From db7a60fa635f59124bb51363963ec9c7ba001478 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 14:00:04 +0800 Subject: [PATCH 1/8] =?UTF-8?q?=F0=9F=93=83=20docs:=20update=20README?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 23 +++++++++++-------- .../launch/rm_simulation.launch.py | 4 ++-- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index c927c5c..d9cd128 100644 --- a/README.md +++ b/README.md @@ -66,11 +66,11 @@ ## 四. 编译运行 -```sh +```bash git clone --recursive https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation --depth=1 ``` -```sh +```bash cd pb_rmsimulation ./build.sh ``` @@ -92,7 +92,7 @@ cd pb_rmsimulation 3. `localization` (仅 `mode:=nav` 时本参数有效) - `amcl` - 使用 [AMCL](https://navigation.ros.org/configuration/packages/configuring-amcl.html) 算法定位（经典算法） - - `slam_toolbox` - 使用 [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) localization 模式定位（动态场景中性能更好） + - `slam_toolbox` - 使用 [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) localization 模式定位（动态场景中效果更好） - `icp` - 使用 [ICP_Localization](https://github.com/baiyeweiguang/icp_localization_ros2) 算法定位（性能开销较多） Tips: @@ -109,7 +109,7 @@ cd pb_rmsimulation - 示例： - 边建图边导航 - ```sh + ```bash ros2 launch rm_bringup bringup_sim.launch.py \ world:=RMUL \ mode:=mapping @@ -117,7 +117,7 @@ cd pb_rmsimulation - 已知全局地图导航 - ```sh + ```bash ros2 launch rm_bringup bringup_sim.launch.py \ world:=RMUL \ mode:=nav \ @@ -129,7 +129,7 @@ cd pb_rmsimulation - 示例： - 边建图边导航 - ```sh + ```bash ros2 launch rm_bringup bringup_real.launch.py \ world:=YOUR_WORLD_NAME \ mode:=mapping @@ -143,7 +143,7 @@ cd pb_rmsimulation - 已知全局地图导航 - ```sh + ```bash ros2 launch rm_bringup bringup_real.launch.py \ world:=YOUR_WORLD_NAME \ mode:=nav \ @@ -154,8 +154,7 @@ cd pb_rmsimulation ### 小工具 - 键盘控制 -```sh -source install/setup.bash +```bash ros2 run teleop_twist_keyboard teleop_twist_keyboard ``` @@ -187,4 +186,8 @@ Mid360 点云仿真：参考了 [livox_laser_simulation](https://github.com/Livo - Gazebo 无法正常启动？ - 答：执行命令 `source /usr/share/gazebo/setup.sh`；使用 `killall -9 gzserver` 和 `killall -9 gzclient` 确保 Gazebo 后台进程已完全清除 + 答：执行命令 `source /usr/share/gazebo/setup.sh`。 + +- Gazebo 没有生成小车？ + + 答：执行命令 `killall -9 gzserver` 和 `killall -9 gzclient` 确保 Gazebo 后台进程已完全清除，再重新启动即可。 diff --git a/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py b/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py index f0c8c97..650e6bc 100644 --- a/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py +++ b/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py @@ -33,8 +33,8 @@ def get_world_config(world_type): 'y': '3.35', 'z': '1.16', 'yaw': '0.0', - 'world_path': 'RMUL2024_world/RMUL2024_world.world' - # 'world_path': 'RMUL2024_world/RMUL2024_world_dynamic_obstacles.world' + # 'world_path': 'RMUL2024_world/RMUL2024_world.world' + 'world_path': 'RMUL2024_world/RMUL2024_world_dynamic_obstacles.world' } } return world_configs.get(world_type, None) -- Gitee From 3bb87d144447d8e86ddcce12d225559129e0b940 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 14:06:57 +0800 Subject: [PATCH 2/8] =?UTF-8?q?=F0=9F=A6=84=20refactor(rm=5Fdecision):=20?= =?UTF-8?q?=E5=B0=86=E5=8E=9F=E5=86=B3=E7=AD=96=E5=86=85=E5=AE=B9=E7=A7=BB?= =?UTF-8?q?