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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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2
scout_base/launch/scout_base_sim.launch
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@@ -12,7 +12,7 @@
<arg name="simulated_robot" default="true" />
<arg name="control_rate" default="50" />
<node name="scout_base_sim_node" pkg="scout_base" type="scout_base_sim_node" output="screen">
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="control_rate" type="int" value="$(arg control_rate)" />

79
scout_base/src/scout_base_node.cpp
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@@ -1,53 +1,60 @@
#include <string>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "scout_sdk/scout_base.hpp"
#include <string>
#include "scout_base/scout_messenger.hpp"
#include "scout_sdk/scout_base.hpp"
using namespace wescore;
int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
int main(int argc, char **argv) {
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
// instantiate a robot object
ScoutBase robot;
ScoutROSMessenger messenger(&robot, &node);
// instantiate a robot object
ScoutBase robot;
ScoutROSMessenger messenger(&robot, &node);
// fetch parameters before connecting to robot
std::string port_name;
private_node.param<std::string>("port_name", port_name, std::string("can0"));
private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
// fetch parameters before connecting to robot
std::string port_name;
private_node.param<std::string>("port_name", port_name, std::string("can0"));
private_node.param<std::string>("odom_frame", messenger.odom_frame_,
std::string("odom"));
private_node.param<std::string>("base_frame", messenger.base_frame_,
std::string("base_link"));
private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
false);
private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
if (!messenger.simulated_robot_) {
// connect to robot and setup ROS subscription
if (port_name.find("can") != std::string::npos)
{
robot.Connect(port_name);
ROS_INFO("Using CAN bus to talk with the robot");
if (port_name.find("can") != std::string::npos) {
robot.Connect(port_name);
ROS_INFO("Using CAN bus to talk with the robot");
} else {
robot.Connect(port_name, 115200);
ROS_INFO("Using UART to talk with the robot");
}
else
{
robot.Connect(port_name, 115200);
ROS_INFO("Using UART to talk with the robot");
}
messenger.SetupSubscription();
}
messenger.SetupSubscription();
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate_50hz(50); // 50Hz
while (true)
{
messenger.PublishStateToROS();
ros::spinOnce();
rate_50hz.sleep();
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate(50);
while (true) {
if (!messenger.simulated_robot_) {
messenger.PublishStateToROS();
} else {
double linear, angular;
messenger.GetCurrentMotionCmdForSim(linear, angular);
messenger.PublishSimStateToROS(linear, angular);
}
ros::spinOnce();
rate.sleep();
}
return 0;
return 0;
}

1
scout_base/src/scout_base_sim_node.cpp
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@@ -22,7 +22,6 @@ int main(int argc, char **argv)
// fetch parameters before connecting to robot
std::string port_name;
private_node.param<std::string>("port_name", port_name, std::string("can0"));
private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, true);

2
scout_bringup/launch/scout_base_gazebo_sim.launch → scout_bringup/launch/scout_gazebo_sim_empty.launch
View File

@@ -1,4 +1,4 @@
<launch>
<!-- Scout base only (with no onboard sensors) in an empty world -->
<include file="$(find scout_gazebo_sim)/launch/scout_empty_world.launch" />
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
</launch>

4
scout_bringup/launch/scout_gazebo_sim_playpen.launch Normal file
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@@ -0,0 +1,4 @@
<launch>
<!-- Scout base with a hokuyo laser in an testing world -->
<include file="$(find scout_gazebo_sim)/launch/scout_playpen.launch" />
</launch>

0
scout_bringup/launch/scout_base_webots_sim.launch → scout_bringup/launch/scout_webots_sim.launch
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10
scout_description/launch/scout_v2_sensors.launch Normal file
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@@ -0,0 +1,10 @@
<launch>
<arg name="robot_namespace" default="/"/>
<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
robot_namespace:=$(arg robot_namespace)
onboard_sensors:='true'
urdf_extras:=$(arg urdf_extras)" />
</launch>

