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adding cmu stack #63

Merged
merged 16 commits into from
Jun 17, 2024
Merged

adding cmu stack #63

merged 16 commits into from
Jun 17, 2024

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felix-ch
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  • additional packages are included
  • added helper nodes
  • included new display panels in opc rviz

@felix-ch felix-ch requested a review from mantelt June 16, 2024 14:24
mantelt
mantelt requested changes Jun 17, 2024
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Do I get this right, that this PR not only adds the launch file for the CMU stack, but also has the node necessary to use the frontier based exploration without gmapping?

Please have a look at my comments in the files. We can also discuss directly.

smb_exploration/launch/frontier/smb_rss_frontier_without_gmapping.launch Outdated
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If frontier based exploration works (in sim at least), please make the version without gmapping default version.

Meaning:

  • smb_rss_frontier_without_gmapping.launch -> smb_rss_frontier.launch .
  • Remove all gmapping related things.

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  • made without gmapping as default
  • removed gmapping from package.xml
  • remove gmapping from .repos in both /dev/cmu_stack and /dev/cmu_stack-arm64 branch
  • verified working in sim

smb_control/config/twist_mux.yaml Outdated
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Why is the topic absolute in /cmd_vel_twist? I would prefer it to be in /control

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made them under /nav namespace

smb_exploration/launch/frontier/smb_rss_frontier_without_gmapping.launch Outdated
@@ -0,0 +1,33 @@
<launch>

<arg name="scan_topic" default="/scan" doc="input topic for the 2D lidar scan"/>
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3 arguments defined here, where are these handled?

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all handled now in the ExplorationMap.cpp as parameters

smb_exploration/package.xml Outdated
<depend>gbplanner_ros</depend>
<depend>gbplanner_ui</depend>
<!-- <depend>gbplanner_ros</depend>
<depend>gbplanner_ui</depend> -->
<depend>pci_general</depend>
<depend>explore_lite</depend>
<depend>gmapping</depend>
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can gmapping be removed?

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removed, see above

smb_exploration/src/ExplorationMap.cpp Outdated
{
// topic names
ROS_INFO_STREAM("Creating exploration map ... ...");
std::string scan_topic = "/scan";
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please try to keep the topic names tidy. last year, we cleaned up the topic names, e.g. using the /control/ prefix for topics related to control etc.

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I kept the topic name as /scan per default in the launch file, since this topic name used by the point_cloud_to_scan.launch of previous years.

mantelt
mantelt requested changes Jun 17, 2024
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Thanks for addressing my comments. Found one more param argument that isn't handled in the code.

smb_exploration/launch/frontier/smb_rss_frontier.launch Outdated Show resolved Hide resolved
@mantelt mantelt merged commit 9faccc9 into master Jun 17, 2024
mantelt added a commit that referenced this pull request Jun 17, 2024
@mantelt
Revert "adding cmu stack (#63)"
e37c0de 
This reverts commit 9faccc9.
mantelt pushed a commit that referenced this pull request Jun 17, 2024
@felix-ch @mantelt
Adding CMU navigation stack (PR #63)
68e4843 
Squashed commit of the following:

commit c55cccb
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 17:25:40 2024 +0200

    deleted unused parameter, fix ros log param name

commit 07a392d
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 16:28:33 2024 +0200

    scenario for choosing parameter set as argument

commit bb57d62
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 16:04:33 2024 +0200

    put twist from path follower under /nav namesapce

commit 3fc1f53
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 15:54:11 2024 +0200

    remove gmapping from dependency, making without gmapping as default, working in sim

commit a10cf44
Author: changan <chencha@student.ethz.ch>
Date:   Sun Jun 16 16:20:47 2024 +0200

    pass world_frame to tare in launch

commit d64bff5
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 15 22:02:24 2024 +0200

    rviz with local planner, far and tare

commit c101145
Author: SMB264 <smb264@ethz.ch>
Date:   Mon Jun 3 10:33:08 2024 +0200

    not launching rviz for tare

commit 48360e9
Author: SMB264 <smb264@ethz.ch>
Date:   Mon Jun 3 10:32:34 2024 +0200

    not building gbplanner for now

commit 3467f93
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 19:19:58 2024 +0200

    included tare planner

commit b43defd
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 18:06:20 2024 +0200

    moved cmu adapter to smb_navigation

commit d2f876d
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 14:56:43 2024 +0200

    adapt to cmu topics

commit 5b79852
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 30 12:49:01 2024 +0200

    added missing node in launch file

commit f84043c
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 18:46:26 2024 +0200

    fix missing offset resolution

commit 1a39349
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 18:24:15 2024 +0200

    fix master map update

commit 77cd5d6
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 16:00:07 2024 +0200

    interfacing lidar scan with exploration

commit 8df3ea7
Author: changan <chencha@student.ethz.ch>
Date:   Wed May 1 20:09:16 2024 +0200

    exploration running own global map
mantelt added a commit that referenced this pull request Jun 21, 2024
@Huoleit @felix-ch
@deepanaishtaweera @mantelt @tutunarsl @PerFrivik
Merge devel to master for rss 2024 (#70)
436454a 
* exploration running own global map

