Merge pull request #5 from Alpaca-zip/feature/navigation

Feature/navigation

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(vgraph_planner)
+project(vgraph_nav)
 
 set(CMAKE_CXX_STANDARD 14)
 
@@ -8,13 +8,19 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_msgs
   rospy
+  sensor_msgs
+  tf
+  tf2_ros
 )
 
 # Declare a catkin package
 catkin_package(CATKIN_DEPENDS 
   geometry_msgs
   nav_msgs
   rospy
+  sensor_msgs
+  tf
+  tf2_ros
 )
 
 # Install Python executables

README.md

@@ -1 +1 @@
-# vgraph_planner
+# vgraph_nav

launch/include/vgraph_planner.launch

@@ -1,14 +1,28 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="map_file" default="$(find vgraph_planner)/map/map.yaml"/>
-  <arg name="test_folder" default="$(find vgraph_planner)/test"/>
+  <arg name="map_file" default="$(find vgraph_nav)/map/map.yaml"/>
+  <arg name="test_folder" default="$(find vgraph_nav)/test"/>
   <arg name="down_scale_factor" default="0.1"/>
   <arg name="clearance" default="0.1"/>
+  <arg name="odom_topic" default="/odom"/>
+  <arg name="scan_topic" default="/scan"/>
+  <arg name="vel_linear" default="0.1"/>
+  <arg name="vel_theta" default="0.1"/>
+  <arg name="angle_tolerance" default="0.1"/>
+  <arg name="goal_tolerance" default="0.1"/>
+  <arg name="verbose" default="false"/>
 
-  <node name="vgraph_planner_node" pkg="vgraph_planner" type="vgraph_planner.py" output="screen">
+  <node name="vgraph_planner_node" pkg="vgraph_nav" type="vgraph_planner.py" output="screen">
     <param name="~map_file" value="$(arg map_file)"/>
     <param name="~test_folder" value="$(arg test_folder)"/>
     <param name="~down_scale_factor" value="$(arg down_scale_factor)"/>
     <param name="~clearance" value="$(arg clearance)"/>
+    <param name="~odom_topic" value="$(arg odom_topic)"/>
+    <param name="~scan_topic" value="$(arg scan_topic)"/>
+    <param name="~vel_linear" value="$(arg vel_linear)"/>
+    <param name="~vel_theta" value="$(arg vel_theta)"/>
+    <param name="~angle_tolerance" value="$(arg angle_tolerance)"/>
+    <param name="~goal_tolerance" value="$(arg goal_tolerance)"/>
+    <param name="~verbose" value="$(arg verbose)"/>
   </node>
 </launch>

launch/turtlebot3_vgraph_navigation.launch

@@ -4,14 +4,20 @@
   <arg name="x_pos" default="-2.0"/>
   <arg name="y_pos" default="0.0"/>
   <arg name="yaw_pos" default="0.0"/>
-  <arg name="scan_topic" default="/scan"/>
-  <arg name="map_file" default="$(find vgraph_planner)/maps/map.yaml"/>
-  <arg name="test_folder" default="$(find vgraph_planner)/test"/>
+  <arg name="map_file" default="$(find vgraph_nav)/maps/map.yaml"/>
+  <arg name="test_folder" default="$(find vgraph_nav)/test"/>
   <arg name="down_scale_factor" default="0.3"/>
-  <arg name="clearance" default="0.1"/>
+  <arg name="clearance" default="0.15"/>
+  <arg name="odom_topic" default="/odom"/>
+  <arg name="scan_topic" default="/scan"/>
+  <arg name="vel_linear" default="0.1"/>
+  <arg name="vel_theta" default="0.3"/>
+  <arg name="angle_tolerance" default="0.1"/>
+  <arg name="goal_tolerance" default="0.05"/>
+  <arg name="verbose" default="false"/>
   <arg name="open_rviz" default="true"/>
 
-  <include file="$(find vgraph_planner)/launch/include/turtlebot3_world.launch">
+  <include file="$(find vgraph_nav)/launch/include/turtlebot3_world.launch">
     <arg name="model" value="$(arg model)"/>
     <arg name="x_pos" value="$(arg x_pos)"/>
     <arg name="y_pos" value="$(arg y_pos)"/>
@@ -22,21 +28,28 @@
     <arg name="model" value="$(arg model)" />
   </include>
 
-  <include file="$(find vgraph_planner)/launch/include/turtlebot3_amcl.launch">
+  <include file="$(find vgraph_nav)/launch/include/turtlebot3_amcl.launch">
     <arg name="scan_topic" value="$(arg scan_topic)"/>
     <arg name="initial_x_pos" value="$(arg x_pos)"/>
     <arg name="initial_y_pos" value="$(arg y_pos)"/>
     <arg name="initial_yaw_pos" value="$(arg yaw_pos)"/>
   </include>
 
-  <include file="$(find vgraph_planner)/launch/include/vgraph_planner.launch">
+  <include file="$(find vgraph_nav)/launch/include/vgraph_planner.launch">
     <arg name="map_file" value="$(arg map_file)"/>
     <arg name="test_folder" value="$(arg test_folder)"/>
     <arg name="down_scale_factor" value="$(arg down_scale_factor)"/>
     <arg name="clearance" value="$(arg clearance)"/>
+    <arg name="odom_topic" value="$(arg odom_topic)"/>
+    <arg name="scan_topic" value="$(arg scan_topic)"/>
+    <arg name="vel_linear" value="$(arg vel_linear)"/>
+    <arg name="vel_theta" value="$(arg vel_theta)"/>
+    <arg name="angle_tolerance" value="$(arg angle_tolerance)"/>
+    <arg name="goal_tolerance" value="$(arg goal_tolerance)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
   </include>
 
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>
 
-  <node if="$(arg open_rviz)" name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find vgraph_planner)/rviz/turtlebot3_navigation.rviz"/>
+  <node if="$(arg open_rviz)" name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find vgraph_nav)/rviz/turtlebot3_navigation.rviz"/>
 </launch>

package.xml

@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>vgraph_planner</name>
+  <name>vgraph_nav</name>
   <version>0.0.0</version>
-  <description>The vgraph_planner package</description>
+  <description>The vgraph_nav package</description>
   <maintainer email="zip@todo.todo">Alpaca-zip</maintainer>
   <license>Apache 2.0</license>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rospy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf</depend>
+  <depend>tf2_ros</depend>
   <exec_depend>amcl</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>map_server</exec_depend>