1
scout_description/launch/scout_v2_stock.launch
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@@ -5,5 +5,6 @@
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
robot_namespace:=$(arg robot_namespace)
onboard_sensors:='false'
urdf_extras:=$(arg urdf_extras)" />
</launch>

253
scout_description/meshes/hokuyo.dae Executable file
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File diff suppressed because one or more lines are too long

31
scout_description/urdf/onboard_sensors.urdf Normal file
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@@ -0,0 +1,31 @@
<robot>
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
<parent link="base_link"/>
<axis xyz="0 1 0" />
<child link="hokuyo_link"/>
</joint>
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/hokuyo.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
</robot>

39
scout_description/urdf/scout_v2.gazebo
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@@ -32,7 +32,7 @@ Reference:
<!-- kp spring constant, kd damping constant -->
<gazebo>
<mu1 value="1.0"/>
<mu2 value="0.9"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
@@ -40,6 +40,43 @@ Reference:
<maxContacts value="64"/>
</gazebo>
<!-- hokuyo -->
<gazebo reference="hokuyo_link">
<sensor type="ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>
<!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>

16
scout_description/urdf/scout_v2.xacro
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@@ -5,6 +5,7 @@
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
<xacro:arg name="onboard_sensors" default="true" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
@@ -52,6 +53,14 @@
<child link="chassis_link" />
</joint> -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<link name="inertial_link">
<inertial>
<mass value="40" />
@@ -93,6 +102,13 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- Onboard sensors -->
<xacro:if value="$(arg onboard_sensors)">
<!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
<xacro:sensor_frame /> -->
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
</xacro:if>
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />

5
scout_gazebo_sim/launch/scout_empty_world.launch
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@@ -12,7 +12,8 @@
<arg name="debug" value="false"/>
</include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_base.launch"></include>
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
</launch>

7
scout_gazebo_sim/launch/scout_playpen.launch
View File

@@ -37,7 +37,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="debug" value="false"/>
</include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_sensors.launch"></include>
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> -->
</launch>

2
scout_gazebo_sim/launch/spawn_scout_v2.launch → scout_gazebo_sim/launch/spawn_scout_v2_base.launch
View File

@@ -5,7 +5,7 @@
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="robot_namespace" default="/"/>
<arg name="robot_namespace" default=""/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />

40
scout_gazebo_sim/launch/spawn_scout_v2_sensors.launch Normal file
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@@ -0,0 +1,40 @@
<launch>
<!-- initial pose -->
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="robot_namespace" default=""/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="true" />
<include file="$(find scout_description)/launch/scout_v2_sensors.launch">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
</include>
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
-y $(arg y)
-z $(arg z)
-Y $(arg yaw)
-unpause
-urdf
-param robot_description
-model 'scout$(arg robot_namespace)'" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
</node>
</launch>

2
scout_gazebo_sim/src/scout_skid_steer_controller.cpp
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@@ -11,7 +11,7 @@ using namespace wescore;
int main(int argc, char **argv) {
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::init(argc, argv, "scout_skid_steer");
ros::NodeHandle node(""), private_node("~");
// fetch parameters

209
scout_navigation/CMakeLists.txt Normal file
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@@ -0,0 +1,209 @@
cmake_minimum_required(VERSION 2.8.3)
project(scout_navigation)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
sensor_msgs
std_msgs
urdf
xacro
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# sensor_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES scout_navigation
# CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs urdf xacro
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/scout_navigation.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/scout_navigation_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_navigation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

11
scout_navigation/launch/gmapping.launch Normal file
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@@ -0,0 +1,11 @@
<!-- -->
<launch>
<param name="/use_sim_time" value="true"/>
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
<remap from="scan" to="/scan"/>
<param name="base_link" value="base_footprint"/>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
</launch>

33
scout_navigation/launch/navigation.launch Normal file
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@@ -0,0 +1,33 @@
<launch>
<param name="/use_sim_time" value="true"/>
<arg name="map_file" default="$(find scout_navigation)/maps/play.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen">
<param name="frame_id" value="map"/>
</node>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<rosparam file="$(find scout_navigation)/param/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="0"/>
<param name="initial_pose_y" value="0"/>
<param name="initial_pose_a" value="0"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scout_navigation)/param/diff_drive/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_navigation)/param/diff_drive/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_navigation)/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>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_navigation)/rviz/rviz_navigation.rviz"/>
</launch>

