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saved work, odom not right, to be fixed

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This commit is contained in:
Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
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27
scout_robot/launch/display.launch Normal file
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<!-- -->
<launch>
<arg
name="model" />
<arg
name="gui"
default="False" />
<param
name="robot_description"
textfile="$(find scout_robot)/urdf/scout.urdf" />
<param
name="use_gui"
value="$(arg gui)" />
<node
name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find scout_robot)/rviz/urdf.rviz" />
</launch>

16
scout_robot/launch/gmapping.launch Normal file
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<!-- -->
<launch>
<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="true"/>
<!-- ************** Gmapping *************** -->
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
<remap from="scan" to="/scan"/>
<param name="base_link" value="base_footprint"/>
</node>
<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
</launch>

48
scout_robot/launch/navigation.launch Normal file
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<!--
Simulate a differential drive robot with the teb_local_planner in stage:
- map_server
- move_base
- static map
- amcl
- rviz view
-->
<launch>
<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="true"/>
<!-- ************** Navigation *************** -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scout_robot)/param/diff_drive/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_robot)/param/diff_drive/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_robot)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
</node>
<!-- ****** Maps ***** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find scout_robot)/maps/play.yaml" output="screen">
<param name="frame_id" value="map"/>
</node>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<rosparam file="$(find scout_robot)/param/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="-2"/>
<param name="initial_pose_y" value="-1"/>
<param name="initial_pose_a" value="0"/>
</node>
<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/rviz_navigation.rviz"/>
</launch>

28
scout_robot/launch/scout_world.launch Normal file
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<?xml version="1.0"?>
<launch>
<arg name="x_pos" default="-2.0"/>
<arg name="y_pos" default="-0.5"/>
<arg name="z_pos" default="0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!--arg name="world_name" value="$(find scout_robot)/worlds/turtlebot3_world.world"/-->
<arg name="world_name" value="$(find scout_robot)/worlds/clearpath_playpen.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find scout_robot)/urdf/scout.xacro'"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model robot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)" />
</launch>