=E8=87=B3=20rm=5FFSM=20=E6=96=87=E4=BB=B6=E5=A4=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/rm_decision/{ => rm_FSM}/Nav2_API.md | 0 src/rm_decision/{ => rm_FSM}/README.md | 0 .../{ => rm_FSM}/launch/pb_auto_fsm_launch.py | 0 src/rm_decision/{ => rm_FSM}/media/readme.gif | Bin src/rm_decision/{ => rm_FSM}/package.xml | 0 src/rm_decision/{ => rm_FSM}/pytest.ini | 0 src/rm_decision/{ => rm_FSM}/resource/rm_decision | 0 .../{ => rm_FSM}/rm_decision/__init__.py | 0 .../{ => rm_FSM}/rm_decision/callback_msg.py | 0 .../{ => rm_FSM}/rm_decision/config/goal.yaml | 0 .../{ => rm_FSM}/rm_decision/pb_auto_fsm.py | 0 .../{ => rm_FSM}/rm_decision/robot_navigator.py | 0 src/rm_decision/{ => rm_FSM}/rm_decision/utility.py | 0 src/rm_decision/{ => rm_FSM}/setup.cfg | 0 src/rm_decision/{ => rm_FSM}/setup.py | 0 src/rm_decision/{ => rm_FSM}/test/test_copyright.py | 0 src/rm_decision/{ => rm_FSM}/test/test_flake8.py | 0 .../{ => rm_FSM}/test/test_line_iterator.py | 0 src/rm_decision/{ => rm_FSM}/test/test_pep257.py | 0 19 files changed, 0 insertions(+), 0 deletions(-) rename src/rm_decision/{ => rm_FSM}/Nav2_API.md (100%) rename src/rm_decision/{ => rm_FSM}/README.md (100%) rename src/rm_decision/{ => rm_FSM}/launch/pb_auto_fsm_launch.py (100%) rename src/rm_decision/{ => rm_FSM}/media/readme.gif (100%) rename src/rm_decision/{ => rm_FSM}/package.xml (100%) rename src/rm_decision/{ => rm_FSM}/pytest.ini (100%) rename src/rm_decision/{ => rm_FSM}/resource/rm_decision (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/__init__.py (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/callback_msg.py (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/config/goal.yaml (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/pb_auto_fsm.py (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/robot_navigator.py (100%) rename src/rm_decision/{ => rm_FSM}/rm_decision/utility.py (100%) rename src/rm_decision/{ => rm_FSM}/setup.cfg (100%) rename src/rm_decision/{ => rm_FSM}/setup.py (100%) rename src/rm_decision/{ => rm_FSM}/test/test_copyright.py (100%) rename src/rm_decision/{ => rm_FSM}/test/test_flake8.py (100%) rename src/rm_decision/{ => rm_FSM}/test/test_line_iterator.py (100%) rename src/rm_decision/{ => rm_FSM}/test/test_pep257.py (100%) diff --git a/src/rm_decision/Nav2_API.md b/src/rm_decision/rm_FSM/Nav2_API.md similarity index 100% rename from src/rm_decision/Nav2_API.md rename to src/rm_decision/rm_FSM/Nav2_API.md diff --git a/src/rm_decision/README.md b/src/rm_decision/rm_FSM/README.md similarity index 100% rename from src/rm_decision/README.md rename to src/rm_decision/rm_FSM/README.md diff --git a/src/rm_decision/launch/pb_auto_fsm_launch.py b/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py similarity index 100% rename from src/rm_decision/launch/pb_auto_fsm_launch.py rename to src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py diff --git a/src/rm_decision/media/readme.gif b/src/rm_decision/rm_FSM/media/readme.gif similarity index 100% rename from src/rm_decision/media/readme.gif rename to src/rm_decision/rm_FSM/media/readme.gif diff --git a/src/rm_decision/package.xml b/src/rm_decision/rm_FSM/package.xml similarity index 100% rename from src/rm_decision/package.xml rename to src/rm_decision/rm_FSM/package.xml diff --git a/src/rm_decision/pytest.ini b/src/rm_decision/rm_FSM/pytest.ini similarity index 100% rename from src/rm_decision/pytest.ini rename to src/rm_decision/rm_FSM/pytest.ini diff --git a/src/rm_decision/resource/rm_decision b/src/rm_decision/rm_FSM/resource/rm_decision similarity index 100% rename from src/rm_decision/resource/rm_decision rename to src/rm_decision/rm_FSM/resource/rm_decision diff --git a/src/rm_decision/rm_decision/__init__.py