5
scout_navigation/maps/play.pgm Executable file
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File diff suppressed because one or more lines are too long

7
scout_navigation/maps/play.yaml Executable file
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@@ -0,0 +1,7 @@
image: play.pgm
resolution: 0.010000
origin: [-20.000000, -20.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

77
scout_navigation/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>scout_navigation</name>
<version>0.0.0</version>
<description>The scout_navigation package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="rdu@todo.todo">rdu</maintainer>
<!-- 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>
<!-- 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/scout_navigation</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>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>urdf</build_depend>
<build_depend>xacro</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>urdf</build_export_depend>
<build_export_depend>xacro</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

38
scout_navigation/param/amcl_params.yaml Normal file
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use_map_topic: true
odom_frame_id: "odom"
base_frame_id: "base_footprint"
global_frame_id: "map"
## Publish scans from best pose at a max of 10 Hz
odom_model_type: "diff"
odom_alpha5: 0.1
gui_publish_rate: 10.0
laser_max_beams: 60
laser_max_range: 12.0
min_particles: 500
max_particles: 2000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
## translation std dev, m
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
aser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
laser_likelihood_max_dist: 2.0
update_min_d: 0.25
update_min_a: 0.2
resample_interval: 1
## Increase tolerance because the computer can get quite busy
transform_tolerance: 1.0
recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.1

33
scout_navigation/param/diff_drive/costmap_common_params.yaml Normal file
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#---standard pioneer footprint---
#---(in meters)---
#robot_radius: 0.25 #0.17
#footprint_padding: 0.00
footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
transform_tolerance: 0.2
map_type: costmap
always_send_full_costmap: true
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.2
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"

31
scout_navigation/param/diff_drive/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
costmap_converter/CostmapToLinesDBSRANSAC:
cluster_max_distance: 0.4
cluster_min_pts: 2
ransac_inlier_distance: 0.15
ransac_min_inliers: 10
ransac_no_iterations: 1500
ransac_remainig_outliers: 3
ransac_convert_outlier_pts: True
ransac_filter_remaining_outlier_pts: False
convex_hull_min_pt_separation: 0.1

41
scout_navigation/param/diff_drive/dyn_obst/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
costmap_converter/CostmapToDynamicObstacles:
alpha_slow: 0.3
alpha_fast: 0.85
beta: 0.85
min_sep_between_slow_and_fast_filter: 80
min_occupancy_probability: 180
max_occupancy_neighbors: 100
morph_size: 1
filter_by_area: True
min_area: 3
max_area: 300
filter_by_circularity: True
min_circularity: 0.2
max_circularity: 1.0
filter_by_inertia: True
min_intertia_ratio: 0.2
max_inertia_ratio: 1.0
filter_by_convexity: False
min_convexity: 0.0
max_convexity: 1.0
dt: 0.2
dist_thresh: 60.0
max_allowed_skipped_frames: 3
max_trace_length: 10
static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"

16
scout_navigation/param/diff_drive/dyn_obst/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

15
scout_navigation/param/diff_drive/dyn_obst/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 5.0
publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
static_map: false
rolling_window: true
width: 12
height: 12
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

83
scout_navigation/param/diff_drive/dyn_obst/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5
# Robot
max_vel_x: 0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "point"
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
# Obstacles
min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.8
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 30
# costmap_converter parameters are defined in costmap_converter_params.yaml
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 3
weight_max_vel_theta: 1
weight_acc_lim_x: 2
weight_acc_lim_theta: 2
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_inflation: 0.3
weight_dynamic_obstacle: 50
weight_dynamic_obstacle_inflation: 0.3
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: True
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: 0.2

16
scout_navigation/param/diff_drive/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

15
scout_navigation/param/diff_drive/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 5.5
height: 5.5
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

