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42 57 38 57 42 58 46 58 38 58 42 59 51 59 46 59 43 60 44 60 42 60 45 61 44 61 43 61 42 62 44 62 51 62 50 63 51 63 44 63 36 64 46 64 47 64 48 65 47 65 49 65 48 66 49 66 34 66 50 67 34 67 49 67 51 68 49 68 47 68 46 69 51 69 47 69 51 70 50 70 49 70 50 71 30 71 29 71 50 72 29 72 34 72 48 73 35 73 47 73 36 74 47 74 35 74 45 75 43 75 53 75 45 76 53 76 52 76 7596 77 52 77 53 77 7591 78 52 78 7596 78 52 79 54 79 55 79 7591 80 54 80 52 80 55 81 56 81 52 81 55 82 57 82 56 82 3737 83 57 83 58 83 3737 84 58 84 59 84 60 85 59 85 75 85 3737 86 59 86 60 86 62 87 60 87 61 87 61 88 60 88 75 88 64 89 60 89 62 89 3737 90 60 90 64 90 64 91 63 91 3737 91 3737 92 63 92 3738 92 63 93 3733 93 3738 93 64 94 66 94 65 94 65 95 66 95 67 95 66 96 62 96 67 96 64 97 62 97 66 97 67 98 61 98 68 98 67 99 62 99 61 99 69 100 70 100 68 100 68 101 61 101 69 101 70 102 72 102 71 102 69 103 72 103 70 103 71 104 72 104 73 104 72 105 76 105 73 105 69 106 76 106 72 106 74 107 76 107 69 107 69 108 75 108 74 108 76 109 78 109 77 109 74 110 78 110 76 110 77 111 78 111 6479 111 79 112 80 112 78 112 79 113 78 113 74 113 79 114 81 114 80 114 81 115 85 115 80 115 81 116 82 116 85 116 82 117 83 117 85 117 7573 118 83 118 82 118 7573 119 84 119 83 119 83 120 84 120 85 120 80 121 85 121 86 121 85 122 87 122 86 122 85 123 84 123 87 123 86 124 87 124 91 124 84 125 88 125 87 125 7577 126 88 126 84 126 7577 127 89 127 88 127 88 128 89 128 87 128 89 129 7577 129 90 129 87 130 89 130 90 130 87 131 90 131 91 131 91 132 90 132 92 132 90 133 93 133 92 133 90 134 7577 134 93 134 92 135 93 135 98 135 7577 136 94 136 93 136 7577 137 95 137 94 137 94 138 95 138 93 138 7577 139 96 139 95 139 95 140 96 140 97 140 93 141 95 141 97 141 93 142 97 142 98 142 98 143 97 143 99 143 97 144 100 144 99 144 97 145 96 145 100 145 99 146 100 146 104 146 96 147 101 147 100 147 107 148 101 148 7582 148 7582 149 101 149 96 149 107 150 102 150 101 150 101 151 102 151 100 151 100 152 102 152 103 152 100 153 103 153 104 153 104 154 103 154 105 154 103 155 110 155 105 155 103 156 106 156 110 156 102 157 106 157 103 157 107 158 106 158 102 158 107 159 108 159 106 159 106 160 108 160 110 160 107 161 109 161 108 161 108 162 109 162 110 162 110 163 112 163 111 163 110 164 109 164 112 164 111 165 112 165 117 165 112 166 113 166 117 166 112 167 114 167 113 167 109 168 114 168 112 168 115 169 114 169 107 169 107 170 114 170 109 170 115 171 116 171 114 171 114 172 116 172 113 172 117 173 113 173 118 173 113 174 119 174 118 174 113 175 116 175 119 175 116 176 120 176 119 176 121 177 120 177 7579 177 7579 178 120 178 116 178 121 179 122 179 120 179 120 180 122 180 119 180 119 181 122 181 124 181 119 182 124 182 123 182 123 183 124 183 125 183 124 184 129 184 125 184 124 185 126 185 129 185 122 186 126 186 124 186 127 187 126 187 121 187 121 188 126 188 122 188 127 189 128 189 126 189 126 190 128 190 129 190 129 191 131 191 130 191 129 192 128 192 131 192 130 193 131 193 137 193 131 194 132 194 137 194 131 195 133 195 132 195 128 196 133 196 131 196 4429 197 133 197 127 197 127 198 133 198 128 198 4429 199 134 199 133 199 133 200 134 200 132 200 4429 201 135 201 134 201 134 202 135 202 136 202 132 203 134 203 136 203 132 204 136 204 137 204 137 205 136 205 138 205 136 206 139 206 138 206 136 207 135 207 139 207 138 208 139 208 143 208 135 209 140 209 139 209 4414 210 140 210 135 210 4414 211 141 211 140 211 140 212 141 212 142 212 139 213 140 213 142 213 139 214 142 214 143 214 143 215 142 215 147 215 142 216 146 216 147 216 142 217 141 217 146 217 4415 218 144 218 141 218 4415 219 141 219 4414 219 141 220 144 220 146 220 4415 221 145 221 144 221 144 222 145 222 146 222 147 223 146 223 148 223 146 224 149 224 148 224 146 225 145 225 149 225 148 226 149 226 150 226 149 227 151 227 150 227 149 228 152 228 151 228 145 229 152 229 149 229 153 230 152 230 145 230 153 231 154 231 152 231 152 232 154 232 151 232 155 233 154 233 153 233 155 234 159 234 154 234 154 235 159 235 158 235 151 236 154 236 158 236 151 237 158 237 156 237 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- - - - - - - - - - - - - - - diff --git a/lidarbot_description/urdf/lidarbot_core.xacro b/lidarbot_description/urdf/lidarbot_core.xacro index fc2edb7..e74b8a9 100755 --- a/lidarbot_description/urdf/lidarbot_core.xacro +++ b/lidarbot_description/urdf/lidarbot_core.xacro @@ -156,7 +156,7 @@ - + @@ -164,7 +164,7 @@ - + @@ -179,10 +179,10 @@ - + - + @@ -238,4 +238,14 @@ + + + + + + + + + + diff --git a/lidarbot_navigation/scripts/trajectory_visualizer (copy).py b/lidarbot_navigation/scripts/trajectory_visualizer (copy).py deleted file mode 100755 index 2e08e19..0000000 --- a/lidarbot_navigation/scripts/trajectory_visualizer (copy).py +++ /dev/null @@ -1,193 +0,0 @@ -#!