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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(burger_navigation) | ||
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| ## Compile as C++11, supported in ROS Kinetic and newer | ||
| # add_compile_options(-std=c++11) | ||
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| ## Find catkin macros and libraries | ||
| ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | ||
| ## is used, also find other catkin packages | ||
| find_package(catkin REQUIRED COMPONENTS | ||
| roscpp | ||
| rospy | ||
| std_msgs | ||
| ) | ||
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| ## System dependencies are found with CMake's conventions | ||
| # find_package(Boost REQUIRED COMPONENTS system) | ||
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| ## Uncomment this if the package has a setup.py. This macro ensures | ||
| ## modules and global scripts declared therein get installed | ||
| ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | ||
| # catkin_python_setup() | ||
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| ################################################ | ||
| ## Declare ROS messages, services and actions ## | ||
| ################################################ | ||
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| ## To declare and build messages, services or actions from within this | ||
| ## package, follow these steps: | ||
| ## * Let MSG_DEP_SET be the set of packages whose message types you use in | ||
| ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend tag for "message_generation" | ||
| ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET | ||
| ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | ||
| ## but can be declared for certainty nonetheless: | ||
| ## * add a run_depend tag for "message_runtime" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "message_generation" and every package in MSG_DEP_SET to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * add "message_runtime" and every package in MSG_DEP_SET to | ||
| ## catkin_package(CATKIN_DEPENDS ...) | ||
| ## * uncomment the add_*_files sections below as needed | ||
| ## and list every .msg/.srv/.action file to be processed | ||
| ## * uncomment the generate_messages entry below | ||
| ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | ||
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| ## Generate messages in the 'msg' folder | ||
| # add_message_files( | ||
| # FILES | ||
| # Message1.msg | ||
| # Message2.msg | ||
| # ) | ||
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| ## Generate services in the 'srv' folder | ||
| # add_service_files( | ||
| # FILES | ||
| # Service1.srv | ||
| # Service2.srv | ||
| # ) | ||
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| ## Generate actions in the 'action' folder | ||
| # add_action_files( | ||
| # FILES | ||
| # Action1.action | ||
| # Action2.action | ||
| # ) | ||
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| ## Generate added messages and services with any dependencies listed here | ||
| # generate_messages( | ||
| # DEPENDENCIES | ||
| # std_msgs | ||
| # ) | ||
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| ################################################ | ||
| ## Declare ROS dynamic reconfigure parameters ## | ||
| ################################################ | ||
|
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| ## To declare and build dynamic reconfigure parameters within this | ||
| ## package, follow these steps: | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "dynamic_reconfigure" to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * uncomment the "generate_dynamic_reconfigure_options" section below | ||
| ## and list every .cfg file to be processed | ||
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| ## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
| # generate_dynamic_reconfigure_options( | ||
| # cfg/DynReconf1.cfg | ||
| # cfg/DynReconf2.cfg | ||
| # ) | ||
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| ################################### | ||
| ## catkin specific configuration ## | ||
| ################################### | ||
| ## The catkin_package macro generates cmake config files for your package | ||
| ## Declare things to be passed to dependent projects | ||
| ## INCLUDE_DIRS: uncomment this if you package contains header files | ||
| ## LIBRARIES: libraries you create in this project that dependent projects also need | ||
| ## CATKIN_DEPENDS: catkin_packages dependent projects also need | ||
| ## DEPENDS: system dependencies of this project that dependent projects also need | ||
| catkin_package( | ||
| # INCLUDE_DIRS include | ||
| # LIBRARIES burger_war | ||
| # CATKIN_DEPENDS roscpp rospy std_msgs | ||
| # DEPENDS system_lib | ||
| ) | ||
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| ########### | ||
| ## Build ## | ||
| ########### | ||
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| ## Specify additional locations of header files | ||
| ## Your package locations should be listed before other locations | ||
| include_directories( | ||
| # include | ||
| ${catkin_INCLUDE_DIRS} | ||
| ) | ||
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| ## Declare a C++ library | ||
| # add_library(${PROJECT_NAME} | ||
| # src/${PROJECT_NAME}/burger_war.cpp | ||
| # ) | ||
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| ## Add cmake target dependencies of the library | ||
| ## as an example, code may need to be generated before libraries | ||
| ## either from message generation or dynamic reconfigure | ||
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Declare a C++ executable | ||
| ## With catkin_make all packages are built within a single CMake context | ||
| ## The recommended prefix ensures that target names across packages don't collide | ||
| # add_executable(${PROJECT_NAME}_node src/burger_war_node.cpp) | ||
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| ## Rename C++ executable without prefix | ||
| ## The above recommended prefix causes long target names, the following renames the | ||