112
scout_navigation/param/diff_drive/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 5
publish_feedback: False
# Robot
max_vel_x: 0.8 #0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 1.8 #0.3
acc_lim_x: 0.5
acc_lim_theta: 1.8 #0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "line"
line_start: [-0.4, 0.0]
line_end: [0.4, 0.0]
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.9
selection_obst_cost_scale: 100.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10

252
scout_navigation/rviz/mapping.rviz Executable file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Odometry1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 508
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /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: 1.12401e-37
Min Color: 0; 0; 0
Min Intensity: 1.12401e-37
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /robot/laser/scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 100
Length: 1
Name: Odometry
Position Tolerance: 0.1
Topic: /odom
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hokuyo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
camera_link:
Value: true
hokuyo_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_1:
Value: true
wheel_2:
Value: true
wheel_3:
Value: true
wheel_4:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 8.13564
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.860398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9304
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 681
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1079
X: 783
Y: 50

329
scout_navigation/rviz/rviz_navigation.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 81
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Robot1
Splitter Ratio: 0.605095983
Tree Height: 744
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 50
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: TebPoses
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /move_base/TebLocalPlannerROS/teb_poses
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
Name: TebMarker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: LocalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.400000006
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: LocalCostmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Local Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: GlobalCostmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Global Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Class: rviz/Polygon
Color: 85; 0; 255
Enabled: true
Name: Robot Footprint
Topic: /move_base/local_costmap/footprint
Unreliable: false
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: 999999
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Arrow Length: 0.100000001
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: AMCL Particles
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
Enabled: true
Name: Robot
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 23.5006466
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.338720083
Y: 0.705890715
Z: -1.42741621
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.56480002
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.71043015
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1028
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 928
X: 65
Y: 24

156
scout_navigation/rviz/urdf.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.64610708
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.01039815
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.810398042
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

212
scout_robot/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(scout_robot)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
urdf
xacro
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
CATKIN_DEPENDS urdf xacro
# INCLUDE_DIRS include
# LIBRARIES scout_robot
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/scout_robot.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/scout_robot_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
install(DIRECTORY meshes rviz urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_robot.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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>

5
scout_robot/maps/play.pgm Executable file
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7
scout_robot/maps/play.yaml Executable file
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image: play.pgm
resolution: 0.010000
origin: [-20.000000, -20.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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scout_robot/meshes/back left_Link.STL Normal file
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<?xml version="1.0"?>
<package format="2">
<name>scout_robot</name>
<version>0.0.0</version>
<description>The scout_robot package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="a@todo.todo">a</maintainer>
<!-- 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>
<!-- 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/scout_robot</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>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<depend>urdf</depend>
<depend>xacro</depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</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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scout_robot/param/amcl_params.yaml Normal file
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use_map_topic: true
odom_frame_id: "odom"
base_frame_id: "base_footprint"
global_frame_id: "map"
## Publish scans from best pose at a max of 10 Hz
odom_model_type: "diff"
odom_alpha5: 0.1
gui_publish_rate: 10.0
laser_max_beams: 60
laser_max_range: 12.0
min_particles: 500
max_particles: 2000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
## translation std dev, m
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
aser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
laser_likelihood_max_dist: 2.0
update_min_d: 0.25
update_min_a: 0.2
resample_interval: 1
## Increase tolerance because the computer can get quite busy
transform_tolerance: 1.0
recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.1

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scout_robot/param/diff_drive/costmap_common_params.yaml Normal file
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#---standard pioneer footprint---
#---(in meters)---
#robot_radius: 0.25 #0.17
#footprint_padding: 0.00
footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
transform_tolerance: 0.2
map_type: costmap
always_send_full_costmap: true
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.2
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"

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scout_robot/param/diff_drive/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
costmap_converter/CostmapToLinesDBSRANSAC:
cluster_max_distance: 0.4
cluster_min_pts: 2
ransac_inlier_distance: 0.15
ransac_min_inliers: 10
ransac_no_iterations: 1500
ransac_remainig_outliers: 3
ransac_convert_outlier_pts: True
ransac_filter_remaining_outlier_pts: False
convex_hull_min_pt_separation: 0.1

