

<include file="$(find ca_gazebo)/launch/create_restaurant.launch"/>
</launch>
115 changes: 115 additions & 0 deletions robot_servicio/package.xml
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@@ -0,0 +1,115 @@
<?xml version="1.0"?>
<package format="2">
<name>robot_servicio</name>
<version>0.0.0</version>
<description>The robot_servicio package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="create@todo.todo">create</maintainer>
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Si quieren, agreguen su nombre acá debido a que fueron los que trabajaron en esto.



<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
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Suggested change
<license>TODO</license>
<license>BSD</license>



<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/robot_servicio</url> -->


<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->


<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
Comment on lines +19 to +40
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Eliminen todo lo que sea código comentado.

Suggested change
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/robot_servicio</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->

<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>move_base</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>move_base</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>move_base</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>

<!-- --> <!-- --> <!-- ADDED --> <!-- --> <!-- -->
<build_depend>actionlib_msgs</build_depend>
<build_export_depend>actionlib_msgs</build_export_depend>
<exec_depend>actionlib_msgs</exec_depend>

<build_depend>tf</build_depend>
<build_export_depend>tf</build_export_depend>
<exec_depend>tf</exec_depend>


<build_depend>actionlib</build_depend>
<build_depend>amcl</build_depend>
<build_depend>move_base</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>octomap_server</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>tf</build_depend>

<build_export_depend>actionlib</build_export_depend>
<build_export_depend>amcl</build_export_depend>
<build_export_depend>move_base</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>tf</build_export_depend>

<exec_depend>actionlib</exec_depend>
<exec_depend>amcl</exec_depend>
<exec_depend>carrot_planner</exec_depend>
<exec_depend>dwa_local_planner</exec_depend>
<exec_depend>map_server</exec_depend>
<exec_depend>move_base</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>octomap_server</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>teb_local_planner</exec_depend>
<exec_depend>tf</exec_depend>
<!-- --> <!-- --> <!-- --> <!-- --> <!-- -->


<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->

</export>
</package>
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