diff --git a/README.md b/README.md index 9a8d2d46..4d37f816 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # burger_war ロボットで戦車対戦をするゲームです。 -大砲で撃つ代わりに、カメラでターゲットのARマーカーを読み取ります。 +大砲で撃つ代わりに、カメラでターゲットのARマーカーを読み取ります。
## 目次 - インストール @@ -45,6 +45,11 @@ source ~/.bashrc ``` ### 2. このリポジトリをクローン +gitをインストールします。 +``` +sudo apt-get install git +``` + turtlr_war リポジトリをクローンします。 先程作ったワークスペースの`src/`の下においてください。 ``` @@ -87,7 +92,17 @@ catkin_make ## サンプルの実行 ### シミュレータ -シミュレータ､ロボット(turtle_bot),審判サーバー､観戦画面のすべてを一発で起動する。大会で使用するスクリプト。 +シミュレータ､ロボット(turtle_bot),審判サーバー､観戦画面のすべてを一発で起動する。大会で使用するスクリプト。
+最初にburger_warのフォルダまで移動します。 +``` +cd ~/catkin_ws/src/burger_war +``` +初回のみ、以下のコマンドでGazeboを起動し、モデルデータ等を読み込んでおくとよいです。
+(初回はGazeboの起動がおそいので) +``` +gazebo +``` +次にシミュレーションを起動 ``` bash scripts/sim_with_judge.sh ``` @@ -133,34 +148,34 @@ roslaunch burger_war action.launch ## ファイル構成 各ディレクトリの役割と、特に参加者に重要なファイルについての説明 -下記のようなディレクトリ構成になっています。   +下記のようなディレクトリ構成になっています。 ``` burger_war ├── burger_war -│   ├── CMakeLists.txt -│   ├── launch launchファイルの置き場 +│ ├── CMakeLists.txt +│ ├── launch launchファイルの置き場 │ │ ├── sim_robot_run.launch シミュレータ上で２台のロボットを動かすlaunchファイル │ │ └─ setup_sim.launch Gazeboシミュレータ上でフィールドの生成ロボットを起動、初期化するlaunchファイル │ │ -│   ├── models   GAZEBOシミュレーター用のモデルファイル -│   ├── package.xml -│   ├── scripts    pythonで書かれたROSノード -│   └── world     GAZEBO用の環境ファイル -│       ├── gen.sh         burger_field.world.emから burger_field.worldを作成するスクリプト -│       ├── burger_field.world  最新のworldファイル -│       └── burger_field.world.em  worldファイルのマクロ表記版､こっちを編集する +│ ├── models GAZEBOシミュレーター用のモデルファイル +│ ├── package.xml +│ ├── scripts pythonで書かれたROSノード +│ └── world GAZEBO用の環境ファイル +│ ├── gen.sh burger_field.world.emから burger_field.worldを作成するスクリプト +│ ├── burger_field.world 最新のworldファイル +│ └── burger_field.world.em worldファイルのマクロ表記版､こっちを編集する | -├── judge   審判サーバー +├── judge 審判サーバー │ ├── judgeServer.py 審判サーバー本体 │ ├── log ログがここにたまる │ ├── marker_set マーカーの配置設定ファイル置き場 │ ├── picture 観戦画面用画像素材 │ ├── README.md -│   ├── test_scripts   初期化などのスクリプト +│ ├── test_scripts 初期化などのスクリプト │ └── visualizeWindow.py 観戦画面表示プログラム | -├── README.md   これ +├── README.md これ ├── rulebook.md ルールブック └── scripts 一発起動スクリプト ├─── sim_with_judge.sh シミュレーターとロボットと審判サーバーの立ち上げ初期化をすべて行う @@ -172,3 +187,19 @@ burger_war - Ubuntu 16.04 - Ros kinetic 2018年からkineticで開発しています｡ + +## Turtlebot3のスペック +- http://emanual.robotis.com/docs/en/platform/turtlebot3/specifications/ + +## その他 +https://github.com/gogo5nta さんに一括でインストールするスクリプトを作成いただいたので本リポジトリにも置いています。 +ご活用ください。 +``` +// ROS(kinetic)を一括インストール +$ chdmod 777 ./scripts/install_ros_kinetic.sh +$ ./scripts/install_ros_kinetic.sh + +// Robocon2019に必要な物を一括インストール +$ chdmod 777 ./scripts/add_robocon2019.sh +$ ./scripts/add_robocon2019.sh +``` diff --git a/burger_navigation/CMakeLists.txt b/burger_navigation/CMakeLists.txt new file mode 100644 index 00000000..399008d5 --- /dev/null +++ b/burger_navigation/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(burger_navigation) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## 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 ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## 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 + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## 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 +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/burger_war.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/burger_war_node.cpp) + +## 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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## 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} +# ) + +## 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 ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_burger_war.