From 98357a4f4efa421101579942ed5b20c0151a179a Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Mon, 5 Feb 2024 17:52:35 +0900 Subject: [PATCH 01/11] =?UTF-8?q?LakeHouse=E3=81=AE=E3=83=A2=E3=83=87?= =?UTF-8?q?=E3=83=AB=E3=82=92=E3=83=AF=E3=83=BC=E3=83=AB=E3=83=89=E3=81=AB?= =?UTF-8?q?=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../raspimouse_with_lakehouse.launch.py | 48 +++++++++++++++++++ raspimouse_gazebo/worlds/lakehouse.sdf | 41 ++++++++++++++++ 2 files changed, 89 insertions(+) create mode 100644 raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py create mode 100644 raspimouse_gazebo/worlds/lakehouse.sdf diff --git a/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py new file mode 100644 index 0000000..d97edb3 --- /dev/null +++ b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py @@ -0,0 +1,48 @@ +# The MIT License (MIT) +# +# Copyright 2023 RT Corporation +# +# Permission is hereby granted, free of charge, to any person obtaining a copy of +# this software and associated documentation files (the "Software"), to deal in +# the Software without restriction, including without limitation the rights to +# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +# the Software, and to permit persons to whom the Software is furnished to do so, +# subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch_ros.actions import SetParameter +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + world_file = os.path.join( + get_package_share_directory('raspimouse_gazebo'), + 'worlds', + 'lakehouse.sdf') + world_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('raspimouse_gazebo'), + '/launch/raspimouse_with_emptyworld.launch.py']), + launch_arguments={ + 'world_name': world_file + }.items() + ) + + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), + world_launch + ]) diff --git a/raspimouse_gazebo/worlds/lakehouse.sdf b/raspimouse_gazebo/worlds/lakehouse.sdf new file mode 100644 index 0000000..2829d27 --- /dev/null +++ b/raspimouse_gazebo/worlds/lakehouse.sdf @@ -0,0 +1,41 @@ + + + + + 0.001 + 1.0 + + + + + + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground%20Plane + + + + + 0 0 -7.0 0 0 0 + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Lake%20House + + + + + From 3dd4405e3595305af579c2e0f710ec3f24625a87 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Tue, 6 Feb 2024 16:10:21 +0900 Subject: [PATCH 02/11] =?UTF-8?q?bridge=E3=81=ABscan=E3=83=88=E3=83=94?= =?UTF-8?q?=E3=83=83=E3=82=AF=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index f0adc9e..fae5f85 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -135,6 +135,7 @@ def generate_launch_description(): package='ros_gz_bridge', executable='parameter_bridge', arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', '/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image', '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'], output='screen' From 87652dfcc6e5f7c29373bdd1e0c826586aa9f8dd Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Wed, 7 Feb 2024 18:25:33 +0900 Subject: [PATCH 03/11] =?UTF-8?q?=E3=82=BB=E3=83=B3=E3=82=B5=E3=81=AE?= =?UTF-8?q?=E3=83=97=E3=83=A9=E3=82=B0=E3=82=A4=E3=83=B3=E3=82=92=E8=BF=BD?= =?UTF-8?q?=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_gazebo/worlds/lakehouse.sdf | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/raspimouse_gazebo/worlds/lakehouse.sdf b/raspimouse_gazebo/worlds/lakehouse.sdf index 2829d27..32d2038 100644 --- a/raspimouse_gazebo/worlds/lakehouse.sdf +++ b/raspimouse_gazebo/worlds/lakehouse.sdf @@ -9,6 +9,11 @@ filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"> + + ogre2 + From df9ac2fcb7d90eea8cf1390e0381bb7e43622039 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 8 Feb 2024 17:33:38 +0900 Subject: [PATCH 04/11] =?UTF-8?q?README=E3=81=AB=E3=82=AB=E3=83=A1?= =?UTF-8?q?=E3=83=A9=E3=83=A9=E3=82=A4=E3=83=B3=E3=83=88=E3=83=AC=E3=83=BC?= =?UTF-8?q?=E3=82=B9=E3=81=A8SLAM&Navigation=E3=81=AE=E5=AE=9F=E8=A1=8C?= =?UTF-8?q?