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tugbot_autonomous_navigation.json
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tugbot_autonomous_navigation.json
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{
"Flow": {
"tugbot_autonomous_navigation": {
"Container": {
"tugbot_sim_drivers": {
"ContainerFlow": "tugbot_sim_drivers",
"ContainerLabel": "tugbot_sim_drivers",
"Parameter": {
"robot_name": {
"Type": "any",
"Value": "tugbot"
}
},
"Visualization": {
"x": {
"Value": 0.017311726888020833
},
"y": {
"Value": 0.012696661376953126
}
}
}
},
"Description": "Purpose: Autonomous navigation and localization using Tugbot robot. Simulator world: tugbot_depot (Launch the world before running the flow). Visualization tool: RVIZ (Launch the rviz before running the flow. Select the Tugbot autonomous navigation group on the left menu). Detail: The robot moves between three locations of the depot map autonomously repeatedly. This flow is a demo for autonomous navigation using the Tugbot robot. We use the depot map combined with amcl and ekf to localize and move_base combined with global planner and teb local planner as well as global costmap and local cost map to navigate the robot. In the flow the go_to node is used to send a goal to the move_base. Once localized the robot will move to a preset location in the map, which can be configured using the parameters of the go_to node.",
"ExposedPorts": {},
"Info": "",
"Label": "tugbot_autonomous_navigation",
"LastUpdate": {
"date": "24/10/2022 at 12:28:04",
"user": "movai"
},
"Layers": {},
"Links": {
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"Dependency": 0,
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"To": "amcl/initialpose/in"
},
"27ee8bef-1fa2-41c6-9c2d-fa835f9c3c81": {
"Dependency": 0,
"From": "go_to_B/action/goal",
"To": "move_base/move_base/goal"
},
"2fa53170-c368-49d2-a55f-b183d2e169af": {
"Dependency": 0,
"From": "tugbot_sim_drivers__diffdrive__outputs/odom/out",
"To": "ekf_odom/odom0/in"
},
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"Dependency": 0,
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"To": "publish_initial_pose/start/in"
},
"35ec76be-30bf-4fba-976b-21069bbc2f61": {
"Dependency": 0,
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"To": "tugbot_sim_drivers__emergency_sim_detector/cmd_vel/in"
},
"4a910626-6237-43b9-ac8e-eb7ce0d29514": {
"Dependency": 0,
"From": "map_server/map/out",
"To": "amcl/map/in"
},
"629187e7-e7b5-450b-94ad-6e2ceba65cdd": {
"Dependency": 0,
"From": "global_planner/plugin/out",
"To": "move_base/base_global_planner/in"
},
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"Dependency": 0,
"From": "move_base/move_base/result",
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},
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},
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"To": "ekf_odom/imu0/in"
},
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},
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},
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"Dependency": 0,
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"To": "amcl/scan/in"
},
"9d433a3e-62c0-4f79-b32c-2c7094a090f6": {
"Dependency": 0,
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},
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"Dependency": 0,
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},
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},
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},
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},
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},
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},
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},
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"From": "move_base/move_base/result",
"To": "go_to_C/action/result"
}
},
"NodeInst": {
"amcl": {
"Launch": true,
"NodeLabel": "amcl",
"NodeLayers": [],
"Parameter": {
"first_map_only": {
"Type": "any",
"Value": "True"
},
"use_map_topic": {
"Type": "any",
"Value": "True"
}
},
"Persistent": false,
"Remappable": true,
"Template": "amcl",
"Visualization": {
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},
"y": {
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}
}
},
"ekf_odom": {
"Launch": true,
"NodeLabel": "ekf_odom",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "ekf_odom",
"Visualization": {
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},
"y": {
"Value": 0.004586024579902782
}
}
},
"global_costmap": {
"Launch": true,
"NodeLabel": "global_costmap",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "global_costmap",
"Visualization": {
"x": {
"Value": 0.018318326770217913
},
"y": {
"Value": 0.05341428247539442
}
}
},
"global_planner": {
"Launch": true,
"NodeLabel": "global_planner",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "global_planner",
"Visualization": {
"x": {
"Value": 0.018459322401126618
},
"y": {
"Value": 0.039601857733202565
}
}
},