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/burger_navigation/launch/burger_navigation.launch b/burger_navigation/launch/burger_navigation.launch new file mode 100644 index 00000000..30487bc6 --- /dev/null +++ b/burger_navigation/launch/burger_navigation.launch @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/burger_navigation/launch/burger_slam.launch b/burger_navigation/launch/burger_slam.launch new file mode 100644 index 00000000..8701da22 --- /dev/null +++ b/burger_navigation/launch/burger_slam.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/burger_navigation/launch/multi_robot_navigation_run.launch b/burger_navigation/launch/multi_robot_navigation_run.launch new file mode 100644 index 00000000..205da5b0 --- /dev/null +++ b/burger_navigation/launch/multi_robot_navigation_run.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/burger_navigation/launch/your_burger_navigation_sample.launch b/burger_navigation/launch/your_burger_navigation_sample.launch new file mode 100644 index 00000000..b36bb6f7 --- /dev/null +++ b/burger_navigation/launch/your_burger_navigation_sample.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/burger_navigation/maps/map.pgm b/burger_navigation/maps/map.pgm new file mode 100644 index 00000000..0e13107c --- /dev/null +++ b/burger_navigation/maps/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +384 384 +255 + \ No newline at end of file diff --git a/burger_navigation/maps/map.yaml b/burger_navigation/maps/map.yaml new file mode 100644 index 00000000..8cf0bd4f --- /dev/null +++ b/burger_navigation/maps/map.yaml @@ -0,0 +1,7 @@ +image: ./map.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/burger_navigation/package.xml b/burger_navigation/package.xml new file mode 100644 index 00000000..f5d1ba20 --- /dev/null +++ b/burger_navigation/package.xml @@ -0,0 +1,55 @@ + + + burger_navigation + 0.0.0 + The burger_navigation package + + + + + yamaguchi Takuya + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/burger_navigation/param/base_local_planner_params.yaml b/burger_navigation/param/base_local_planner_params.yaml new file mode 100644 index 00000000..2c5896e7 --- /dev/null +++ b/burger_navigation/param/base_local_planner_params.yaml @@ -0,0 +1,26 @@ +TrajectoryPlannerROS: + +# Robot Configuration Parameters + max_vel_x: 0.18 + min_vel_x: 0.08 + + max_vel_theta: 1.0 + min_vel_theta: -1.0 + min_in_place_vel_theta: 1.0 + + acc_lim_x: 1.0 + acc_lim_y: 0.0 + acc_lim_theta: 0.6 + +# Goal Tolerance Parameters + xy_goal_tolerance: 0.10 + yaw_goal_tolerance: 0.05 + +# Differential-drive robot configuration + holonomic_robot: false + +# Forward Simulation Parameters + sim_time: 0.8 + vx_samples: 18 + vtheta_samples: 20 + sim_granularity: 0.05 diff --git a/burger_navigation/param/costmap_common_params_burger.yaml b/burger_navigation/param/costmap_common_params_burger.yaml new file mode 100644 index 00000000..fb8e52bf --- /dev/null +++ b/burger_navigation/param/costmap_common_params_burger.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]] +#robot_radius: 0.105 + +inflation_radius: 1.0 +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} \ No newline at end of file diff --git a/burger_navigation/param/costmap_common_params_waffle.yaml b/burger_navigation/param/costmap_common_params_waffle.yaml new file mode 100644 index 00000000..3d5a6d7e --- /dev/null +++ b/burger_navigation/param/costmap_common_params_waffle.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]] +#robot_radius: 0.17 + +inflation_radius: 1.0 +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} diff --git a/burger_navigation/param/costmap_common_params_waffle_pi.yaml b/burger_navigation/param/costmap_common_params_waffle_pi.yaml new file mode 100644 index 00000000..3d5a6d7e --- /dev/null +++ b/burger_navigation/param/costmap_common_params_waffle_pi.