create launch_segbot_base package (#105)

utexas-bwi · Feb 27, 2018 · 45bdb69 · 45bdb69
1 parent 8b92c9f
commit 45bdb69
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Showing 12 changed files with 202 additions and 14 deletions.
diff --git a/launch_segbot_base/CMakeLists.txt b/launch_segbot_base/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(launch_segbot_base)
+
+find_package(catkin REQUIRED)
+catkin_package()
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+
+# unit tests are enabled selectively
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch)
+endif()
diff --git a/launch_segbot_base/launch/common.launch b/launch_segbot_base/launch/common.launch
@@ -0,0 +1,69 @@
+<!-- common launch for all segbot bases -->
+<launch>
+
+  <arg name="global_frame" default="level_mux_map" />
+  <arg name="gui" default="true" />
+  <arg name="laser_max_range" default="4.0" />  <!-- ??? -->
+  <arg name="localization_scan_topic" default="scan_filtered" />
+  <arg name="move_base_config" default="segbotv2" />
+  <arg name="multimap_file"
+       default="$(find utexas_gdc)/maps/real/multimap/multimap.yaml" />
+  <arg name="rviz" default="true" />
+
+  <!-- ********* multi-level maps ******** -->
+
+  <node name="multi_level_map_server" pkg="multi_level_map_server"
+        type="multi_level_map_server">
+    <param name="map_file" value="$(arg multimap_file)" />
+  </node>
+
+  <!-- Set the default level this robot starts on -->
+  <param name="level_mux/default_current_level" value="3rdFloor" />
+
+  <!-- also launch the level multiplexer and the level selector GUI -->
+  <node name="level_mux" pkg="multi_level_map_utils" type="level_mux">
+    <param name="global_frame_id" value="$(arg global_frame)" />
+  </node>
+  <node name="level_selector" pkg="multi_level_map_utils" type="level_selector" />
+
+  <!-- launch passive (no tours enabled) virtour -->
+  <include file="$(find bwi_virtour)/launch/virtour_passive.launch"/>
+
+  <!-- Start logging selected topics -->
+  <include file="$(find bwi_logging)/launch/record.launch" />
+
+  <!-- localization -->
+  <include file="$(find segbot_navigation)/launch/amcl.launch">
+    <arg name="map_service" value="level_mux/static_map" />
+    <arg name="map_topic" value="level_mux/map" />
+    <arg name="map_frame_id" value="level_mux_map" />
+    <arg name="base_frame_id" value="base_footprint" />
+    <arg name="odom_frame_id" value="odom" />
+    <arg name="laser_max_range" value="$(arg laser_max_range)" />
+    <arg name="scan_topic" value="$(arg localization_scan_topic)" />
+  </include>
+
+  <!-- interruptable physical and logical navigation -->
+  <include file="$(find segbot_navigation)/launch/interruptable_navigation.launch">
+    <arg name="global_frame" value="$(arg global_frame)" />
+    <arg name="config" default="$(arg move_base_config)" />
+  </include>
+
+  <!-- knowledge representation, reasoning, and planing -->
+  <include file="$(find bwi_kr_execution)/launch/bwi_kr_execution.launch">
+    <arg name="domain" value="$(find bwi_kr_execution)/domain/" />
+    <arg name="simulation" value="false" />
+  </include>
+
+  <!-- ******* graphical user interface ********* -->
+
+  <!-- vizualization -->
+  <node name="rviz" type="rviz_runner" pkg="segbot_navigation" 
+        if="$(arg rviz)" />
+
+  <!-- question dialog gui -->
+  <node name="gui" type="question_dialog_plugin" pkg="bwi_rqt_plugins" 
+        if="$(arg gui)" />
+
+</launch>
+
diff --git a/launch_segbot_base/launch/v2.launch b/launch_segbot_base/launch/v2.launch
@@ -0,0 +1,17 @@
+<!-- segbot_v2 base -->
+<launch>
+
+  <!-- common components -->
+  <include file="$(find launch_segbot_base)/launch/common.launch">
+    <arg name="move_base_config" default="segbotv2" />
+  </include>
+
+  <!-- robot base driver -->
+  <include file="$(find segbot_bringup)/launch/segbot_v2.launch">
+    <arg name="gui" value="$(arg gui)" />
+  </include>
+
+  <!-- other devices -->
+  <include file="$(find segbot_bringup)/launch/includes/auxiliary.segbot_v2.launch.xml"/>
+
+</launch>
diff --git a/launch_segbot_base/launch/v3.launch b/launch_segbot_base/launch/v3.launch
@@ -0,0 +1,17 @@
+<!-- segbot_v3 base -->
+<launch>
+
+  <!-- common components -->
+  <include file="$(find launch_segbot_base)/launch/common.launch">
+    <arg name="move_base_config" value="segbotv3" />
+  </include>
+
+  <!-- robot base driver -->
+  <include file="$(find segbot_bringup)/launch/segbot_v3.launch">
+    <arg name="gui" value="$(arg gui)" />
+  </include>
+
+  <!-- other devices -->
+  <include file="$(find segbot_bringup)/launch/includes/auxiliary.segbot_v3.launch.xml"/>
+
+</launch>
diff --git a/launch_segbot_base/package.xml b/launch_segbot_base/package.xml
@@ -0,0 +1,34 @@
+<package format="2">
+  <name>launch_segbot_base</name>
+  <version>0.3.3</version>
+  <description>
+    Top-level ROS launch scripts for the Building-Wide Intelligence
+    (BWI) project of the University of Texas at Austin. 
+
+    This package launches the base for any of the various BWI segbot
+    models.
+  </description>
+
+  <license>BSD</license>
+
+  <url type="repository">https://github.com/utexas-bwi/segbot</url>
+  <url type="bugtracker">https://github.com/utexas-bwi/segbot/issues</url>
+
+  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <author>Jack O'Quin</author>
+  <author>Piyush Khandelwal</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>bwi_kr_execution</exec_depend>
+  <exec_depend>bwi_rqt_plugins</exec_depend>
+  <exec_depend>bwi_virtour</exec_depend>
+  <exec_depend>multi_level_map_server</exec_depend>
+  <exec_depend>multi_level_map_utils</exec_depend>
+  <exec_depend>segbot_bringup</exec_depend> <!-- eliminate this depend -->
+  <exec_depend>segbot_navigation</exec_depend>
+  <exec_depend>utexas_gdc</exec_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+</package>
diff --git a/segbot_gazebo/launch/segbot_navigation.launch b/segbot_gazebo/launch/segbot_navigation.launch
@@ -1,3 +1,4 @@
+<!-- this does not seem to be used anymore -->
 <launch>
 