b/src/rm_decision/rm_FSM/rm_decision/__init__.py similarity index 100% rename from src/rm_decision/rm_decision/__init__.py rename to src/rm_decision/rm_FSM/rm_decision/__init__.py diff --git a/src/rm_decision/rm_decision/callback_msg.py b/src/rm_decision/rm_FSM/rm_decision/callback_msg.py similarity index 100% rename from src/rm_decision/rm_decision/callback_msg.py rename to src/rm_decision/rm_FSM/rm_decision/callback_msg.py diff --git a/src/rm_decision/rm_decision/config/goal.yaml b/src/rm_decision/rm_FSM/rm_decision/config/goal.yaml similarity index 100% rename from src/rm_decision/rm_decision/config/goal.yaml rename to src/rm_decision/rm_FSM/rm_decision/config/goal.yaml diff --git a/src/rm_decision/rm_decision/pb_auto_fsm.py b/src/rm_decision/rm_FSM/rm_decision/pb_auto_fsm.py similarity index 100% rename from src/rm_decision/rm_decision/pb_auto_fsm.py rename to src/rm_decision/rm_FSM/rm_decision/pb_auto_fsm.py diff --git a/src/rm_decision/rm_decision/robot_navigator.py b/src/rm_decision/rm_FSM/rm_decision/robot_navigator.py similarity index 100% rename from src/rm_decision/rm_decision/robot_navigator.py rename to src/rm_decision/rm_FSM/rm_decision/robot_navigator.py diff --git a/src/rm_decision/rm_decision/utility.py b/src/rm_decision/rm_FSM/rm_decision/utility.py similarity index 100% rename from src/rm_decision/rm_decision/utility.py rename to src/rm_decision/rm_FSM/rm_decision/utility.py diff --git a/src/rm_decision/setup.cfg b/src/rm_decision/rm_FSM/setup.cfg similarity index 100% rename from src/rm_decision/setup.cfg rename to src/rm_decision/rm_FSM/setup.cfg diff --git a/src/rm_decision/setup.py b/src/rm_decision/rm_FSM/setup.py similarity index 100% rename from src/rm_decision/setup.py rename to src/rm_decision/rm_FSM/setup.py diff --git a/src/rm_decision/test/test_copyright.py b/src/rm_decision/rm_FSM/test/test_copyright.py similarity index 100% rename from src/rm_decision/test/test_copyright.py rename to src/rm_decision/rm_FSM/test/test_copyright.py diff --git a/src/rm_decision/test/test_flake8.py b/src/rm_decision/rm_FSM/test/test_flake8.py similarity index 100% rename from src/rm_decision/test/test_flake8.py rename to src/rm_decision/rm_FSM/test/test_flake8.py diff --git a/src/rm_decision/test/test_line_iterator.py b/src/rm_decision/rm_FSM/test/test_line_iterator.py similarity index 100% rename from src/rm_decision/test/test_line_iterator.py rename to src/rm_decision/rm_FSM/test/test_line_iterator.py diff --git a/src/rm_decision/test/test_pep257.py b/src/rm_decision/rm_FSM/test/test_pep257.py similarity index 100% rename from src/rm_decision/test/test_pep257.py rename to src/rm_decision/rm_FSM/test/test_pep257.py -- Gitee From 2f256cd424e219f1ce9c7fa156173ff3b4f79f36 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 14:16:44 +0800 Subject: [PATCH 3/8] =?UTF-8?q?=F0=9F=A6=84=20refactor(rm=5Fdecision):=20r?= =?UTF-8?q?m=5Fdecision=20=E5=8A=9F=E8=83=BD=E5=8C=85=E6=9B=B4=E5=90=8D?= =?UTF-8?q?=E4=B8=BA=20rm=5FFSM?