=E6=96=B9=E6=B3=95=E3=82=92=E8=BF=BD=E8=A8=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 67 +++++++++++++++++++++++++++++++++++++++++++++++++++- README.md | 65 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 131 insertions(+), 1 deletion(-) diff --git a/README.en.md b/README.en.md index 61bc52e..5e810ad 100644 --- a/README.en.md +++ b/README.en.md @@ -93,6 +93,71 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_ ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif) +### camera_line_follower + +Terminal 1: + +```sh +ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true +``` + +Terminal 2: + +```sh +ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false +``` + +Terminal 3: Start + +```sh +ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}" +``` + +Terminal 3: Stop +```sh +ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}" +``` + +For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters). + +### SLAM & Navigation + +#### SLAM + +Terminal 1: +```sh +ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg +``` +The lidar option supports `urg`, `lds`, and `rplidar`. + +Terminal 2: +```sh +ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false +``` + +Terminal 3: +```sh +ros2 launch raspimouse_slam pc_slam.launch.py +``` + +Terminal 4: +```sh +ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME +``` + +#### Navigation + +Terminal 1: +```sh +ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg +``` +The lidar option supports `urg`, `lds`, and `rplidar`. + +Terminal 2: +```sh +ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml +``` + ## Model data list ### course_curve_50x50cm @@ -113,7 +178,7 @@ The cube colors are red, yellow, blue, and green. ![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png) -### daeファイルについて +### about dae files The dae file is edited in Blender 4.0. ## License diff --git a/README.md b/README.md index 740803d..41ab24e 100644 --- a/README.md +++ b/README.md @@ -39,6 +39,7 @@ git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git ```sh cd ~/ros2_ws/src git clone https://github.com/rt-net/raspimouse_ros2_examples.git +git clone https://github.com/rt-net/raspimouse_slam_navigation_ros2.git git clone -b ros2 https://github.com/rt-net/raspimouse_description.git rosdep install -r -y -i --from-paths raspimouse* ``` @@ -93,6 +94,70 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_ ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif) +### RGBカメラを用いたライントレースサンプル + +端末1で次のコマンドを実行すると、ライントレースのサンプルコースが配置されたワールドが表示されます。 +```sh +ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true +``` + +端末2で次のコマンドを実行すると、カメラライントレースのノードが起動します。 +```sh +ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false +``` + +端末3で次のコマンドを実行すると、Raspberry Pi Mouseが走行を開始します。 +```sh +ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}" +``` + +次のコマンドを実行すると、Raspberry Pi Mouseが停止します。 +```sh +ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}" +``` + +カメラライントレースにおけるパラメータは[こちら](https://github.com/rt-net/raspimouse_ros2_examples?tab=readme-ov-file#parameters)を参照してください。 + +### LiDARを用いたSLAMとNavigationのサンプル + +#### SLAM + +端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。 +```sh +ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg +``` +`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。 + +端末2で次のコマンドを実行すると、Raspberry Pi Mouseをジョイスティックコントローラで操作できます。 +```sh +ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false +``` + +端末3で次のコマンドを実行すると、SLAMが実行されます。 +```sh +ros2 launch raspimouse_slam pc_slam.launch.py +``` + +端末4で次のコマンドを実行すると、作成した地図を保存できます。 +```sh +ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME +``` +`MAP_NAME`は任意の名前を指定できます。 + +#### Navigation + +端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。 +```sh +ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg +``` +`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。 + +端末2で次のコマンドを実行すると、Navigationが実行されます。 +```sh +ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml +``` +`map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 + ## モデルデータ一覧 ### course_curve_50x50cm From 2272a421653ee78f7101150314ccb8d1e4a8693d Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Fri, 9 Feb 2024 16:16:41 +0900 Subject: [PATCH 05/11] =?UTF-8?q?lakehouse=E3=83=AF=E3=83=BC=E3=83=AB?= =?UTF-8?q?=E3=83=89=E3=81=AB30cm=E3=81=AE=E9=BB=92=E3=81=84=E3=82=AD?= =?UTF-8?q?=E3=83=A5=E3=83=BC=E3=83=96=E3=82=92=E8=A4=87=E6=95=B0=E9=85=8D?= =?UTF-8?q?