   <arg name="robot_configuration" default="$(find segbot_bringup)/launch/includes/auxiliary.segbot_v1.hokuyo_only.launch.xml" />

diff --git a/segbot_navigation/CMakeLists.txt b/segbot_navigation/CMakeLists.txt
@@ -39,6 +39,4 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(launch/gmapping.launch)
   roslaunch_add_file_check(launch/move_base_eband.launch)
   roslaunch_add_file_check(launch/rviz.launch)
-  ## launch/navigation.launch not tested until
-  ## ros-drivers/openni_launch#10 is fixed.
 endif ()
diff --git a/segbot_navigation/launch/interruptable_navigation.launch b/segbot_navigation/launch/interruptable_navigation.launch
@@ -0,0 +1,28 @@
+<!-- interruptable physical and logical navigation -->
+<launch>
+
+  <arg name="global_frame" default="level_mux_map" />
+  <arg name="move_base_config" default="segbotv2" />
+
+  <!-- interruptable action server -->
+  <node name="move_base_interruptable" pkg="segbot_navigation" 
+        type="move_base_interruptable_server" />
+  <node name="move_base_interruptable_simple" pkg="segbot_navigation" 
+        type="move_base_interruptable_simple" />
+
+  <!-- move_base with elastic band local planner -->
+  <include file="$(find segbot_navigation)/launch/move_base_eband.launch">
+    <arg name="map_topic" value="bwi_logical_navigator/map" />
+    <arg name="move_base_server" value="move_base_interruptable" />
+    <arg name="global_frame" value="$(arg global_frame)" />
+    <arg name="config" default="$(arg move_base_config)" />
+  </include>
+
+  <!-- logical navigation. -->
+  <node name="bwi_logical_navigator" pkg="bwi_logical_translator" 
+        type="bwi_logical_navigator">
+    <param name="global_frame_id" value="$(arg global_frame)" />
+    <remap from="move_base" to="move_base_interruptable" />
+  </node>
+
+</launch>
diff --git a/segbot_navigation/launch/move_base_eband.launch b/segbot_navigation/launch/move_base_eband.launch
@@ -12,23 +12,30 @@
   <arg name="eband_rotational_threshold_multiplier" default="1.0" />
   <arg name="eband_disallow_hysteresis" default="false" />
 