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py | 2 +- src/rm_decision/rm_FSM/package.xml | 2 +- .../rm_FSM/resource/{rm_decision => rm_auto_FSM} | 0 .../rm_FSM/{rm_decision => rm_auto_FSM}/__init__.py | 0 .../rm_FSM/{rm_decision => rm_auto_FSM}/callback_msg.py | 0 .../rm_FSM/{rm_decision => rm_auto_FSM}/config/goal.yaml | 0 .../rm_FSM/{rm_decision => rm_auto_FSM}/pb_auto_fsm.py | 6 +++--- .../rm_FSM/{rm_decision => rm_auto_FSM}/robot_navigator.py | 0 .../rm_FSM/{rm_decision => rm_auto_FSM}/utility.py | 2 +- src/rm_decision/rm_FSM/setup.cfg | 4 ++-- src/rm_decision/rm_FSM/setup.py | 6 +++--- src/rm_decision/rm_FSM/test/test_line_iterator.py | 2 +- 12 files changed, 12 insertions(+), 12 deletions(-) rename src/rm_decision/rm_FSM/resource/{rm_decision => rm_auto_FSM} (100%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/__init__.py (100%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/callback_msg.py (100%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/config/goal.yaml (100%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/pb_auto_fsm.py (98%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/robot_navigator.py (100%) rename src/rm_decision/rm_FSM/{rm_decision => rm_auto_FSM}/utility.py (98%) diff --git a/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py b/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py index 918506b..443fd59 100644 --- a/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py +++ b/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py @@ -5,7 +5,7 @@ def generate_launch_description(): # start the demo autonomy task demo_cmd = Node( - package='rm_decision', + package='rm_auto_FSM', executable='pb_auto_fsm', emulate_tty=True, output='screen') diff --git a/src/rm_decision/rm_FSM/package.xml b/src/rm_decision/rm_FSM/package.xml index 1a678df..23deb78 100644 --- a/src/rm_decision/rm_FSM/package.xml +++ b/src/rm_decision/rm_FSM/package.xml @@ -1,7 +1,7 @@ - rm_decision + rm_auto_FSM 0.0.0 A decision package for RMUC/RMYC sentinel robots implemented based on a finite state machine Lihan Chen diff --git a/src/rm_decision/rm_FSM/resource/rm_decision b/src/rm_decision/rm_FSM/resource/rm_auto_FSM similarity index 100% rename from src/rm_decision/rm_FSM/resource/rm_decision rename to src/rm_decision/rm_FSM/resource/rm_auto_FSM diff --git a/src/rm_decision/rm_FSM/rm_decision/__init__.py b/src/rm_decision/rm_FSM/rm_auto_FSM/__init__.py similarity index 100% rename from src/rm_decision/rm_FSM/rm_decision/__init__.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/__init__.py diff --git a/src/rm_decision/rm_FSM/rm_decision/callback_msg.py b/src/rm_decision/rm_FSM/rm_auto_FSM/callback_msg.py similarity index 100% rename from src/rm_decision/rm_FSM/rm_decision/callback_msg.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/callback_msg.py diff --git a/src/rm_decision/rm_FSM/rm_decision/config/goal.yaml b/src/rm_decision/rm_FSM/rm_auto_FSM/config/goal.yaml similarity index 100% rename from src/rm_decision/rm_FSM/rm_decision/config/goal.yaml rename to src/rm_decision/rm_FSM/rm_auto_FSM/config/goal.yaml diff --git a/src/rm_decision/rm_FSM/rm_decision/pb_auto_fsm.py b/src/rm_decision/rm_FSM/rm_auto_FSM/pb_auto_fsm.py similarity index 98% rename from src/rm_decision/rm_FSM/rm_decision/pb_auto_fsm.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/pb_auto_fsm.py index 51a5890..1ce03c3 100644 --- a/src/rm_decision/rm_FSM/rm_decision/pb_auto_fsm.py +++ b/src/rm_decision/rm_FSM/rm_auto_FSM/pb_auto_fsm.py @@ -13,9 +13,9 @@ from rclpy import qos from geometry_msgs.msg import Twist, PoseStamped from rm_decision_interfaces.msg import RobotStatus, FriendLocation, AllRobotHP, Armor, RFID -from rm_decision.callback_msg import CallbackMsg -from rm_decision.robot_navigator import BasicNavigator -from rm_decision.utility import Utility +from rm_auto_FSM.callback_msg import CallbackMsg +from rm_auto_FSM.robot_navigator import BasicNavigator +from rm_auto_FSM.utility import Utility class AutoFSM(Node): """ diff --git a/src/rm_decision/rm_FSM/rm_decision/robot_navigator.py b/src/rm_decision/rm_FSM/rm_auto_FSM/robot_navigator.py similarity index 100% rename from src/rm_decision/rm_FSM/rm_decision/robot_navigator.