* increase look ahead error margin and look ahead distance for pure pursuit controller

* set joystick arg to false at default

* make default state of use_sim_time to false instead of hard setting it

* add use sim time option to localization.launch

* add use_sim_time in smb_estimator_graph

* Adding CMU navigation stack (PR #63)

Squashed commit of the following:

commit c55cccb
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 17:25:40 2024 +0200

    deleted unused parameter, fix ros log param name

commit 07a392d
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 16:28:33 2024 +0200

    scenario for choosing parameter set as argument

commit bb57d62
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 16:04:33 2024 +0200

    put twist from path follower under /nav namesapce

commit 3fc1f53
Author: changan <chencha@student.ethz.ch>
Date:   Mon Jun 17 15:54:11 2024 +0200

    remove gmapping from dependency, making without gmapping as default, working in sim

commit a10cf44
Author: changan <chencha@student.ethz.ch>
Date:   Sun Jun 16 16:20:47 2024 +0200

    pass world_frame to tare in launch

commit d64bff5
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 15 22:02:24 2024 +0200

    rviz with local planner, far and tare

commit c101145
Author: SMB264 <smb264@ethz.ch>
Date:   Mon Jun 3 10:33:08 2024 +0200

    not launching rviz for tare

commit 48360e9
Author: SMB264 <smb264@ethz.ch>
Date:   Mon Jun 3 10:32:34 2024 +0200

    not building gbplanner for now

commit 3467f93
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 19:19:58 2024 +0200

    included tare planner

commit b43defd
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 18:06:20 2024 +0200

    moved cmu adapter to smb_navigation

commit d2f876d
Author: changan <chencha@student.ethz.ch>
Date:   Sat Jun 1 14:56:43 2024 +0200

    adapt to cmu topics

commit 5b79852
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 30 12:49:01 2024 +0200

    added missing node in launch file

commit f84043c
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 18:46:26 2024 +0200

    fix missing offset resolution

commit 1a39349
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 18:24:15 2024 +0200

    fix master map update

commit 77cd5d6
Author: changan <chencha@student.ethz.ch>
Date:   Thu May 23 16:00:07 2024 +0200

    interfacing lidar scan with exploration

commit 8df3ea7
Author: changan <chencha@student.ethz.ch>
Date:   Wed May 1 20:09:16 2024 +0200

    exploration running own global map

* test new changes to open3d slam (#62)

* first attempt to make new open3d available

* update slam component in rviz

* update launch files to support new open3d_updates

* fix launch files

* fix arg

* fix path error

* change rviz assembled_map name

* update lidar odometry topic

* fix launch file for localisation

* fix launch files

* add comment

* update docstring for parameter_filename

---------

Co-authored-by: tutuna <tutuna@leggedrobotics.com>
Co-authored-by: Deepana Ishtaweera <dishtaweera@ethz.ch>

* Improve Low-level controller  (#64)

* Added pid controller node for angular and linear velocity

Controller to test

Added feedforward

changed to correct odom topic

added reconfigurable EKF

empty integrator

fixed bug and added pure feedforward

updated default PID values

fixed pure feedforward

* PR comments

* twist and odom timeout mixed up

* revert rviz default fixed frame to base_link

* added navigation plugins as runtime dependencies

* revert old changes

* reduce lidar max range in sim

* Update smb_robosense.gazebo.xacro for max_range 70 in sim

* fix, controller stuck in feedforward (#69)

* fix, controller stuck in feedforward

* updated gains for sim

* Update localization.launch

removing argument for parameter_folder_path which causes open3d_slam to use default

* Update online_slam.launch

---------

Co-authored-by: changan <chencha@student.ethz.ch>
Co-authored-by: Deepana Ishtaweera <dishtaweera@ethz.ch>
Co-authored-by: Deepana Ishtaweera <dishtaweera@gmail.com>
Co-authored-by: mantelt <thomas.mantel@mavt.ethz.ch>
Co-authored-by: Deepana Ishtaweera <33963319+deepanaishtaweera@users.noreply.github.com>
Co-authored-by: tutuna <tutuna@leggedrobotics.com>
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
Co-authored-by: Deepana Ishtaweera <dishtaweera@student.ethz.ch>
Co-authored-by: felix-ch <92451180+felix-ch@users.noreply.github.com>
@mantelt mantelt deleted the dev/cmu_stack branch June 25, 2024 19:56
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@felix-ch @mantelt