41
scout_robot/param/diff_drive/dyn_obst/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
costmap_converter/CostmapToDynamicObstacles:
alpha_slow: 0.3
alpha_fast: 0.85
beta: 0.85
min_sep_between_slow_and_fast_filter: 80
min_occupancy_probability: 180
max_occupancy_neighbors: 100
morph_size: 1
filter_by_area: True
min_area: 3
max_area: 300
filter_by_circularity: True
min_circularity: 0.2
max_circularity: 1.0
filter_by_inertia: True
min_intertia_ratio: 0.2
max_inertia_ratio: 1.0
filter_by_convexity: False
min_convexity: 0.0
max_convexity: 1.0
dt: 0.2
dist_thresh: 60.0
max_allowed_skipped_frames: 3
max_trace_length: 10
static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"

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scout_robot/param/diff_drive/dyn_obst/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

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scout_robot/param/diff_drive/dyn_obst/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 5.0
publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
static_map: false
rolling_window: true
width: 12
height: 12
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

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scout_robot/param/diff_drive/dyn_obst/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5
# Robot
max_vel_x: 0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "point"
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
# Obstacles
min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.8
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 30
# costmap_converter parameters are defined in costmap_converter_params.yaml
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 3
weight_max_vel_theta: 1
weight_acc_lim_x: 2
weight_acc_lim_theta: 2
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_inflation: 0.3
weight_dynamic_obstacle: 50
weight_dynamic_obstacle_inflation: 0.3
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: True
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: 0.2

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scout_robot/param/diff_drive/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

15
scout_robot/param/diff_drive/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 5.5
height: 5.5
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

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scout_robot/param/diff_drive/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 5
publish_feedback: False
# Robot
max_vel_x: 0.8 #0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 1.8 #0.3
acc_lim_x: 0.5
acc_lim_theta: 1.8 #0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "line"
line_start: [-0.4, 0.0]
line_end: [0.4, 0.0]
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.9
selection_obst_cost_scale: 100.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10

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scout_robot/readme.md Normal file
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The scout robot simulated in gazebo.
System environment:
Ubuntu 16.04
ros kinetic
gazebo7
Required configuration environment:
sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-slam-gmapping
sudo apt-get install ros-kinetic-openslam-gmapping
sudo apt-get install ros-kinetic-teleop-twist-keyboard
sudo apt-get install ros-kinetic-teb-local-planner
Start the robot world:
roslaunch scout_robot scout_world.launch
If you can't open the gazebo,you can see this blog:
https://blog.csdn.net/qq_37427972/article/details/82853655
And don't forget to install the graphics driver.
We can teleop the robot by using this command:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Start the gmapping:
roslaunch scout_robot gmapping.launch
After finishing to build the map,we can save the map data by using this:
rosrun map_server map_saver -f map
Start the navigation:
roslaunch scout_robot navigation.launch
Then,we can let the robot to the navigation goal by using the 2D Pose Estimate in RVIZ.
The moredetails in teb_local_planner,you can see this website:
http://wiki.ros.org/teb_local_planner/Tutorials

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scout_robot/rviz/mapping.rviz Executable file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Odometry1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 508
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /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: 1.12401e-37
Min Color: 0; 0; 0
Min Intensity: 1.12401e-37
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /robot/laser/scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 100
Length: 1
Name: Odometry
Position Tolerance: 0.1
Topic: /odom
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hokuyo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
camera_link:
Value: true
hokuyo_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_1:
Value: true
wheel_2:
Value: true
wheel_3:
Value: true
wheel_4:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 8.13564
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.860398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9304
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 681
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1079
X: 783
Y: 50