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/robot_navigator.py diff --git a/src/rm_decision/rm_FSM/rm_decision/utility.py b/src/rm_decision/rm_FSM/rm_auto_FSM/utility.py similarity index 98% rename from src/rm_decision/rm_FSM/rm_decision/utility.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/utility.py index 06b26ff..415fb27 100644 --- a/src/rm_decision/rm_FSM/rm_decision/utility.py +++ b/src/rm_decision/rm_FSM/rm_auto_FSM/utility.py @@ -1,7 +1,7 @@ import rclpy from rclpy.duration import Duration from geometry_msgs.msg import PoseStamped -from rm_decision.robot_navigator import TaskResult +from rm_auto_FSM.robot_navigator import TaskResult import time import yaml diff --git a/src/rm_decision/rm_FSM/setup.cfg b/src/rm_decision/rm_FSM/setup.cfg index 7fc6b7e..47e0fbc 100644 --- a/src/rm_decision/rm_FSM/setup.cfg +++ b/src/rm_decision/rm_FSM/setup.cfg @@ -1,4 +1,4 @@ [develop] -script_dir=$base/lib/rm_decision +script_dir=$base/lib/rm_auto_FSM [install] -install_scripts=$base/lib/rm_decision +install_scripts=$base/lib/rm_auto_FSM diff --git a/src/rm_decision/rm_FSM/setup.py b/src/rm_decision/rm_FSM/setup.py index a75ec16..1798ca1 100644 --- a/src/rm_decision/rm_FSM/setup.py +++ b/src/rm_decision/rm_FSM/setup.py @@ -3,7 +3,7 @@ import os from setuptools import setup -package_name = 'rm_decision' +package_name = 'rm_auto_FSM' setup( name=package_name, @@ -19,12 +19,12 @@ setup( zip_safe=True, maintainer='LihanChen', maintainer_email='1120220476@smbu.edu.cn', - description='A decision package for RMUC/RMYC sentinel robots implemented based on a finite state machine', + description='A decision package for RMUC/RMUL sentinel robots implemented based on a finite state machine', license='MIT', tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'pb_auto_fsm = rm_decision.pb_auto_fsm:main', + 'pb_auto_fsm = rm_auto_FSM.pb_auto_fsm:main', ], }, ) diff --git a/src/rm_decision/rm_FSM/test/test_line_iterator.py b/src/rm_decision/rm_FSM/test/test_line_iterator.py index d50b1ad..9c07e4c 100644 --- a/src/rm_decision/rm_FSM/test/test_line_iterator.py +++ b/src/rm_decision/rm_FSM/test/test_line_iterator.py @@ -14,7 +14,7 @@ import unittest from cmath import sqrt -from rm_decision.line_iterator import LineIterator +from rm_auto_FSM.line_iterator import LineIterator class TestLineIterator(unittest.TestCase): -- Gitee From 1bbde537ccacc238933c2b4f102ac183e74a0657 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 14:18:59 +0800 Subject: [PATCH 4/8] =?UTF-8?q?=F0=9F=A6=84=20refactor(rm=5Fdecision):=20p?= =?UTF-8?q?b=5Fauto=5Ffsm=20=E6=9B=B4=E5=90=8D=E4=B8=BA=20rm=5Fauto=5Ffsm?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/{pb_auto_fsm_launch.py => rm_auto_fsm_launch.py} | 2 +- .../rm_FSM/rm_auto_FSM/{pb_auto_fsm.py => rm_auto_FSM.py} | 0 src/rm_decision/rm_FSM/setup.py | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename src/rm_decision/rm_FSM/launch/{pb_auto_fsm_launch.py => rm_auto_fsm_launch.py} (90%) rename src/rm_decision/rm_FSM/rm_auto_FSM/{pb_auto_fsm.py => rm_auto_FSM.py} (100%) diff --git a/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py b/src/rm_decision/rm_FSM/launch/rm_auto_fsm_launch.py similarity