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wpb_ai

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ZhangWanjie 2019-07-30 19:55:28 +08:00
parent e7e56d20ac
commit 72304e9945
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launch/add_waypoint_ai.launch Normal file
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<launch>
<!-- Map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find wpb_ai_tutorials)/maps/map.yaml"/>
<!-- RViz and TF -->
<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/addwaypoint.rviz" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /map /base_link 100"/>
<!-- Map tools -->
<node pkg="waterplus_map_tools" type="wp_manager" name="wp_manager" output="screen">
<param name="load" type="string" value="/home/nvidia/waypoints.xml"/>
</node>
</launch>

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launch/wpb_ai_nav_test.launch Normal file
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<launch>
<master auto="start"/>
<!-- wpb_ai core-->
<node pkg="wpb_ai_bringup" type="wpb_ai_core" name="wpb_ai_core" output="screen">
<param name="serial_port" type="string" value="/dev/ftdi"/>
<rosparam file="$(find wpb_ai_bringup)/config/wpb_ai.yaml" command="load" />
</node>
<!--- Run Rplidar -->
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/rplidar"/>
<param name="serial_baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
<remap from="scan" to="scan_raw"/>
</node>
<!-- Run lidar filter -->
<node pkg="wpb_ai_bringup" type="wpb_ai_lidar_filter" name="wpb_ai_lidar_filter">
<param name="pub_topic" value="/scan"/>
</node>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find wpb_ai_tutorials)/maps/map.yaml"/>
<!--- Run AMCL -->
<include file="$(find wpb_ai_tutorials)/nav_lidar/amcl_omni.launch" />
<!--- Run move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpb_local_planner/WpbLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
</node>
<!-- RViz and TF tree -->
<arg name="model" default="$(find wpb_ai_bringup)/urdf/wpb_ai_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/nav.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- Map tools -->
<node pkg="waterplus_map_tools" type="wp_manager" name="wp_manager" output="screen">
<param name="load" type="string" value="/home/nvidia/waypoints.xml"/>
</node>
</launch>