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Merge pull request #420 from Nova-UTD/feature/pure-pursuit-controller
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[Feature] Pure Pursuit Controller + Nav2 Integration
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@danielv012
danielv012 authored Apr 27, 2024
2 parents 20ef0b5 + a2b2a71 commit ec5ef16
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Showing 9 changed files with 612 additions and 70 deletions.
184 changes: 155 additions & 29 deletions data/navigator_default.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,15 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /Routes Paths1
- /Cameras1
- /Routes Paths1/Path1/Topic1
- /Grids1
- /Nav21/Map1
- /Pure Pursuit Controller1
Splitter Ratio: 0.5
Tree Height: 960
Tree Height: 603
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -55,34 +58,20 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hero:
Alpha: 1
Show Axes: false
Show Trail: false
model_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Value: false
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: false
Expand Down Expand Up @@ -181,7 +170,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /planning/path
Value: true
Enabled: true
Expand Down Expand Up @@ -237,9 +226,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0.9825243353843689
Max Intensity: 0.9850215315818787
Min Color: 0; 73; 112
Min Intensity: 0.7125484347343445
Min Intensity: 0.716873288154602
Name: Filtered LiDAR
Position Transformer: XYZ
Selectable: true
Expand Down Expand Up @@ -336,7 +325,7 @@ Visualization Manager:
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: raw
Color Scheme: map
Draw Behind: true
Enabled: false
Name: Drivable Area
Expand Down Expand Up @@ -537,6 +526,143 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /radar/radar_viz
Value: false
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Planning Goal
Namespaces:
"": true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/goal_marker
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Planning Look Ahead
Namespaces:
"": true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/look_ahead_marker
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nav2/map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nav2/map_updates
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nav2/global_costmap/published_footprint
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /nav2/plan
Value: true
Enabled: true
Name: Nav2
- Class: rviz_common/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 1
Name: Pure Pursuit Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ppc/path
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Pure Pursuit Lookahead
Namespaces:
lookahead: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/barrier_marker
Value: true
Enabled: true
Name: Pure Pursuit Controller
Enabled: true
Global Options:
Background Color: 222; 222; 222
Expand Down Expand Up @@ -583,7 +709,7 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 40.92072296142578
Distance: 20.80792236328125
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Expand All @@ -598,10 +724,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.649796724319458
Pitch: 0.9497964382171631
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 2.9573850631713867
Yaw: 2.19738507270813
Saved: ~
Window Geometry:
Birds Eye:
Expand All @@ -616,16 +742,16 @@ Window Geometry:
collapsed: false
Displays:
collapsed: false
Height: 1373
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
QMainWindow State: 000000ff00000000fd00000004000000000000015600000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001c8000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003b00000296000000c700fffffffa000000010100000002fb0000000c00430061006d0065007200610000000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000001560000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022c00000290fc0200000007fb0000000c00430061006d006500720061010000003b0000022f0000000000000000fb0000001400430065006e0074006500720020005200470042000000019b000006fb0000000000000000fb0000001000530065006d0061006e00740069006300000001d9000001b00000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000290000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000001800460072006f006e0074002000430061006d0065007200610000000000ffffffff000000000000000000000002000003c0000000d9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000051e00000106fc0100000013fb0000001000430061006d006500720061002000330100000000000001390000006f00fffffffb0000001000430061006d00650072006100200030010000013f0000013d0000006f00fffffffb0000001000430061006d006500720061002000320100000282000001430000006f00fffffffb0000001000430061006d0065007200610020003101000003cb000001530000006f00fffffffb00000012004200690072006400730020004500790065000000000000000bea0000006c00fffffffb00000014004200690072006400270073002000450079006501000000000000031e0000000000000000fb000000100052004700420020004c006500660074010000032a000002e00000000000000000fb00000014005200470042002000430065006e0074006500720100000616000002d50000000000000000fb0000001200520047004200200052006900670068007401000008f7000002f30000000000000000fb0000001a00530065006d0061006e0074006900630020004c0065006600740000000000000002780000000000000000fb0000001c00530065006d0061006e00740069006300200052006900670068007400000001de000001dc0000000000000000fb000000100052004700420020004c00650066007401000002d3000001dd0000000000000000fc000004b6000000ea0000000000fffffffa000000000200000002fb0000001c00530065006d0061006e0074006900630020005200690067006800740000000000ffffffff0000000000000000fb0000001200520047004200200052006900670068007401000008a2000001f50000000000000000fb00000014004200690072006400270073002000450079006500000004d1000001250000000000000000fb0000000a004400650070007400680000000000000007800000000000000000fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000000003c20000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2176
X: 74
Width: 1310
X: 610
Y: 27
86 changes: 45 additions & 41 deletions launches/launch.vehicle.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,44 +29,48 @@ def generate_launch_description():

perception_launch_entities = perception_launch_description.describe_sub_entities()

return LaunchDescription(
[
map_manager_carla,
RegisterEventHandler(
OnProcessStart(
target_action=map_manager_carla,
on_start=[
LogInfo(
msg="Map Manager Started... launching the rest of Navigator..."
),
# CONTROL
# carla_controller,
# INTERFACE
# leaderboard_liaison,
# web_bridge,
##joy_linux,
##joy_translation,
# LOCALIZATION
# gnss_averager,
# mcl,
# MAPPING
# MISC
# recorder,
# rqt,
# camera_streamer,
# PERCEPTION
*perception_launch_entities,
# PLANNING
routing_monitor,
grid_summation,
junction_manager,
rtp,
# SAFETY
##airbags,
##guardian,
rviz,
],
)
),
]
)
return LaunchDescription([
map_manager_carla,
RegisterEventHandler(
OnProcessStart(
target_action=map_manager_carla,
on_start=[
LogInfo(msg='Map Manager Started... launching the rest of Navigator...'),
# CONTROL
#carla_controller,

# INTERFACE
# leaderboard_liaison,
# web_bridge,
##joy_linux,
##joy_translation,

# LOCALIZATION
# gnss_averager,
# mcl,

# MAPPING
# MISC
# recorder,
# rqt,
# camera_streamer,

# PERCEPTION
*perception_launch_entities,

# PLANNING
routing_monitor,
grid_summation,
junction_manager,
rtp,
pure_pursuit_controller,

# SAFETY
##airbags,
##guardian,
rviz,
]
)
)
])

5 changes: 5 additions & 0 deletions launches/launch_node_definitions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,11 @@

NAVIGATOR_DIR = "/navigator/"

pure_pursuit_controller = Node(
package='pure_pursuit_controller',
executable='pure_pursuit_controller'
)

airbags = Node(
package='airbags',
executable='airbag_node'
Expand Down
18 changes: 18 additions & 0 deletions src/control/pure_pursuit_controller/package.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>pure_pursuit_controller</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="root@todo.todo">root</maintainer>
<license>TODO: License declaration</license>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>

<export>
<build_type>ament_python</build_type>
</export>
</package>
Empty file added src/control/pure_pursuit_controller/pure_pursuit_controller/__init__.py
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