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Fix multi robot example of navigation_stage. #22

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Fix multi robot example of navigation_stage. #22

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e147065
[navigation_stage] add tf_prefix argument to amcl_node.xml and move_b…
sktometometo Mar 15, 2021
a9c48be
[navigation_stage] add map to /map remap to move_base in move_bae.xml
sktometometo Mar 15, 2021
43eee57
[navigation_stage] add map topic and service remap, and add initial_p…
sktometometo Mar 15, 2021
417892e
[navigation_stage] add tf_prefix to local and global costmap_params.yaml
sktometometo Mar 15, 2021
b206ee4
[navigation_stage] changed multi_robot.launch to use xml instead of n…
sktometometo Mar 15, 2021
8182c46
[navigation_stage] update rviz config for multi_robot
sktometometo Mar 15, 2021
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56 changes: 22 additions & 34 deletions navigation_stage/launch/move_base_multi_robot.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,52 +3,40 @@
<param name="/use_sim_time" value="true"/>

<node pkg="map_server" type="map_server" name="map_server" args="$(find navigation_stage)/stage_config/maps/willow-full.pgm 0.1" respawn="false" >
<param name="frame_id" value="/map" />
<param name="frame_id" value="map" />
</node>

<node pkg="stage_ros" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find navigation_stage)/stage_config/worlds/willow-pr2-multi.world" respawn="false">
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2-multi.world" respawn="false">
<param name="base_watchdog_timeout" value="0.2"/>
</node>

<!-- BEGIN ROBOT 0 -->
<group ns="robot_0">
<param name="tf_prefix" value="robot_0" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="map" to="/map" />
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
</node>

<node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false" output="screen">
<param name="odom_frame_id" value="robot_0/odom" />
<param name="base_frame_id" value="robot_0/base_link" />
</node>
<include file="$(find navigation_stage)/move_base_config/move_base.xml">
<arg name="tf_prefix" value="robot_0/" />
</include>

<include file="$(find navigation_stage)/move_base_config/amcl_node.xml">
<arg name="tf_prefix" value="robot_0/" />
<arg name="initial_pose_x" value="47.0" />
<arg name="initial_pose_y" value="21.0" />
<arg name="initial_pose_a" value="-1.2" />
</include>
</group>
<!-- END ROBOT 0 -->

<!-- BEGIN ROBOT 1 -->
<group ns="robot_1">
<param name="tf_prefix" value="robot_1" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="map" to="/map" />
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
</node>

<node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
<param name="odom_frame_id" value="robot_1/odom" />
<param name="base_frame_id" value="robot_1/base_link" />
</node>
<include file="$(find navigation_stage)/move_base_config/move_base.xml">
<arg name="tf_prefix" value="robot_1/" />
</include>

<include file="$(find navigation_stage)/move_base_config/amcl_node.xml">
<arg name="tf_prefix" value="robot_1/" />
<arg name="initial_pose_x" value="48.0" />
<arg name="initial_pose_y" value="21.0" />
<arg name="initial_pose_a" value="-1.2" />
</include>
</group>
<!-- END ROBOT 1 -->

Expand Down
17 changes: 13 additions & 4 deletions navigation_stage/move_base_config/amcl_node.xml
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Original file line number Diff line number Diff line change
@@ -1,9 +1,16 @@
<launch>
<arg name="tf_prefix" default=""/>
<arg name="initial_pose_x" default="12.0"/>
<arg name="initial_pose_y" default="26.0"/>
<arg name="initial_pose_a" default="0.0"/>
<!--
Example amcl configuration. Descriptions of parameters, as well as a full list of all amcl parameters, can be found at http://www.ros.org/wiki/amcl.
-->
<node pkg="amcl" type="amcl" name="amcl" respawn="true">
<remap from="scan" to="base_scan" />
<remap from="map" to="/map" />
<remap from="map_metadata" to="/map_metadata" />
<remap from="static_map" to="/static_map" />
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="omni"/>
<param name="odom_alpha5" value="0.1"/>
Expand Down Expand Up @@ -31,14 +38,16 @@
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="odom_frame_id" value="odom"/>
<param name="odom_frame_id" value="$(arg tf_prefix)odom"/>
<param name="base_frame_id" value="$(arg tf_prefix)base_link"/>
<param name="global_frame_id" value="map"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="initial_pose_x" value="12.0" />
<param name="initial_pose_y" value="26.0" />
<param name="initial_pose_a" value="0.0" />
<param name="initial_pose_x" value="$(arg initial_pose_x)" />
<param name="initial_pose_y" value="$(arg initial_pose_y)" />
<param name="initial_pose_a" value="$(arg initial_pose_a)" />
<param name="initial_cov_xx" value="0.5" />
<param name="initial_cov_yy" value="0.5" />
<param name="initial_cov_aa" value="0.1" />
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2 changes: 1 addition & 1 deletion navigation_stage/move_base_config/global_costmap_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
global_costmap:
#Set the global and robot frames for the costmap
global_frame: map
robot_base_frame: base_link
robot_base_frame: $(arg tf_prefix)base_link

#Set the update and publish frequency of the costmap
update_frequency: 5.0
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4 changes: 2 additions & 2 deletions navigation_stage/move_base_config/local_costmap_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@ local_costmap:
publish_voxel_map: true

#Set the global and robot frames for the costmap
global_frame: odom
robot_base_frame: base_link
global_frame: $(arg tf_prefix)odom
robot_base_frame: $(arg tf_prefix)base_link

#Set the update and publish frequency of the costmap
update_frequency: 5.0
Expand Down
14 changes: 8 additions & 6 deletions navigation_stage/move_base_config/move_base.xml
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Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
<launch>
<arg name="tf_prefix" default=""/>
<!--
Example move_base configuration. Descriptions of parameters, as well as a full list of all amcl parameters, can be found at http://www.ros.org/wiki/move_base.
-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="map" to="/map" />
<param name="footprint_padding" value="0.01" />
<param name="controller_frequency" value="10.0" />
<param name="controller_patience" value="3.0" />
Expand All @@ -14,13 +16,13 @@
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
-->

<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" subst_value="True" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" subst_value="True" />
<rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" subst_value="True" />
<rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" subst_value="True" />
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" subst_value="True" />
<!--
<rosparam file="$(find navigation_stage)/move_base_config/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/dwa_local_planner_params.yaml" command="load" subst_value="True" />
-->
</node>
</launch>
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