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Add tutorial for ground consistency #140
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7f0bc05
Add tutorial for ground consistency
haider8645 66fa417
Update launch file documentation for ground consistency simulation
haider8645 6683de1
Remove unused parameter
haider8645 6b24d5a
Cleanup nav2 related params
haider8645 7e8f7e5
Revise README for custom workspace setup
haider8645 95a7891
Cleanup tutorial installation and files
haider8645 4958aca
Further cleanup of tutorial
haider8645 c271240
Update launch and parameter configurations for nav2
haider8645 19c1289
Cleanup the demo setup for ground consistency
haider8645 39b04cc
Update install script
haider8645 851eac5
Update launch command
haider8645 a2a85d0
Update rviz config
haider8645 accdc7a
Merge pull request #1 from haider8645/cleanup_demo
haider8645 bd262e1
Remove husky model
haider8645 735f2a2
Cleanup the demo files
haider8645 f0fd582
Merge branch 'cleanup_demo' into jazzy
haider8645 74ba849
Simplify package structure
haider8645 02abe56
Rename demo package to nav2_lidar_ground_segmentation_demo
haider8645 563c490
Rename launch file
haider8645 4cdefe2
Fix file extension to tutorial page
haider8645 dbab412
Document major parameter changes from default nav2 stack
haider8645 95618f0
Allow reversing in RPP
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| cmake_minimum_required(VERSION 3.16) | ||
| project(nav2_ground_consistency_demo) | ||
|
|
||
| # C++ standard | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
|
|
||
| # Find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
|
|
||
| # Install launch files - Simulation | ||
| install( | ||
| DIRECTORY simulation/ | ||
| DESTINATION share/${PROJECT_NAME}/simulation | ||
| PATTERN "__pycache__" EXCLUDE | ||
| PATTERN "*.pyc" EXCLUDE | ||
| ) | ||
|
|
||
| # Install launch files - NAV2 Stack | ||
| install( | ||
| DIRECTORY launch/ | ||
| DESTINATION share/${PROJECT_NAME}/launch | ||
| ) | ||
|
|
||
| # Install config files - Simulation | ||
| install( | ||
| DIRECTORY simulation/config/ | ||
| DESTINATION share/${PROJECT_NAME}/config/simulation | ||
| ) | ||
|
|
||
| # Install config files - NAV2 | ||
| install( | ||
| DIRECTORY config/ | ||
| DESTINATION share/${PROJECT_NAME}/config | ||
| ) | ||
|
|
||
| # Install robot models (Gazebo Fuel models) | ||
| install( | ||
| DIRECTORY simulation/models/ | ||
| DESTINATION share/${PROJECT_NAME}/models | ||
| ) | ||
|
|
||
| # Install behavior trees | ||
| install( | ||
| DIRECTORY behavior_trees/ | ||
| DESTINATION share/${PROJECT_NAME}/behavior_trees | ||
| ) | ||
|
|
||
| # Ament package generation | ||
| ament_package() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| # NAV2 Ground Consistency Demo | ||
| Tutorial code referenced in https://docs.nav2.org/tutorials/docs/navigation2_with_ground_consistency_layer.rst |
29 changes: 29 additions & 0 deletions
29
nav2_ground_consistency_demo/behavior_trees/navigate_through_poses_no_spin.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| <root BTCPP_format="4" main_tree_to_execute="MainTree"> | ||
| <BehaviorTree ID="MainTree"> | ||
| <RecoveryNode number_of_retries="6" name="NavigateRecovery"> | ||
| <PipelineSequence name="NavigateWithReplanning"> | ||
| <RateController hz="1.0"> | ||
| <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses"> | ||
| <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/> | ||
| <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/> | ||
| </RecoveryNode> | ||
| </RateController> | ||
| <RecoveryNode number_of_retries="1" name="FollowPath"> | ||
| <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/> | ||
| <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/> | ||
| </RecoveryNode> | ||
| </PipelineSequence> | ||
| <ReactiveFallback name="RecoveryFallback"> | ||
| <GoalUpdated/> | ||
| <RoundRobin name="RecoveryActions"> | ||
| <Sequence name="ClearingActions"> | ||
| <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/> | ||
| <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/> | ||
| </Sequence> | ||
| <BackUp backup_dist="0.3" backup_speed="0.05"/> | ||
| <Wait wait_duration="5.0"/> | ||
| </RoundRobin> | ||
| </ReactiveFallback> | ||
| </RecoveryNode> | ||
| </BehaviorTree> | ||
| </root> |
29 changes: 29 additions & 0 deletions
29
nav2_ground_consistency_demo/behavior_trees/navigate_to_pose_no_spin.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| <root BTCPP_format="4" main_tree_to_execute="MainTree"> | ||
| <BehaviorTree ID="MainTree"> | ||
| <RecoveryNode number_of_retries="6" name="NavigateRecovery"> | ||
| <PipelineSequence name="NavigateWithReplanning"> | ||
| <RateController hz="1.0"> | ||
| <RecoveryNode number_of_retries="1" name="ComputePathToPose"> | ||
| <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/> | ||
| <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/> | ||
| </RecoveryNode> | ||
| </RateController> | ||
| <RecoveryNode number_of_retries="1" name="FollowPath"> | ||
| <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/> | ||
| <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/> | ||
| </RecoveryNode> | ||
| </PipelineSequence> | ||
| <ReactiveFallback name="RecoveryFallback"> | ||
| <GoalUpdated/> | ||
| <RoundRobin name="RecoveryActions"> | ||
| <Sequence name="ClearingActions"> | ||
| <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/> | ||
| <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/> | ||
| </Sequence> | ||
| <BackUp backup_dist="0.3" backup_speed="0.05"/> | ||
| <Wait wait_duration="5.0"/> | ||
| </RoundRobin> | ||
| </ReactiveFallback> | ||
| </RecoveryNode> | ||
| </BehaviorTree> | ||
| </root> |
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