index 90% rename from src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py rename to src/rm_decision/rm_FSM/launch/rm_auto_fsm_launch.py index 443fd59..567f1cf 100644 --- a/src/rm_decision/rm_FSM/launch/pb_auto_fsm_launch.py +++ b/src/rm_decision/rm_FSM/launch/rm_auto_fsm_launch.py @@ -6,7 +6,7 @@ def generate_launch_description(): # start the demo autonomy task demo_cmd = Node( package='rm_auto_FSM', - executable='pb_auto_fsm', + executable='rm_auto_FSM', emulate_tty=True, output='screen') diff --git a/src/rm_decision/rm_FSM/rm_auto_FSM/pb_auto_fsm.py b/src/rm_decision/rm_FSM/rm_auto_FSM/rm_auto_FSM.py similarity index 100% rename from src/rm_decision/rm_FSM/rm_auto_FSM/pb_auto_fsm.py rename to src/rm_decision/rm_FSM/rm_auto_FSM/rm_auto_FSM.py diff --git a/src/rm_decision/rm_FSM/setup.py b/src/rm_decision/rm_FSM/setup.py index 1798ca1..bb2c71e 100644 --- a/src/rm_decision/rm_FSM/setup.py +++ b/src/rm_decision/rm_FSM/setup.py @@ -24,7 +24,7 @@ setup( tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'pb_auto_fsm = rm_auto_FSM.pb_auto_fsm:main', + 'rm_auto_FSM = rm_auto_FSM.rm_auto_FSM:main', ], }, ) -- Gitee From f594705dc03feabc24a8b5b1b1014c2a4aa85231 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 14:22:16 +0800 Subject: [PATCH 5/8] =?UTF-8?q?=F0=9F=93=83=20docs(rm=5Fdecision):=20updat?= =?UTF-8?q?e=20README?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/rm_decision/rm_FSM/README.md | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/src/rm_decision/rm_FSM/README.md b/src/rm_decision/rm_FSM/README.md index 659a659..6286392 100644 --- a/src/rm_decision/rm_FSM/README.md +++ b/src/rm_decision/rm_FSM/README.md @@ -65,14 +65,14 @@ ### 启动有限状态机决策 ```Shell -ros2 launch rm_decision pb_auto_fsm_launch.py +ros2 launch rm_auto_FSM rm_auto_fsm_launch.py ``` ### 虚拟裁判系统和视觉部分，发布假消息 - robot_status - ``` + ```bash source install/setup.bash ros2 topic pub -r 5 /robot_status rm_decision_interfaces/msg/RobotStatus "{ robot_id: 7, @@ -83,7 +83,7 @@ ros2 launch rm_decision pb_auto_fsm_launch.py - robot_hp - ``` + ```bash source install/setup.bash ros2 topic pub -r 5 /robot_hp rm_decision_interfaces/msg/AllRobotHP "{ red_1_robot_hp: 200, @@ -107,7 +107,7 @@ ros2 launch rm_decision pb_auto_fsm_launch.py - friend_location - ``` + ```bash source install/setup.bash ros2 topic pub -r 5 /friend_location rm_decision_interfaces/msg/FriendLocation "{ hero_x: 2.75, hero_y: 0.0, @@ -117,15 +117,16 @@ ros2 launch rm_decision pb_auto_fsm_launch.py standard_5_x: 18.75, standard_5_y: 0.0 }" ``` - `hero`: 己方哨兵出生点
- `engineer`: 能量机关（靠己方）
- `standard_3`: 己方环形高地
- `standard_4`: 敌方前哨站
- `standard_5`: 敌方基地
+ + `hero`: 己方哨兵出生点 + `engineer`: 能量机关（靠己方） + `standard_3`: 己方环形高地 + `standard_4`: 敌方前哨站 + `standard_5`: 敌方基地 - armors - ``` + ```bash source install/setup.bash ros2 topic pub -r 5 /detector/armors rm_decision_interfaces/msg/Armor "{ number: '1', @@ -139,7 +140,8 @@ ros2 launch rm_decision pb_auto_fsm_launch.py ``` - RFID - ``` + + ```bash source install/setup.bash ros2 topic pub -r 5 /rfid rm_decision_interfaces/msg/RFID "{ rfid_patrol_status: 0 -- Gitee From 4b64d7b97ae2ffd06c609bccd665dd0f1d9a1476 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Sun, 18 Feb 2024 15:53:22 +0800 Subject: [PATCH 6/8] =?UTF-8?q?=F0=9F=93=83=20docs:=20=E9=87=8D=E5=91=BD?= =?UTF-8?q?