-  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" launch-prefix="$(arg prefix)">
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/move_base_params.yaml" command="load" />
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find segbot_navigation)/config/$(arg config)/eband_planner_params.yaml" command="load"/>
+  <node pkg="move_base" type="move_base" name="move_base"
+        respawn="false" output="screen" launch-prefix="$(arg prefix)">
+    <rosparam command="load"
+              file="$(find segbot_navigation)/config/$(arg config)/move_base_params.yaml"/>
+    <rosparam command="load" ns="global_costmap"
+              file="$(find segbot_navigation)/config/$(arg config)/costmap_common_params.yaml"/>
+    <rosparam command="load" ns="local_costmap"
+              file="$(find segbot_navigation)/config/$(arg config)/costmap_common_params.yaml"/>
+    <rosparam command="load"
+              file="$(find segbot_navigation)/config/$(arg config)/local_costmap_params.yaml"/>
+    <rosparam command="load"
+              file="$(find segbot_navigation)/config/$(arg config)/global_costmap_params.yaml"/>
+    <rosparam command="load"
+              file="$(find segbot_navigation)/config/$(arg config)/eband_planner_params.yaml"/>
 
-    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
-
     <param name="global_costmap/map_topic" value="$(arg map_topic)"/>
-
     <param name="local_costmap/global_frame" value="$(arg global_frame)"/>
     <param name="global_costmap/global_frame" value="$(arg global_frame)"/>
 
-    <param name="EBandPlannerROS/rotational_threshold_multiplier" value="$(arg eband_rotational_threshold_multiplier)" />
-    <param name="EBandPlannerROS/disallow_hysteresis" value="$(arg eband_disallow_hysteresis)" />
+    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
+    <param name="EBandPlannerROS/rotational_threshold_multiplier"
+           value="$(arg eband_rotational_threshold_multiplier)" />
+    <param name="EBandPlannerROS/disallow_hysteresis"
+           value="$(arg eband_disallow_hysteresis)" />
 
     <remap from="move_base" to="$(arg move_base_server)" />
   </node>

diff --git a/segbot_navigation/launch/navigation.launch b/segbot_navigation/launch/navigation.launch
@@ -1,3 +1,4 @@
+<!-- this does not seem to be used anymore -->
 <launch>
 
   <arg name="map_file" default="$(find utexas_gdc)/maps/real/3ne/3ne.yaml" />

diff --git a/segbot_navigation/launch/navigation_v2.launch b/segbot_navigation/launch/navigation_v2.launch
@@ -1,3 +1,4 @@
+<!-- this does not seem to be used anymore -->
 <launch>
 
   <arg name="map_file" default="$(find utexas_gdc)/maps/real/3ne/3ne.yaml" />

diff --git a/segbot_navigation/package.xml b/segbot_navigation/package.xml
@@ -26,6 +26,7 @@
   <depend>std_srvs</depend>
 
   <exec_depend>amcl</exec_depend>
+  <exec_depend>bwi_logical_translator</exec_depend>
   <exec_depend>eband_local_planner</exec_depend>
   <exec_depend>gmapping</exec_depend>
   <exec_depend>map_server</exec_depend>