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sim_wayp_plan_tools package from sim_wayp_plan_tools reposim_wayp_plan_tools |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Gazebo Fortress ROS 2 simulation for the waypoint and planner tools |
| Checkout URI | https://github.com/jkk-research/sim_wayp_plan_tools.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-03-01 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | gazebo fortress ros2 humble sze ignition-gazebo szenergy ros2-humble gazebo-fortress |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- he
Authors
No additional authors.
ROS 2 sim_wayp_plan_tools package
Gazebo Fortress ROS 2 simulation for the waypoint and planner tools.
Requirements
- ROS 2 Humble: docs.ros.org/en/humble/Installation.html
- Gazebo Fortress: gazebosim.org/docs/fortress/install_ubuntu, read more about integration: gazebosim.org/docs/fortress/ros2_integration
-
ros-gz-bridgeinstall with a single command:sudo apt install ros-humble-ros-gz-bridge
Packages and build
It is assumed that the workspace is ~/ros2_ws/.
Clone the packages
cd ~/ros2_ws/src && \
git clone https://github.com/jkk-research/wayp_plan_tools && \
git clone https://github.com/jkk-research/sim_wayp_plan_tools
Build ROS 2 packages
cd ~/ros2_ws
colcon build --packages-select wayp_plan_tools sim_wayp_plan_tools --symlink-install
Usage of wayp_plan_tools as a simulation
1. Start the simulation
ign gazebo -v 4 -r ackermann_steering.sdf
2. Start the Gazebo bridge
Don’t forget to source before ROS commands.
source ~/ros2_ws/install/local_setup.bash
ros2 launch sim_wayp_plan_tools gazebo_bridge.launch.py
In the background this launch file starts nodes similar to:
ros2 run ros_gz_bridge parameter_bridge /world/ackermann_steering/pose/info@geometry_msgs/msg/PoseArray[ignition.msgs.Pose_V
ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist
ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry --ros-args -r /model/vehicle_blue/odometry:=/odom
More about the bridge here: github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md
Also this launch creates /tf from the PoseArray with pose_arr_to_tf.
Optional: teleoperation via keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel
3. Load waypoints
Use you ROS 2 workspace as file_dir:
ros2 run wayp_plan_tools waypoint_loader --ros-args -p file_name:=sim_waypoints1.csv -p file_dir:=$HOME/ros2_ws/src/sim_wayp_plan_tools/csv -r __ns:=/sim1
Or simply with default parameters:
ros2 launch sim_wayp_plan_tools waypoint_loader.launch.py
4. Waypoint to target
ros2 run wayp_plan_tools waypoint_to_target --ros-args -p lookahead_min:=2.5 -p lookahead_max:=4.5 -p mps_alpha:=1.5 -p mps_beta:=3.5 -p waypoint_topic:=waypointarray -p tf_frame_id:=base_link -p tf_child_frame_id:=map -r __ns:=/sim1
Or simply with default parameters:
ros2 launch sim_wayp_plan_tools waypoint_to_target.launch.py
5. Start a control
There are some options:
-
single_goal_pursuit: Pure pursuit (for vehicles / robots), a simple cross-track error method -
multiple_goal_pursuit: Multiple goal pursuit for vehicles / robots an implementation of our paper -
stanley_control: Stanley controller, a heading error + cross-track error method -
follow_the_carrot: Follow-the-carrot, the simplest controller
This is a pure pursuit example:
ros2 run wayp_plan_tools single_goal_pursuit --ros-args -p cmd_topic:=/model/vehicle_blue/cmd_vel -p wheelbase:=1.0 -p waypoint_topic:=targetpoints -r __ns:=/sim1
Or simply with default parameters:
ros2 launch sim_wayp_plan_tools single_goal_pursuit.launch.py
6. Visualize results in RViz2
ros2 launch sim_wayp_plan_tools rviz1.launch.py
Or run everything with a single command
After ign gazebo -v 4 -r ackermann_steering.sdf (terminal 1) and source ~/ros2_ws/install/local_setup.bash (terminal 2), run this command (also in terminal 2):
ros2 launch sim_wayp_plan_tools all_in_once.launch.py
Troubleshoot
Kill ign gazebo server if stuck:
ps aux | grep ign
ab 12345 49.9 1.2 2412624 101608 ? Sl 08:26 27:20 ign gazebo server
ab 12346 518 6.6 10583664 528352 ? Sl 08:26 283:45 ign gazebo gui
ab 12347 0.0 0.0 9396 2400 pts/2 S+ 09:21 0:00 grep --color=auto ign
Once you have identified the PID, use the kill command followed by the PID to terminate the process. For example:
kill 12345
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ros2launch | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| geometry_msgs | |
| nav_msgs | |
| visualization_msgs | |
| tf2_msgs | |
| tf2 | |
| tf2_ros | |
| tf2_geometry_msgs | |
| wayp_plan_tools |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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