=E5=90=8D=20docs=20=E6=96=87=E4=BB=B6=E5=A4=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ...1\351\232\234\347\242\215\347\211\251README.gif" | Bin {docs => .docs}/FAST_LIO+Nav2.png | Bin {docs => .docs}/Gazebo_Simulation.png | Bin {docs => .docs}/RMUC_2024_mapping.png | Bin README.md | 4 ++-- 5 files changed, 2 insertions(+), 2 deletions(-) rename "docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" => ".docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" (100%) rename {docs => .docs}/FAST_LIO+Nav2.png (100%) rename {docs => .docs}/Gazebo_Simulation.png (100%) rename {docs => .docs}/RMUC_2024_mapping.png (100%) diff --git "a/docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" "b/.docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" similarity index 100% rename from "docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" rename to ".docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" diff --git a/docs/FAST_LIO+Nav2.png b/.docs/FAST_LIO+Nav2.png similarity index 100% rename from docs/FAST_LIO+Nav2.png rename to .docs/FAST_LIO+Nav2.png diff --git a/docs/Gazebo_Simulation.png b/.docs/Gazebo_Simulation.png similarity index 100% rename from docs/Gazebo_Simulation.png rename to .docs/Gazebo_Simulation.png diff --git a/docs/RMUC_2024_mapping.png b/.docs/RMUC_2024_mapping.png similarity index 100% rename from docs/RMUC_2024_mapping.png rename to .docs/RMUC_2024_mapping.png diff --git a/README.md b/README.md index d9cd128..7b5f4c6 100644 --- a/README.md +++ b/README.md @@ -10,11 +10,11 @@ |Gazebo 仿真|Fast_LIO + Navigation2| |:-:|:-:| -|![Gazebo 仿真](docs/RMUC_2024_mapping.png)|![Fast_LIO + Navigation2](docs/FAST_LIO+Nav2.png)| +|![Gazebo 仿真](.docs/RMUC_2024_mapping.png)|![Fast_LIO + Navigation2](.docs/FAST_LIO+Nav2.png)| |Mid360点云仿真 + FAST_LIO 里程计 + 障碍物/地面点云分割 + 三维点云转二维 + Navigation2| |:-:| -|![Gazebo 仿真](docs/2023.12.29%20仿真东动态障碍物README.gif)| +|![Gazebo 仿真](.docs/2023.12.29%20仿真东动态障碍物README.gif)| ## 二. rm_simulation 话题接口 -- Gitee From 872e1226069b323a191643f89cf3954f3144980b Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Wed, 21 Feb 2024 10:57:29 +0800 Subject: [PATCH 7/8] =?UTF-8?q?=F0=9F=8E=88=20perf(rm=5Fbringup):=20nav?= =?UTF-8?q?=E5=8F=82=E6=95=B0=E5=88=86=E4=B8=BA=E4=BB=BF=E7=9C=9F=E5=92=8C?= =?UTF-8?q?=E5=AE=9E=E8=BD=A6=E4=B8=A4=E4=B8=AA=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ...nav2_params.yaml => nav2_params_real.yaml} | 0 src/rm_bringup/config/nav2_params_sim.yaml | 378 ++++++++++++++++++ src/rm_bringup/launch/bringup_real.launch.py | 2 +- src/rm_bringup/launch/bringup_sim.launch.py | 2 +- 4 files changed, 380 insertions(+), 2 deletions(-) rename src/rm_bringup/config/{nav2_params.yaml => nav2_params_real.yaml} (100%) create mode 100644 src/rm_bringup/config/nav2_params_sim.yaml diff --git a/src/rm_bringup/config/nav2_params.yaml b/src/rm_bringup/config/nav2_params_real.yaml similarity index 100% rename from src/rm_bringup/config/nav2_params.yaml rename to src/rm_bringup/config/nav2_params_real.yaml diff --git a/src/rm_bringup/config/nav2_params_sim.yaml b/src/rm_bringup/config/nav2_params_sim.yaml new file mode 100644 index 0000000..e957d87 --- /dev/null +++ b/src/rm_bringup/config/nav2_params_sim.yaml @@ -0,0 +1,378 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::OmniMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link + odom_topic: /Odometry + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 5.