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]] +#robot_radius: 0.17 + +inflation_radius: 1.0 +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} diff --git a/burger_navigation/param/dwa_local_planner_params_burger.yaml b/burger_navigation/param/dwa_local_planner_params_burger.yaml new file mode 100644 index 00000000..fb143c8a --- /dev/null +++ b/burger_navigation/param/dwa_local_planner_params_burger.yaml @@ -0,0 +1,47 @@ +DWAPlannerROS: + +# Robot Configuration Parameters + max_vel_x: 0.22 + min_vel_x: -0.22 + + max_vel_y: 0.0 + min_vel_y: 0.0 + +# The velocity when robot is moving in a straight line + max_trans_vel: 0.22 + min_trans_vel: 0.11 + + max_rot_vel: 2.75 + min_rot_vel: 1.37 + + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + +# Goal Tolerance Parametes + xy_goal_tolerance: 0.05 + yaw_goal_tolerance: 0.17 + latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 1.5 + vx_samples: 20 + vy_samples: 0 + vth_samples: 40 + controller_frequency: 10.0 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 + goal_distance_bias: 20.0 + occdist_scale: 0.02 + forward_point_distance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true diff --git a/burger_navigation/param/dwa_local_planner_params_waffle.yaml b/burger_navigation/param/dwa_local_planner_params_waffle.yaml new file mode 100644 index 00000000..559e9bfd --- /dev/null +++ b/burger_navigation/param/dwa_local_planner_params_waffle.yaml @@ -0,0 +1,47 @@ +DWAPlannerROS: + +# Robot Configuration Parameters + max_vel_x: 0.26 + min_vel_x: -0.26 + + max_vel_y: 0.0 + min_vel_y: 0.0 + +# The velocity when robot is moving in a straight line + max_trans_vel: 0.26 + min_trans_vel: 0.13 + + max_rot_vel: 1.82 + min_rot_vel: 0.9 + + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + +# Goal Tolerance Parametes + xy_goal_tolerance: 0.05 + yaw_goal_tolerance: 0.17 + latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 + vx_samples: 20 + vy_samples: 0 + vth_samples: 40 + controller_frequency: 10.0 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 + goal_distance_bias: 20.0 + occdist_scale: 0.02 + forward_point_distance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true diff --git a/burger_navigation/param/dwa_local_planner_params_waffle_pi.yaml b/burger_navigation/param/dwa_local_planner_params_waffle_pi.yaml new file mode 100644 index 00000000..559e9bfd --- /dev/null +++ b/burger_navigation/param/dwa_local_planner_params_waffle_pi.yaml @@ -0,0 +1,47 @@ +DWAPlannerROS: + +# Robot Configuration Parameters + max_vel_x: 0.26 + min_vel_x: -0.26 + + max_vel_y: 0.0 + min_vel_y: 0.0 + +# The velocity when robot is moving in a straight line + max_trans_vel: 0.26 + min_trans_vel: 0.13 + + max_rot_vel: 1.82 + min_rot_vel: 0.9 + + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + +# Goal Tolerance Parametes + xy_goal_tolerance: 0.05 + yaw_goal_tolerance: 0.17 + latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 + vx_samples: 20 + vy_samples: 0 + vth_samples: 40 + controller_frequency: 10.0 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 + goal_distance_bias: 20.0 + occdist_scale: 0.02 + forward_point_distance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true diff --git a/burger_navigation/param/global_costmap_params.yaml b/burger_navigation/param/global_costmap_params.yaml new file mode 100644 index 00000000..bf475f50 --- /dev/null +++ b/burger_navigation/param/global_costmap_params.yaml @@ -0,0 +1,10 @@ +global_costmap: + global_frame: map + robot_base_frame: base_footprint + + update_frequency: 10.0 + publish_frequency: 10.0 + transform_tolerance: 0.5 + + static_map: true + diff --git a/burger_navigation/param/local_costmap_params.yaml b/burger_navigation/param/local_costmap_params.yaml new file mode 100644 index 00000000..98c18453 --- /dev/null +++ b/burger_navigation/param/local_costmap_params.yaml @@ -0,0 +1,14 @@ +local_costmap: + global_frame: odom + robot_base_frame: base_footprint + + update_frequency: 10.0 + publish_frequency: 10.0 + transform_tolerance: 0.5 + + static_map: false + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + diff --git a/burger_navigation/param/move_base_params.yaml b/burger_navigation/param/move_base_params.yaml new file mode 100644 index 00000000..f042cd61 --- /dev/null +++ b/burger_navigation/param/move_base_params.yaml @@ -0,0 +1,9 @@ +shutdown_costmaps: false +controller_frequency: 10.0 +planner_patience: 5.0 +controller_patience: 15.0 +conservative_reset_dist: 3.0 +planner_frequency: 5.0 +oscillation_timeout: 10.0 +oscillation_distance: 0.2 + diff --git a/burger_navigation/rviz/_navigation.rviz b/burger_navigation/rviz/_navigation.rviz new file mode 100644 index 00000000..e4e28e5c --- /dev/null +++ b/burger_navigation/rviz/_navigation.rviz @@ -0,0 +1,362 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1 + - /Local Map1/Polygon1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + Splitter Ratio: 0.5 + Tree Height: 783 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /raspicam_node/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Angle: -1.57079637 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 100 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1027 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1279 + X: 0 + Y: 0 diff --git a/burger_navigation/rviz/blue_bot_navigation.rviz b/burger_navigation/rviz/blue_bot_navigation.rviz new file mode 100644 index 00000000..77911c6b --- /dev/null +++ b/burger_navigation/rviz/blue_bot_navigation.rviz @@ -0,0 +1,389 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /TF1/Frames1 + - /TF1/Tree1 + - /LaserScan1 + - /Map1 + - /Planner Plan1 + - /Global Map1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1 + - /Local Map1/Polygon1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + - /Amcl Particles1 + - /Goal1 + Splitter Ratio: 0.778097987 + Tree Height: 814 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + blue_bot/base_footprint: + Value: false + blue_bot/base_link: + Value: true + blue_bot/base_scan: + Value: false + blue_bot/caster_back_link: + Value: false + blue_bot/imu_link: + Value: false + blue_bot/map: + Value: true + blue_bot/odom: + Value: false + blue_bot/wheel_left_link: + Value: false + blue_bot/wheel_right_link: + Value: false + red_bot/base_footprint: + Value: false + red_bot/base_link: + Value: true + red_bot/base_scan: + Value: false + red_bot/caster_back_link: + Value: false + red_bot/imu_link: + Value: false + red_bot/map: + Value: true + red_bot/odom: + Value: false + red_bot/wheel_left_link: + Value: false + red_bot/wheel_right_link: + Value: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + blue_bot/map: + blue_bot/odom: + blue_bot/base_footprint: + blue_bot/base_link: + blue_bot/base_scan: + {} + blue_bot/caster_back_link: + {} + blue_bot/imu_link: + {} + blue_bot/wheel_left_link: + {} + blue_bot/wheel_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /blue_bot/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /raspicam_node/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /blue_bot/map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /blue_bot/move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /blue_bot/move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /blue_bot/move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /blue_bot/move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /blue_bot/move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /blue_bot/move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /blue_bot/particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /blue_bot/move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: blue_bot/map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Angle: -1.57079637 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 156.19519 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1027 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1279 + X: 164 + Y: 51 diff --git a/burger_navigation/rviz/red_bot_navigation.rviz b/burger_navigation/rviz/red_bot_navigation.rviz new file mode 100644 index 00000000..2a56ac57 --- /dev/null +++ b/burger_navigation/rviz/red_bot_navigation.rviz @@ -0,0 +1,387 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Map1 + - /Planner Plan1 + - /Global Map1 + - /Global Map1/Costmap1 + - /Global Map1/Costmap1/Status1 + - /Global Map1/Planner1 + - /Local Map1 + - /Local Map1/Polygon1 + - /Local Map1/Planner1 + - /Amcl Particles1 + - /Goal1 + Splitter Ratio: 0.5 + Tree Height: 814 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + blue_bot/base_footprint: + Value: true + blue_bot/base_link: + Value: true + blue_bot/base_scan: + Value: true + blue_bot/caster_back_link: + Value: true + blue_bot/imu_link: + Value: true + blue_bot/map: + Value: true + blue_bot/odom: + Value: true + blue_bot/wheel_left_link: + Value: true + blue_bot/wheel_right_link: + Value: true + red_bot/base_footprint: + Value: true + red_bot/base_link: + Value: true + red_bot/base_scan: + Value: true + red_bot/caster_back_link: + Value: true + red_bot/imu_link: + Value: true + red_bot/map: + Value: true + red_bot/odom: + Value: true + red_bot/wheel_left_link: + Value: true + red_bot/wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + red_bot/map: + red_bot/odom: + red_bot/base_footprint: + red_bot/base_link: + red_bot/base_scan: + {} + red_bot/caster_back_link: + {} + red_bot/imu_link: + {} + red_bot/wheel_left_link: + {} + red_bot/wheel_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /red_bot/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /raspicam_node/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /red_bot/map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /red_bot/move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /red_bot/move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /red_bot/move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /red_bot/move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /red_bot/move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /red_bot/particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /red_bot/move_base/current_goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: red_bot/map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Angle: -1.57079637 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 129.981659 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1027 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1279 + X: 65 + Y: 326 diff --git a/burger_war/launch/burger_teleop.launch b/burger_war/launch/burger_teleop.launch new file mode 100644 index 00000000..bb58c7eb --- /dev/null +++ b/burger_war/launch/burger_teleop.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/burger_war/launch/burger_world.launch b/burger_war/launch/burger_world.launch new file mode 100644 index 00000000..d3fbd568 --- /dev/null +++ b/burger_war/launch/burger_world.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/burger_war/launch/setup.launch b/burger_war/launch/setup.launch index 529f03f3..96de4352 100644 --- a/burger_war/launch/setup.launch +++ b/burger_war/launch/setup.launch @@ -29,7 +29,7 @@ - + diff --git a/burger_war/launch/setup_sim.launch b/burger_war/launch/setup_sim.launch index aa963ea8..59983846 100644 --- a/burger_war/launch/setup_sim.launch +++ b/burger_war/launch/setup_sim.launch @@ -30,7 +30,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/burger_war/launch/sim_robot_run.launch b/burger_war/launch/sim_robot_run.launch index 0b918f5d..46d031ff 100644 --- a/burger_war/launch/sim_robot_run.launch +++ b/burger_war/launch/sim_robot_run.launch @@ -10,7 +10,9 @@ - + + + diff --git a/burger_war/launch/test.launch b/burger_war/launch/test.launch deleted file mode 100644 index f8b8cef5..00000000 --- a/burger_war/launch/test.launch +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/burger_war/launch/your_burger.launch b/burger_war/launch/your_burger.launch index b6c03259..19174856 100644 --- a/burger_war/launch/your_burger.launch +++ b/burger_war/launch/your_burger.launch @@ -1,12 +1,15 @@ + + + diff --git a/burger_war/models/blue_bot.urdf.xacro b/burger_war/models/blue_bot.urdf.xacro index d8222195..a891238d 100644 --- a/burger_war/models/blue_bot.urdf.xacro +++ b/burger_war/models/blue_bot.urdf.xacro @@ -147,6 +147,22 @@ + + + + + + + + + + + + + + diff --git a/burger_war/models/burgerbot.gazebo.xacro b/burger_war/models/burgerbot.gazebo.xacro index 4f1d8497..9c487b5a 100644 --- a/burger_war/models/burgerbot.gazebo.xacro +++ b/burger_war/models/burgerbot.gazebo.xacro @@ -135,10 +135,11 @@ 10.0 0 0 0 0 ${radians(-90)} ${radians(90)} - 1.3962634 + + 0.86392 - 800 - 600 + 640 + 480 R8G8B8 diff --git a/burger_war/models/corner_box/model.config b/burger_war/models/corner_box/model.config index 0ebf9c9b..b3d478b9 100644 --- a/burger_war/models/corner_box/model.config +++ b/burger_war/models/corner_box/model.config @@ -1,7 +1,7 @@ - center_box + corner_box 1.0 model.sdf model.sdf @@ -13,6 +13,6 @@ - burger_war center box + burger_war corner box diff --git a/burger_war/models/red_bot.urdf.xacro b/burger_war/models/red_bot.urdf.xacro index 446681f1..011045b7 100644 --- a/burger_war/models/red_bot.urdf.xacro +++ b/burger_war/models/red_bot.urdf.xacro @@ -147,6 +147,21 @@ + + + + + + + + + + + + + diff --git a/burger_war/scripts/sendIdToJudge.py b/burger_war/scripts/sendIdToJudge.py index d00a4e4c..79833bbb 100755 --- a/burger_war/scripts/sendIdToJudge.py +++ b/burger_war/scripts/sendIdToJudge.py @@ -80,17 +80,52 @@ def targetIdCallback(self, data): self.historys.append(target_id) +class WarStatePublisher(object): + #jsonの内容 + # players + # b: "jiro" (string) - プレイヤー名 (blue side) + # r: "ishiro"(string) - プレイヤー名 (red side) + # ready + # b: True (boolean) - ジャッジサーバー接続確認、走行準備完了フラグ + # r: True (boolean) - ジャッジサーバー接続確認、走行準備完了フラグ + # scores + # b: 0 (int) - スコア + # r: 2 (int) - スコア + # state: "end" (string) - 試合ステート running, ready, end, etc... + # targets + # name: "one" (string) - ターゲット名 同じ名前はつけない。 + # player: "r" (string) - 所有プレイヤーサイド r(BlueSide), b(BlueSide), n(NoPlayer) + # point: 1 (int) - ターゲットを取得したときのポイント + + def __init__(self, judge_url): + # target ID val subscriver + self.judge_url = judge_url + self.vel_pub = rospy.Publisher('war_state', String, queue_size=1) + + def publishWarState(self): + resp = requests.get(self.judge_url) + msg = resp.text + self.vel_pub.publish(msg) + return msg + + if __name__ == "__main__": rospy.init_node("send_id_to_judge") # set param from launch param - JUDGE_URL = rospy.get_param('~judge_url', 'http://127.0.0.1:5000/submits') + JUDGE_URL = rospy.get_param('~judge_url', 'http://127.0.0.1:5000') PLAYER_NAME = rospy.get_param('~player_name', 'NoName') SIDE = rospy.get_param('~side', 'r') INIT_CODE = '0000' - target_id = TargetId(JUDGE_URL, SIDE, PLAYER_NAME, INIT_CODE) + target_id = TargetId(JUDGE_URL + "/submits", SIDE, PLAYER_NAME, INIT_CODE) + state_publisher = WarStatePublisher(JUDGE_URL + "/warState") while not rospy.is_shutdown() and target_id.sendInitCode() == False: sleep(3) - rospy.spin() + + while not rospy.is_shutdown(): + state_publisher.publishWarState() + sleep(3) + + diff --git a/judge/visualizeWindow.py b/judge/visualizeWindow.py index 1f1d8242..c7944f14 100644 --- a/judge/visualizeWindow.py +++ b/judge/visualizeWindow.py @@ -304,4 +304,4 @@ def update(self, _display): while(True): sw.update(display) - sleep(0.1) + sleep(1)