"go_to_A": {
"Launch": true,
"NodeLabel": "go_to_A",
"NodeLayers": [],
"Parameter": {
"x_position": {
"Type": "string",
"Value": "17.3"
},
"y_position": {
"Type": "string",
"Value": "5.6"
},
"yaw_angle": {
"Type": "string",
"Value": "-90"
}
},
"Persistent": false,
"Remappable": true,
"Template": "go_to",
"Visualization": {
"x": {
"Value": 0.04690976723075583
},
"y": {
"Value": 0.02029103706200272
}
}
},
"go_to_B": {
"Launch": true,
"NodeLabel": "go_to_B",
"NodeLayers": [],
"Parameter": {
"x_position": {
"Type": "any",
"Value": "17.7"
},
"y_position": {
"Type": "any",
"Value": "-6.3"
},
"yaw_angle": {
"Type": "string",
"Value": "-90"
}
},
"Persistent": false,
"Remappable": true,
"Template": "go_to",
"Visualization": {
"x": {
"Value": 0.055614696730280785
},
"y": {
"Value": 0.026920489501953113
}
}
},
"go_to_C": {
"Launch": true,
"NodeLabel": "go_to_C",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "go_to",
"Visualization": {
"x": {
"Value": 0.06584396919121828
},
"y": {
"Value": 0.020561511230468742
}
}
},
"local_costmap": {
"Launch": true,
"NodeLabel": "local_costmap",
"NodeLayers": [],
"Parameter": {
"obstacle_layer": {
"Type": "any",
"Value": "{ \"combination_method\":1,\n \"enabled\":True,\n \"inf_is_valid\":True,\n \"max_obstacle_height\":2.5,\n \"observation_sources\":\"scan_omni\",\n \"obstacle_range\":5.0,\n \"raytrace_range\":5.0,\n \"track_unknown_space\":False,\n \"scan_omni\":\n {\"clearing\":True,\n \"data_type\":\"LaserScan\",\n \"marking\":True,\n \"observation_persistence\":0,\n \"topic\":\"/velodyne_points/scan\"}\n}"
},
"plugins": {
"Type": "any",
"Value": "[{'name': 'static_layer', 'type': 'costmap_2d::StaticLayer'},\n {'name': 'obstacle_layer', 'type': 'costmap_2d::ObstacleLayer'},\n {'name': 'inflation_layer', 'type': 'costmap_2d::InflationLayer'}]"
},
"resolution": {
"Type": "any",
"Value": "0.05"
}
},
"Persistent": false,
"Remappable": true,
"Template": "local_costmap",
"Visualization": {
"x": {
"Value": 0.01860441382702912
},
"y": {
"Value": 0.05977023599062538
}
}
},
"map_server": {
"CmdLine": {
"args": {
"Value": "maps/depot.yaml"
}
},
"Launch": true,
"NodeLabel": "map_server",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "map_server",
"Visualization": {
"x": {
"Value": 0.03388581161536842
},
"y": {
"Value": 0.004662033176021034
}
}
},
"move_base": {
"Launch": true,
"NodeLabel": "move_base",
"NodeLayers": [],
"Parameter": {
"cmd_vel": {
"Type": "any",
"Value": "wheels_controller/cmd_vel"
}
},
"Persistent": false,
"Remappable": true,
"Template": "move_base",
"Visualization": {
"x": {
"Value": 0.02934642592734032
},
"y": {
"Value": 0.03685607425078393
}
}
},
"publish_initial_pose": {
"Launch": true,
"NodeLabel": "publish_initial_pose",
"NodeLayers": [],
"Persistent": false,
"Remappable": true,
"Template": "initial_pose_publisher",
"Visualization": {
"x": {
"Value": 0.032156250000000004
},
"y": {
"Value": 0.020933333333333335
}
}
},
"teb_local_planner": {
"Launch": true,
"NodeLabel": "teb_local_planner",
"NodeLayers": [],
"Parameter": {
"acc_lim_theta": {
"Type": "any",
"Value": "0.3"
},
"costmap_obstacles_behind_robot_dist": {
"Type": "number",
"Value": "0.3"
},
"dt_ref": {
"Type": "number",
"Value": "0.4"
},
"feasibility_check_no_poses": {
"Type": "number",
"Value": "2"
},
"footprint_model": {
"Type": "any",
"Value": "{\"type\":\"circular\",\"radius\":0.4}\t\n"
},
"global_plan_viapoint_sep": {
"Type": "number",
"Value": "2.0"
},
"include_dynamic_obstacles": {
"Type": "boolean",
"Value": "True"
},
"max_global_plan_lookahead_dist": {
"Type": "number",
"Value": "8"
},
"max_number_classes": {
"Type": "number",
"Value": "2"
},
"max_vel_theta": {
"Type": "any",
"Value": "0.5"
},
"max_vel_x": {
"Type": "any",
"Value": "2"
},
"max_vel_x_backwards": {
"Type": "any",
"Value": "0.1"
},
"min_obstacle_dist": {
"Type": "number",
"Value": "0.1"
},
"obstacle_poses_affected": {
"Type": "number",
"Value": "10"
},
"penalty_epsilon": {
"Type": "number",
"Value": "0.05"
},
"weight_acc_lim_theta": {
"Type": "number",
"Value": "10"
},
"weight_acc_lim_x": {
"Type": "number",
"Value": "100"
},
"weight_inflation": {
"Type": "number",
"Value": "1"
},
"weight_kinematics_forward_drive": {
"Type": "number",
"Value": "1000"
},
"weight_kinematics_nh": {
"Type": "number",
"Value": "1000"
},
"weight_kinematics_turning_radius": {
"Type": "number",
"Value": "10"
},
"weight_max_vel_theta": {
"Type": "number",
"Value": "10"
},
"weight_max_vel_x": {
"Type": "number",
"Value": "50"
},
"weight_obstacle": {
"Type": "number",
"Value": "200"
},
"weight_shortest_path": {
"Type": "any",
"Value": "50"
},
"weight_viapoint": {
"Type": "number",
"Value": "100"
},
"xy_goal_tolerance": {
"Type": "any",
"Value": "0.1"
},
"yaw_goal_tolerance": {
"Type": "any",
"Value": "0.1"
}
},
"Persistent": false,
"Remappable": true,
"Template": "teb_local_planner",
"Visualization": {
"x": {
"Value": 0.018589963358812234
},
"y": {
"Value": 0.047025058445416934
}
}
}
},
"User": "",
"Version": "",
"VersionDelta": {}
}
}
}