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + # Goal checker parameters + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: False + min_vel_x: -2.5 + min_vel_y: -2.5 + max_vel_x: 2.5 + max_vel_y: 2.5 + max_vel_theta: 12.0 + min_speed_xy: -8.0 + max_speed_xy: 8.0 + min_speed_theta: -12.0 + acc_lim_x: 5.0 + acc_lim_y: 5.0 + acc_lim_theta: 15.0 + decel_lim_x: -5.0 + decel_lim_y: -5.0 + decel_lim_theta: -15.0 + vx_samples: 20 + vy_samples: 20 + vtheta_samples: 20 + sim_time: 0.51 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 5 + height: 5 + resolution: 0.02 + robot_radius: 0.2 + plugins: ["voxel2d_layer", "voxel3d_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + voxel2d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /segmentation/obstacle + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 15.0 + publish_frequency: 10.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + robot_radius: 0.2 + resolution: 0.02 + track_unknown_space: true + plugins: ["static_layer", "voxel2d_layer", "voxel3d_layer", "inflation_layer"] + voxel2d_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /segmentation/obstacle + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 5.0 + use_sim_time: False + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +# planner_server_rclcpp_node: +# ros__parameters: +# use_sim_time: False + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 20.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 10.0 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 5.0 + scale_velocities: False + feedback: "CLOSED_LOOP" + max_velocity: [2.5, 2.5, 12.0] + min_velocity: [-2.5, -2.5, -12.0] + max_accel: [5.0, 5.0, 15.0] + max_decel: [-5.0, -5.0, -15.0] + odom_topic: "Odometry" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 \ No newline at end of file diff --git a/src/rm_bringup/launch/bringup_real.launch.py b/src/rm_bringup/launch/bringup_real.launch.py index 2c98f14..84c74ff 100644 --- a/src/rm_bringup/launch/bringup_real.launch.py +++ b/src/rm_bringup/launch/bringup_real.launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): slam_toolbox_mapping_file_dir = os.path.join(bringup_dir, 'config', 'mapper_params_online_async.yaml') nav2_map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" - nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params_real.yaml') icp_pcd_dir = PathJoinSubstitution([bringup_dir, 'PCD', world]), ".pcd" icp_node_params_dir = os.path.join(bringup_dir, 'config', 'icp_node_params.yaml') diff --git a/src/rm_bringup/launch/bringup_sim.launch.py b/src/rm_bringup/launch/bringup_sim.launch.py index 89db571..ee1be37 100644 --- a/src/rm_bringup/launch/bringup_sim.launch.py +++ b/src/rm_bringup/launch/bringup_sim.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): slam_toolbox_mapping_file_dir = os.path.join(bringup_dir, 'config', 'mapper_params_online_async.yaml') nav2_map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" - nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params_sim.yaml') icp_pcd_dir = PathJoinSubstitution([bringup_dir, 'PCD', world]), ".pcd" icp_node_params_dir = os.path.join(bringup_dir, 'config', 'icp_node_params.yaml') -- Gitee From 85b1418c2bed34d0dbf51dd0e16d2295b680f952 Mon Sep 17 00:00:00 2001 From: LihanChen2004 <757003373@qq.com> Date: Wed, 21 Feb 2024 10:58:41 +0800 Subject: [PATCH 8/8] =?UTF-8?q?=F0=9F=93=83=20docs:=20=E6=B7=BB=E5=8A=A0RM?= =?UTF-8?q?UL=E4=BB=BF=E7=9C=9F=E5=9B=BE=E7=89=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .docs/gazebo_RMUL.png | 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FAST_LIO 里程计 + 障碍物/地面点云分割 + 三维点云转二维 + Navigation2| |:-:| -- Gitee