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Hadrien 2020-06-27 10:19:10 +02:00
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Projet/pioneer_2dnav/README.md Normal file
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# pioneer_2dnav
Pioneer3dx 2D navigation configuration and launch files
Use in combination with nav_bundle and pioneer_gazebo_ros for gazebo simulation
Use in combination with nav_bundle and pioneer_test for hardware implementation
NOTE: If using in combination with ESTOP package (https://github.com/nrjl/rqt_estop), uncomment line 9 to send cmd_vel via cmd_vel_estop

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Projet/pioneer_2dnav/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
rolling_window: true
width: 3.0
height: 3.0
resolution: 0.05
publish_cost_grid: true
inflation_radius: 2.0
cost_scaling_factor: 5.0

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Projet/pioneer_2dnav/move_base.launch Normal file
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<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find pioneer_2dnav)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find pioneer_2dnav)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find pioneer_2dnav)/base_local_planner_params.yaml" command="load" />
<!-- NOTE: Use move_base_global.launch for globally qualified map topic -->
<!-- START: Use with estop -->
<!-- <remap from="cmd_vel" to="cmd_vel_estop"/>-->
<!-- END: Use with estop -->
</node>
</launch>

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Projet/pioneer_2dnav/move_base_global.launch Normal file
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<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find pioneer_2dnav)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find pioneer_2dnav)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find pioneer_2dnav)/base_local_planner_params.yaml" command="load" />
<remap from="map" to="/map" />
<!-- START: Use with estop -->
<!-- <remap from="cmd_vel" to="cmd_vel_estop"/>-->
<!-- END: Use with estop -->
</node>
</launch>

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Projet/pioneer_2dnav/package.xml Normal file
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<?xml version="1.0"?>
<package>
<name>pioneer_2dnav</name>
<version>0.0.0</version>
<description>The pioneer_2dnav package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="jchu2041@todo.todo">jchu2041</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/pioneer_2dnav</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>gmapping</build_depend>
<build_depend>move_base</build_depend>
<build_depend>rosaria</build_depend>
<run_depend>gmapping</run_depend>
<run_depend>move_base</run_depend>
<run_depend>rosaria</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>