=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../models/cube_30cm_black/model.config | 16 +++++++ .../models/cube_30cm_black/model.sdf | 38 +++++++++++++++++ raspimouse_gazebo/worlds/lakehouse.sdf | 42 +++++++++++++++++++ 3 files changed, 96 insertions(+) create mode 100644 raspimouse_gazebo/models/cube_30cm_black/model.config create mode 100644 raspimouse_gazebo/models/cube_30cm_black/model.sdf diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.config b/raspimouse_gazebo/models/cube_30cm_black/model.config new file mode 100644 index 0000000..0c30a0d --- /dev/null +++ b/raspimouse_gazebo/models/cube_30cm_black/model.config @@ -0,0 +1,16 @@ + + + + Black Cube 30cm + 1.0 + model.sdf + + + YusukeKato + yusuke.kato@rt-net.jp + + + + Cube + + diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.sdf b/raspimouse_gazebo/models/cube_30cm_black/model.sdf new file mode 100644 index 0000000..b20f11f --- /dev/null +++ b/raspimouse_gazebo/models/cube_30cm_black/model.sdf @@ -0,0 +1,38 @@ + + + + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 0.3 0.3 0.3 + + + + + + 0 0 0 1 + 0 0 0 1 + 0 0 0 0 + 0 0 0 1 + + + + 0.3 0.3 0.3 + + + + + + diff --git a/raspimouse_gazebo/worlds/lakehouse.sdf b/raspimouse_gazebo/worlds/lakehouse.sdf index 32d2038..b29eb53 100644 --- a/raspimouse_gazebo/worlds/lakehouse.sdf +++ b/raspimouse_gazebo/worlds/lakehouse.sdf @@ -42,5 +42,47 @@ + + + model://cube_30cm_black + + -0.5 0 0.075 0 0 0 + + + + + model://cube_30cm_black + + -0.5 1.0 0.075 0 0 0 + + + + + model://cube_30cm_black + + -0.5 -1.0 0.075 0 0 0 + + + + + model://cube_30cm_black + + 2.0 0 0.075 0 0 0 + + + + + model://cube_30cm_black + + 2.0 1.0 0.075 0 0 0 + + + + + model://cube_30cm_black + + 2.0 -1.0 0.075 0 0 0 + + From 9e5dab1dc12da768bfa9e4aa0920b27e2fcaffcf Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Fri, 9 Feb 2024 17:27:50 +0900 Subject: [PATCH 06/11] =?UTF-8?q?README=E3=81=AB=E7=94=BB=E5=83=8F?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 12 ++++++++++-- README.md | 12 ++++++++++-- 2 files changed, 20 insertions(+), 4 deletions(-) diff --git a/README.en.md b/README.en.md index 5e810ad..da3898f 100644 --- a/README.en.md +++ b/README.en.md @@ -120,6 +120,8 @@ ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, sw For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters). +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif) + ### SLAM & Navigation #### SLAM @@ -140,11 +142,15 @@ Terminal 3: ros2 launch raspimouse_slam pc_slam.launch.py ``` +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png) + Terminal 4: ```sh ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME ``` +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif) + #### Navigation Terminal 1: @@ -158,6 +164,8 @@ Terminal 2: ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml ``` +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif) + ## Model data list ### course_curve_50x50cm @@ -173,8 +181,8 @@ Panel size is 50 cm x 50 cm and line width is 4 cm. ![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg) ### cube_*cm_color-name -Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm on a side. -The cube colors are red, yellow, blue, and green. +Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm, 30 cm on a side. +The cube colors are red, yellow, blue, green and black. ![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png) diff --git a/README.md b/README.md index 41ab24e..35c222b 100644 --- a/README.md +++ b/README.md @@ -118,6 +118,8 @@ ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, sw カメラライントレースにおけるパラメータは[こちら](https://github.com/rt-net/raspimouse_ros2_examples?tab=readme-ov-file#parameters)を参照してください。 +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif) + ### LiDARを用いたSLAMとNavigationのサンプル #### SLAM @@ -138,12 +140,16 @@ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js ros2 launch raspimouse_slam pc_slam.launch.py ``` +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png) + 端末4で次のコマンドを実行すると、作成した地図を保存できます。 ```sh ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME ``` `MAP_NAME`は任意の名前を指定できます。 +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif) + #### Navigation 端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。 @@ -158,6 +164,8 @@ ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME ``` `map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 +![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif) + ## モデルデータ一覧 ### course_curve_50x50cm @@ -175,8 +183,8 @@ ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME ![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg) ### cube_*cm_color-name -それぞれ一辺5cm、7.5cm、10cm、15cmの立方体です。 -色は赤、黄、青、緑です。 +それぞれ一辺5cm、7.5cm、10cm、15cm、30cmの立方体です。 +色は赤、黄、青、緑、黒です。 ![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png) From bfc163fb912503fc911017968ac34d184587ece8 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Fri, 16 Feb 2024 14:29:31 +0900 Subject: [PATCH 07/11] =?UTF-8?q?=E4=B8=8D=E8=B6=B3=E3=81=97=E3=81=A6?= =?UTF-8?q?=E3=81=84=E3=81=9F=E4=BE=9D=E5=AD=98=E9=96=A2=E4=BF=82=E3=82=92?= =?UTF-8?q?=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_gazebo/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/raspimouse_gazebo/package.xml b/raspimouse_gazebo/package.xml index 04f7506..25f4762 100644 --- a/raspimouse_gazebo/package.xml +++ b/raspimouse_gazebo/package.xml @@ -20,6 +20,8 @@ raspimouse_fake raspimouse_description robot_state_publisher + diff_drive_controller + joint_state_broadcaster ament_cmake From 5cf9952306d41a6c3cea2a4ec28f8f50fbcd5868 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 22 Feb 2024 14:45:30 +0900 Subject: [PATCH 08/11] =?UTF-8?q?=E3=82=B3=E3=83=94=E3=83=9A=E3=81=A7?= =?UTF-8?q?=E3=81=8D=E3=82=8B=E3=82=88=E3=81=86=E3=81=AB=E3=82=B3=E3=83=9E?= =?UTF-8?q?=E3=83=B3=E3=83=89=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Shota Aoki --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 35c222b..add87f3 100644 --- a/README.md +++ b/README.md @@ -160,7 +160,7 @@ ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg 端末2で次のコマンドを実行すると、Navigationが実行されます。 ```sh -ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml +ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml ``` `map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 From e5d495c1d7b0ad45d001fc5583544a4d25281c03 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 22 Feb 2024 14:46:06 +0900 Subject: [PATCH 09/11] =?UTF-8?q?=E5=BC=95=E6=95=B0map=E3=81=AE=E8=AA=AC?= =?UTF-8?q?=E6=98=8E=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Shota Aoki --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index add87f3..eb8bec5 100644 --- a/README.md +++ b/README.md @@ -162,7 +162,7 @@ ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg ```sh ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml ``` -`map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 +引数`map`にはSLAMで作成した地図ファイルのパスを指定してください。 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif) From e92a6ed477855aaf964c14e5caf0dc74a8b62eba Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 22 Feb 2024 14:46:49 +0900 Subject: [PATCH 10/11] =?UTF-8?q?Copyright=E3=81=AE=E6=96=87=E9=9D=A2?= =?UTF-8?q?=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Shota Aoki --- raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py index d97edb3..5952d12 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py @@ -1,6 +1,6 @@ # The MIT License (MIT) # -# Copyright 2023 RT Corporation +# Copyright 2024 RT Corporation # # Permission is hereby granted, free of charge, to any person obtaining a copy of # this software and associated documentation files (the "Software"), to deal in From 81b3d665e9472cc1f4f11855677011ea63b8d03f Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 22 Feb 2024 14:50:56 +0900 Subject: [PATCH 11/11] =?UTF-8?q?=E8=8B=B1=E8=AA=9E=E7=89=88README?= =?UTF-8?q?=E3=81=AE=E3=82=B3=E3=83=9E=E3=83=B3=E3=83=89=E3=82=82=E3=82=B3?= =?UTF-8?q?=E3=83=94=E3=83=9A=E3=81=A7=E3=81=8D=E3=82=8B=E3=82=88=E3=81=86?= =?UTF-8?q?=E3=81=AB=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.en.md b/README.en.md index da3898f..8cedc37 100644 --- a/README.en.md +++ b/README.en.md @@ -161,7 +161,7 @@ The lidar option supports `urg`, `lds`, and `rplidar`. Terminal 2: ```sh -ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml +ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml ``` ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)