329
scout_robot/rviz/rviz_navigation.rviz Normal file
View File

@@ -0,0 +1,329 @@
Panels:
- Class: rviz/Displays
Help Height: 81
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Robot1
Splitter Ratio: 0.605095983
Tree Height: 744
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 50
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: TebPoses
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /move_base/TebLocalPlannerROS/teb_poses
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
Name: TebMarker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: LocalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.400000006
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: LocalCostmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Local Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: GlobalCostmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Global Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Class: rviz/Polygon
Color: 85; 0; 255
Enabled: true
Name: Robot Footprint
Topic: /move_base/local_costmap/footprint
Unreliable: false
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: 999999
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Arrow Length: 0.100000001
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: AMCL Particles
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
Enabled: true
Name: Robot
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 23.5006466
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.338720083
Y: 0.705890715
Z: -1.42741621
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.56480002
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.71043015
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1028
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 928
X: 65
Y: 24

156
scout_robot/rviz/urdf.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.64610708
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.01039815
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.810398042
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

144
scout_robot/urdf/scout copy.urdf Normal file
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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="scout">
<link name="base_link">
<inertial>
<origin xyz="0.00040316 0.00018112 0.054777" rpy="0 0 0" />
<mass value="50.594" />
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="front left_Link">
<inertial>
<origin xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07" rpy="0 0 0" />
<mass value="6.2792" />
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
</geometry>
</collision>
</link>
<joint name="front left_joint" type="revolute">
<origin xyz="0.249 0.29153 0.024097" rpy="0 0 0" />
<parent link="base_link" />
<child link="front left_Link" />
<axis xyz="0 1 0" />
<limit lower="-180" upper="180" effort="0" velocity="0" />
</joint>
<link name="back left_Link">
<inertial>
<origin xyz="1.087E-07 3.2717E-05 -2.3629E-08" rpy="0 0 0" />
<mass value="6.2792" />
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
</geometry>
</collision>
</link>
<joint name="back left_joint" type="revolute">
<origin xyz="-0.249 0.29153 0.024097" rpy="0 0 0" />
<parent link="base_link" />
<child link="back left_Link" />
<axis xyz="0 -1 0" />
<limit lower="-180" upper="180" effort="0" velocity="0" />
</joint>
<link name="front right_Link">
<inertial>
<origin xyz="-3.3128E-07 -3.2716E-05 2.169E-08" rpy="0 0 0" />
<mass value="6.2792" />
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
</geometry>
</collision>
</link>
<joint name="front right_joint" type="revolute">
<origin xyz="0.24702 -0.29093 0.024097" rpy="0 0 0" />
<parent link="base_link" />
<child link="front right_Link" />
<axis xyz="0.0067885 0.99998 0" />
<limit lower="-180" upper="180" effort="0" velocity="0" />
</joint>
<link name="back right_Link">
<inertial>
<origin xyz="-1.135E-07 3.2717E-05 -2.3624E-08" rpy="0 0 0" />
<mass value="6.2792" />
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
</geometry>
</collision>
</link>
<joint name="back right_joint" type="revolute">
<origin xyz="-0.24702 -0.29093 0.024097" rpy="0 0 0" />
<parent link="base_link" />
<child link="back right_Link" />
<axis xyz="0.0067885 -0.99998 0" />
<limit lower="-180" upper="180" effort="0" velocity="0" />
</joint>
</robot>

70
scout_robot/urdf/scout.gazebo Executable file
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<?xml version="1.0"?>
<robot>
<!-- materials -->
<gazebo reference="base_link">
<material>Gazebo/While</material>
</gazebo>
<gazebo reference="front left_Link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="back left_Link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="front right_Link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="back right_Link">
<material>Gazebo/Black</material>
</gazebo>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/robot</robotNamespace>
</plugin>
</gazebo>
<!-- hokuyo -->
<gazebo reference="hokuyo_link">
<sensor type="ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>
</robot>

