Merge pull request #13 from OneNightROBOCON/dev

Dev

README.md

@@ -132,17 +132,33 @@ bash scripts/start.sh
 
 ### 実機
 センサなどが立ち上がりロボットを動かす準備
+
+引数 ip:審判サーバーのアドレス, side: 赤サイドなら `r` 青サイドなら `b`
+```
+roslaunch burger_war setup.launch ip:=http://127.0.0.1:5000 side:=r
+```
+
+審判サーバーを使わない走行テストのみの場合は引数は省略可
 ```
 roslaunch burger_war setup.launch
 ```
-別のターミナルで
+
+別のターミナルでロボットを動かすノードを起動
+
+引数 robot_name: 赤サイドなら `red_bot` 青サイドなら `blue_bot`
+
+赤サイドの場合
+```
+roslaunch burger_war your_burger.launch robot_name:=red_bot
+```
+青サイドの場合
 ```
-roslaunch burger_war action.launch
+roslaunch burger_war your_burger.launch robot_name:=blue_bot
 ```
 
 
 ## 審判サーバー
-審判サーバーは`burger_war_judge/`以下にあります
+審判サーバーは`judge/`以下にあります
 そちらのREADMEを参照ください
 
 ## ファイル構成

burger_navigation/launch/burger_navigation.launch

@@ -79,8 +79,10 @@
 
     <param name="local_costmap/global_frame"             value="$(arg robot_name)/odom"/>
     <param name="local_costmap/robot_base_frame"             value="$(arg robot_name)/base_link"/>
+    <param name="local_costmap/scan/sensor_frame"             value="$(arg robot_name)/base_scan"/>
     <param name="global_costmap/robot_base_frame"            value="$(arg robot_name)/base_link"/>
     <param name="global_costmap/global_frame"            value="$(arg robot_name)/map"/>
+    <param name="global_costmap/scan/sensor_frame"             value="$(arg robot_name)/base_scan"/>
   </node>
 
   <!-- rviz -->

burger_navigation/param/costmap_common_params_burger.yaml

@@ -1,12 +1,12 @@
-obstacle_range: 3.0
-raytrace_range: 3.5
+obstacle_range: 2.0
+raytrace_range: 3.0
 
-footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
-#robot_radius: 0.105
+#footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
+robot_radius: 0.1
 
-inflation_radius: 1.0
+inflation_radius: 0.8
 cost_scaling_factor: 3.0
 
 map_type: costmap
 observation_sources: scan
-scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

burger_war/launch/setup.launch

@@ -1,37 +1,27 @@
 <launch>
-<!-- reamp topic name -->
-  <remap from="/Rulo/cmd_vel" to="/cmd_vel"/>
 
-<!-- set manual -->
-  <node pkg="rostopic" type="rostopic" name="manual_set" args="pub /mobile_base/command/mode std_msgs/String 'manual'" output="screen"/>
+<arg name="player_name" default="NoName"/>
+<arg name="side" default="b"/>
+<arg name="ip" default="http://127.0.0.1:5000"/>
 
-<!-- camera -->
-  <!-- realsense -->
-  <include file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch" />
-  <!-- usb camera -->
-  <!--
-  <node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"/>
-  -->
+<!-- turtlebot bringup -->
+<include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch" />
 
-<!-- Lidar -->
-  <!-- Start Lidar -->
-  <include file="$(find navi_param)/lg_lidar/laser.launch" />
-
-  <!-- Start TF publisher -->
-  <include file="$(find navi_param)/lg_lidar/tf_laser.launch" />
+<!-- usb camera -->
+<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"/>
 
 <!-- ar reader -->
-  <node pkg="ros_aruco" type="ros_aruco" name="ros_aruco" output="screen">
-    <remap from="image_raw" to="/camera/rgb/image_raw"/>
-    <param name="camera_param_path" value="$(find ros_aruco)/data/ost.yaml" type="str"/>
-    <param name="debug_view" value="false" type="bool"/>
-  </node>
+<node pkg="aruco_ros" type="marker_publisher" name="aruco_marker_publisher">
+    <param name="use_camera_info" value="False"/>
+    <remap from="/image" to="image_raw" />
+    <remap from="/aruco_marker_publisher/markers" to="target_id" />
+</node>
 
 <!-- send target ID to judge server -->
-  <node pkg="burger_war" type="sendIdToJudge.py" name="send_id_to_judge" output="screen">
-    <param name="judge_url" value="http://127.0.0.1:5000" />
-    <param name="player_name" value="roborobo" />
-    <param name="side" value="r" />
-  </node>
-</launch>
+<node pkg="burger_war" type="sendIdToJudge.py" name="send_id_to_judge" output="screen">
+    <param name="judge_url" value="$(arg ip)" />
+    <param name="player_name" value="$(arg player_name)" />
+    <param name="side" value="$(arg side)" />
+</node>
 
+</launch>