/usr/bin/python3 - -# Node to visualize the robot trajectory in Rviz. -# Adapted from https://github.com/RBinsonB/trajectory_visualization - -import rclpy -from rclpy.node import Node -from rclpy.node import Parameter - -from nav_msgs.msg import Path, Odometry -from geometry_msgs.msg import ( - Point, - Pose, - PoseStamped, - PoseWithCovariance, - PoseWithCovarianceStamped, -) - - -class TrajectoryVisualizer(Node): - - def __init__(self, name): - super().__init__(name) - - # Declare parameters - self.declare_parameter("max_poses", 1000) - self.declare_parameter("threshold", 0.001) - self.declare_parameter("frame_id", "map") - - # self.declare_parameter("max_poses", rclpy.Parameter.Type.INTEGER) - # self.declare_parameter("threshold", rclpy.Parameter.Type.DOUBLE) - # self.declare_parameter("frame_id", rclpy.Parameter.Type.STRING) - - # self.load_params() - - self.max_poses_param = self.get_parameter("max_poses") - self.threshold_param = self.get_parameter("threshold") - self.frame_id_param = self.get_parameter("frame_id") - - self.trajectory_path_msg = Path() - self.previous_pose_position = Point() - - # Setup trajectory path publisher - self.trajectory_path_pub = self.create_publisher(Path, "trajectory_path", 10) - - # Setup subscriber to pose - self.pose_sub = self.create_subscription( - Pose, "pose_topic", self.pose_callback, 10 - ) - - # Setup subscriber to pose stamped - self.pose_stamped_sub = self.create_subscription( - PoseStamped, "pose_stamped_topic", self.pose_stamped_callback, 10 - ) - - # Setup subscriber to pose with covariance - self.pose_cov_sub = self.create_subscription( - PoseWithCovariance, "pose_cov_topic", self.pose_cov_callback, 10 - ) - - # Setup subscriber to pose with covariance stamped - self.pose_cov_stamped_sub = self.create_subscription( - PoseWithCovarianceStamped, - "pose_cov_stamped_topic", - self.pose_cov_stamped_callback, - 10, - ) - - # Setup subscriber to odometry - self.odom_sub = self.create_subscription( - # Odometry, "odometry/filtered", self.odom_callback, 10 - Odometry, - "odom", - self.odom_callback, - 10, - ) - - # Load parameters - def load_params(self): - # Load maximum number of poses in actual path - self.max_poses = Parameter("max_poses", Parameter.Type.INTEGER, 1000) - - # Load threshold for adding a ose to actual path - self.threshold = Parameter("threshold", Parameter.Type.DOUBLE, 0.001) - - # Load parent frame id for the trajectory - self.frame_id = Parameter("frame_id", Parameter.Type.STRING, "map") - - # Pose callback function - def pose_callback(self, pose_msg): - - self.get_logger().debug( - f"Received pose message with position {pose_msg.pose.position}" - ) - # Process message position and add it to path - self.publish_trajectory_path(pose_msg.position) - - # - def pose_stamped_callback(self, pose_stamped_msg): - self.get_logger().debug( - f"Received pose stamped message with position {pose_stamped_msg.pose.position}" - ) - - # Process message position and add it to path - if pose_stamped_msg.header.frame_id == self.frame_id: - self.publish_trajectory_path(pose_stamped_msg.pose.position) - else: - self.get_logger().error( - "PoseStamped message frame: %f does not correspond to trajectory frame %f" - % (pose_stamped_msg.header.frame_id, self.frame_id), - ) - - # - def pose_cov_callback(self, pose_cov_msg): - self.get_logger().debug( - "Received pose cov message with position {pose_cov_msg.pose.position}" - ) - self.publish_trajectory_path(pose_cov_msg.pose.position) - - # - def pose_cov_stamped_callback(self, pose_cov_stamped_msg): - self.get_logger().debug( - "Received pose cov stamped message with position {pose_cov_stamped_msg.pose.position}" - ) - # Process message position and add it to path - if pose_cov_stamped_msg.header.frame_id == self.frame_id: - self.publish_trajectory_path(pose_cov_stamped_msg.pose.position) - else: - self.get_logger().error( - "PoseWithCovarianceStamped message frame: %f does not correspond to trajectory frame %f" - % (pose_cov_stamped_msg.header.frame_id, self.frame_id), - ) - - # - def odom_callback(self, odom_msg): - self.get_logger().debug( - "Received odom message with position {odom_msg.pose.position}" - ) - # Process message position and add it to path - if odom_msg.header.frame_id == self.frame_id_param.value: - self.publish_trajectory_path(odom_msg.pose.position) - else: - self.get_logger().error( - "Odometry message frame: %f does not correspond to trajectory frame %f" - % (odom_msg.header.frame_id, self.frame_id_param.value), - ) - - # - def publish_trajectory_path(self, position): - # If the pose has moved more than a set threshold, add it ot the path message and publish - if ( - (abs(self.previous_pose_position.x - position.x) > self.threshold) - or (abs(self.previous_pose_position.y - position.y) > self.threshold) - or (abs(self.previous_pose_position.z - position.z) > self.threshold) - ): - self.get_logger().debug("Exceding threshold, adding pose to path") - - # Add current pose to path - self.trajectory_path_msg.header.stamp = self.get_clock().now().to_msg() - self.trajectory_path_msg.header.frame_id = self.frame_id - pose_stamped_msg = PoseStamped() - pose_stamped_msg.header.stamp = self.get_clock().now().to_msg() - pose_stamped_msg.pose.position.x = position.x - pose_stamped_msg.pose.position.y = position.y - pose_stamped_msg.pose.position.z = position.z - pose_stamped_msg.pose.orientation.w = 1.0 - - # If max number of poses in path has not been reach, just add pose to message - if len(self.trajectory_path_msg.poses) < self.max_poses_param.value: - self.trajectory_path_msg.poses.append(pose_stamped_msg) - # Else rotate the list to dismiss oldest value and add newer value at the end - else: - self.get_logger().debug( - "Max number of poses reached, erasing oldest pose" - ) - self.trajectory_path_msg.poses = self.trajectory_path_msg.poses[1:] - self.trajectory_path_msg.poses.append(pose_stamped_msg) - - self.previous_pose_position = pose_stamped_msg.pose.position - self.trajectory_path_pub.publish(self.trajectory_path_msg) - - -def main(args=None): - rclpy.init(args=args) - - pose_to_path = TrajectoryVisualizer("pose_to_path") - - rclpy.spin(pose_to_path) - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/lidarbot_navigation/scripts/trajectory_visualizer.py b/lidarbot_navigation/scripts/trajectory_visualizer.py index 33de674..09f0890 100755 --- a/lidarbot_navigation/scripts/trajectory_visualizer.py +++ b/lidarbot_navigation/scripts/trajectory_visualizer.py @@ -20,10 +20,10 @@ def __init__(self, name): # Declare parameters self.max_poses_param = self.declare_parameter("max_poses", 1000).value - # self.threshold_param = self.declare_parameter("threshold", 0.001).value - self.threshold_param = self.declare_parameter("threshold", 0.005).value + self.threshold_param = self.declare_parameter("threshold", 0.001).value - self.frame_id_param = self.declare_parameter("frame_id", "map").value + # self.frame_id_param = self.declare_parameter("frame_id", "map").value + self.frame_id_param = self.declare_parameter("frame_id", "odom").value self.trajectory_path_msg = Path() self.previous_pose_position = Point() @@ -41,24 +41,17 @@ def __init__(self, name): # Callback function for odometry type messages def odom_callback(self, odom_msg): - # self.get_logger().info( - # "Received odom message with x: %f and y: %f" - # % ( - # odom_msg.pose.pose.position.x, - # odom_msg.pose.pose.position.y, - # ) - # ) # Process message position and add it to path self.publish_trajectory_path(odom_msg.pose.pose.position) # Add pose and publish trajectory path message def publish_trajectory_path(self, position): + # If the pose has moved more than a set threshold, add it ot the path message and publish if (abs(self.previous_pose_position.x - position.x) > self.threshold_param) or ( abs(self.previous_pose_position.y - position.y) > self.threshold_param ): - # self.get_logger().info("Exceding threshold, adding pose to path") # Add current pose to path self.trajectory_path_msg.header.stamp = self.get_clock().now().to_msg()