279
scout_robot/urdf/scout.urdf Normal file
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@@ -0,0 +1,279 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="scout">
<link
name="base_link">
<inertial>
<origin
xyz="0.00040316 0.00018112 0.054777"
rpy="0 0 0" />
<mass
value="50.594" />
<inertia
ixx="3.1632"
ixy="0.0095354"
ixz="-0.0052362"
iyy="3.4936"
iyz="0.00027654"
izz="5.9359" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="front left_Link">
<inertial>
<origin
xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"
rpy="0 0 0" />
<mass
value="6.2792" />
<inertia
ixx="0.048957"
ixy="-1.6382E-09"
ixz="-8.6738E-09"
iyy="0.087434"
iyz="6.3603E-10"
izz="0.048957" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/front left_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/front left_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="front left_joint"
type="revolute">
<origin
xyz="0.249 0.29153 0.024097"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="front left_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-180"
upper="180"
effort="0"
velocity="0" />
</joint>
<link
name="back left_Link">
<inertial>
<origin
xyz="1.087E-07 3.2717E-05 -2.3629E-08"
rpy="0 0 0" />
<mass
value="6.2792" />
<inertia
ixx="0.048957"
ixy="8.5452E-10"
ixz="1.5173E-09"
iyy="0.087434"
iyz="-2.6266E-09"
izz="0.048957" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/back left_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/back left_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="back left_joint"
type="revolute">
<origin
xyz="-0.249 0.29153 0.024097"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="back left_Link" />
<axis
xyz="0 -1 0" />
<limit
lower="-180"
upper="180"
effort="0"
velocity="0" />
</joint>
<link
name="front right_Link">
<inertial>
<origin
xyz="-3.3128E-07 -3.2716E-05 2.169E-08"
rpy="0 0 0" />
<mass
value="6.2792" />
<inertia
ixx="0.048958"
ixy="0.00026119"
ixz="-1.925E-08"
iyy="0.087432"
iyz="3.2348E-09"
izz="0.048957" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/front right_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/front right_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="front right_joint"
type="revolute">
<origin
xyz="0.24702 -0.29093 0.024097"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="front right_Link" />
<axis
xyz="0.0067885 0.99998 0" />
<limit
lower="-180"
upper="180"
effort="0"
velocity="0" />
</joint>
<link
name="back right_Link">
<inertial>
<origin
xyz="-1.135E-07 3.2717E-05 -2.3624E-08"
rpy="0 0 0" />
<mass
value="6.2792" />
<inertia
ixx="0.048958"
ixy="-0.0002612"
ixz="1.5517E-09"
iyy="0.087432"
iyz="-2.626E-09"
izz="0.048957" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/back right_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://scout_robot/meshes/back right_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="back right_joint"
type="revolute">
<origin
xyz="-0.24702 -0.29093 0.024097"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="back right_Link" />
<axis
xyz="0.0067885 -0.99998 0" />
<limit
lower="-180"
upper="180"
effort="0"
velocity="0" />
</joint>
</robot>

255
scout_robot/urdf/scout.xacro Normal file
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@@ -0,0 +1,255 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from scout.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<!--robot name="scout"-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="scout">
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</xacro:macro>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<xacro:default_inertial mass="0.0001"/>
</link>
<xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<!-- the model -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
<mass value="50.594"/>
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
</geometry>
<!--material name="">
<color rgba="1 1 1 1"/>
</material-->
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="front left_Link">
<inertial>
<origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
<mass value="6.2792"/>
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="front left_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
<parent link="base_link"/>
<child link="front left_Link"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="back left_Link">
<inertial>
<origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="back left_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
<parent link="base_link"/>
<child link="back left_Link"/>
<axis xyz="0 -1 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="front right_Link">
<inertial>
<origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="front right_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
<parent link="base_link"/>
<child link="front right_Link"/>
<axis xyz="0.0067885 0.99998 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="back right_Link">
<inertial>
<origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="back right_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
<parent link="base_link"/>
<child link="back right_Link"/>
<axis xyz="0.0067885 -0.99998 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<!-- Hokuyo joint -->
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
<parent link="base_link"/>
<axis xyz="0 1 0" />
<child link="hokuyo_link"/>
</joint>
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/hokuyo.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<!-- Drive controller -->
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
</robot>

3469
scout_robot/worlds/clearpath_playpen.world Normal file
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41
scout_robot/worlds/empty.world Normal file
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<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
</world>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
</sdf>

52
scout_robot/worlds/turtlebot3_world.world Normal file
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@@ -0,0 +1,52 @@
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load world -->
<include>
<uri>model://turtlebot3_world</uri>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.8 0.0 12.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>