| ## target back to the shorter version for ease of user use | ||
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | ||
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
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| ## Add cmake target dependencies of the executable | ||
| ## same as for the library above | ||
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Specify libraries to link a library or executable target against | ||
| # target_link_libraries(${PROJECT_NAME}_node | ||
| # ${catkin_LIBRARIES} | ||
| # ) | ||
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| ############# | ||
| ## Install ## | ||
| ############# | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # install(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark executables and/or libraries for installation | ||
| # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| # install(FILES | ||
| # # myfile1 | ||
| # # myfile2 | ||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # ) | ||
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_burger_war.cpp) | ||
| # if(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # endif() | ||
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) |
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| <?xml version="1.0"?> | ||
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| <launch> | ||
| <!-- Arguments --> | ||
| <arg name="map_file" default="$(find burger_navigation)/maps/map.yaml"/> | ||
| <arg name="open_rviz" default="true"/> | ||
| <arg name="move_forward_only" default="false"/> | ||
| <arg name="cmd_vel_topic" default="cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
| <arg name="scan_topic" default="scan"/> | ||
| <arg name="initial_pose_x" default="-1.3"/> | ||
| <arg name="initial_pose_y" default="0.0"/> | ||
| <arg name="initial_pose_a" default="0.0"/> | ||
| <arg name="robot_name" default="" /> | ||
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| <!-- Turtlebot3 --> | ||
| <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> | ||
| <arg name="model" value="burger" /> | ||
| <arg name="multi_robot_name" value="$(arg robot_name)" /> | ||
| </include> | ||
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| <!-- Map server --> | ||
| <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"> | ||
| <param name="frame_id" value="$(arg robot_name)/map"/> | ||
| </node> | ||
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| <!-- AMCL --> | ||
| <node pkg="amcl" type="amcl" name="amcl"> | ||
| <param name="min_particles" value="500"/> | ||
| <param name="max_particles" value="3000"/> | ||
| <param name="kld_err" value="0.02"/> | ||
| <param name="update_min_d" value="0.20"/> | ||
| <param name="update_min_a" value="0.20"/> | ||
| <param name="resample_interval" value="1"/> | ||
| <param name="transform_tolerance" value="0.5"/> | ||
| <param name="recovery_alpha_slow" value="0.00"/> | ||
| <param name="recovery_alpha_fast" value="0.00"/> | ||
| <param name="initial_pose_x" value="$(arg initial_pose_x)"/> | ||
| <param name="initial_pose_y" value="$(arg initial_pose_y)"/> | ||
| <param name="initial_pose_a" value="$(arg initial_pose_a)"/> | ||
| <param name="gui_publish_rate" value="50.0"/> | ||
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| <remap from="scan" to="$(arg scan_topic)"/> | ||
| <param name="laser_max_range" value="3.5"/> | ||
| <param name="laser_max_beams" value="180"/> | ||
| <param name="laser_z_hit" value="0.5"/> | ||
| <param name="laser_z_short" value="0.05"/> | ||
| <param name="laser_z_max" value="0.05"/> | ||
| <param name="laser_z_rand" value="0.5"/> | ||
| <param name="laser_sigma_hit" value="0.2"/> | ||
| <param name="laser_lambda_short" value="0.1"/> | ||
| <param name="laser_likelihood_max_dist" value="2.0"/> | ||
| <param name="laser_model_type" value="likelihood_field"/> | ||
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| <param name="odom_model_type" value="diff"/> | ||
| <param name="odom_alpha1" value="0.1"/> | ||
| <param name="odom_alpha2" value="0.1"/> | ||
| <param name="odom_alpha3" value="0.1"/> | ||
| <param name="odom_alpha4" value="0.1"/> | ||
| <param name="odom_frame_id" value="$(arg robot_name)/odom"/> | ||
| <param name="base_frame_id" value="$(arg robot_name)/base_footprint"/> | ||
| <param name="global_frame_id" value="$(arg robot_name)/map"/> | ||
| </node> | ||
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| <!-- move_base --> | ||
| <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> | ||
| <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> | ||
| <rosparam file="$(find burger_navigation)/param/costmap_common_params_burger.yaml" command="load" ns="global_costmap" /> | ||
| <rosparam file="$(find burger_navigation)/param/costmap_common_params_burger.yaml" command="load" ns="local_costmap" /> | ||
| <rosparam file="$(find burger_navigation)/param/local_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find burger_navigation)/param/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find burger_navigation)/param/move_base_params.yaml" command="load" /> | ||
| <rosparam file="$(find burger_navigation)/param/dwa_local_planner_params_burger.yaml" command="load" /> | ||
| <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> | ||
| <remap from="odom" to="$(arg odom_topic)"/> | ||
| <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" /> | ||
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| <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="global_costmap/robot_base_frame" value="$(arg robot_name)/base_link"/> | ||
| <param name="global_costmap/global_frame" value="$(arg robot_name)/map"/> | ||
| </node> | ||
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| <!-- rviz --> | ||
| <group if="$(arg open_rviz)"> | ||
| <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find burger_navigation)/rviz/$(arg robot_name)_navigation.rviz"> | ||
| <remap from="/move_base_simple/goal" to="move_base_simple/goal"/> | ||
| </node> | ||
| </group> | ||
| </launch> |
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