diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml new file mode 100644 index 0000000..30f3529 --- /dev/null +++ b/.github/workflows/lint.yml @@ -0,0 +1,18 @@ +name: Lint + +on: [push, pull_request] + +jobs: + yaml_lint: + name: YAML Lint + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: Setup Python 3 + uses: actions/setup-python@v4 + with: + python-version: '3.x' + - name: Install YamlLint + run: pip install --upgrade yamllint + - name: YamlLint + run: bash -c 'find ./ -iname '*.yaml' -or -iname '*.yml' | xargs yamllint' diff --git a/.yamllint b/.yamllint new file mode 100644 index 0000000..9ebce94 --- /dev/null +++ b/.yamllint @@ -0,0 +1,54 @@ +rules: + braces: + min-spaces-inside: 0 + max-spaces-inside: 0 + min-spaces-inside-empty: 0 + max-spaces-inside-empty: 0 + brackets: + min-spaces-inside: 0 + max-spaces-inside: 0 + min-spaces-inside-empty: 0 + max-spaces-inside-empty: 0 + colons: + max-spaces-before: 0 + max-spaces-after: 1 + commas: + max-spaces-before: 0 + min-spaces-after: 1 + max-spaces-after: 1 + comments: + require-starting-space: false + min-spaces-from-content: 1 + level: warning + comments-indentation: + level: warning + document-end: disable + document-start: + present: false + empty-lines: + max: 2 + max-start: 0 + max-end: 1 +# empty-values: +# forbid-in-block-mappings: true +# forbid-in-flow-mappings: true + hyphens: + max-spaces-after: 1 + indentation: + check-multi-line-strings: true + indent-sequences: consistent + spaces: 2 + key-duplicates: enable +# key-ordering: disable + line-length: + allow-non-breakable-words: true + allow-non-breakable-inline-mappings: true + max: 120 + new-line-at-end-of-file: enable + new-lines: + type: unix +# octal-values: disable +# quoted-strings: disable + trailing-spaces: enable +# truthy: +# level: warning diff --git a/setup_env.bash b/setup_env.bash new file mode 100644 index 0000000..15c5996 --- /dev/null +++ b/setup_env.bash @@ -0,0 +1,27 @@ +#! /usr/bin/env bash + +function ed_tutorial_setup { + local model_path=${PWD}/my-model-dir + + local model_paths=($(find $model_path -type f -name '*model*.sdf' | xargs dirname 2>/dev/null | xargs dirname 2>/dev/null)) + local unique_model_paths=$(printf "%s\n" "${model_paths[@]}" | sort -ru | tr '\n' ' ') + local model_paths_string="" + for dir in $unique_model_paths + do + if [[ "$dir" == "$model_path" ]] + then + # You want to have the main model path at the beginning + continue + fi + model_paths_string="$dir${model_paths_string:+:${model_paths_string}}" + done + + model_paths_string="$model_path${model_paths_string:+:${model_paths_string}}" + + export ED_MODEL_PATH=$model_path${ED_MODEL_PATH:+:${ED_MODEL_PATH}} + + export GAZEBO_MODEL_PATH=$model_paths_string${GAZEBO_MODEL_PATH:+:${GAZEBO_MODEL_PATH}} + export GAZEBO_RESOURCE_PATH=$model_paths_string${GAZEBO_RESOURCE_PATH:+:${GAZEBO_RESOURCE_PATH}} +} + +ed_tutorial_setup diff --git a/tutorial01/my-ed-config.yaml b/tutorial01/my-ed-config.yaml index b8fd4cb..5efcd8a 100644 --- a/tutorial01/my-ed-config.yaml +++ b/tutorial01/my-ed-config.yaml @@ -1,14 +1,14 @@ world: -- id: block1 - pose: { x: 2, y: 0, z: 0.5 } - shape: - box: - size: { x: 0.5, y: 0.5, z: 1 } -- id: block2 - pose: { x: 3, y: 2, z: 0.75 } - shape: - box: - size: { x: 0.5, y: 0.5, z: 1.5 } + - id: block1 + pose: {x: 2, y: 0, z: 0.5} + shape: + box: + size: {x: 0.5, y: 0.5, z: 1} + - id: block2 + pose: {x: 3, y: 2, z: 0.75} + shape: + box: + size: {x: 0.5, y: 0.5, z: 1.5} plugins: - name: gui_server diff --git a/tutorial02/my-ed-config.yaml b/tutorial02/my-ed-config.yaml index 4ac419a..8283a8c 100644 --- a/tutorial02/my-ed-config.yaml +++ b/tutorial02/my-ed-config.yaml @@ -5,7 +5,7 @@ world: image: $(file my-walls.pgm) height: 2 resolution: 0.025 - pose: { x: -10.0, y: -10.0, z: 0 } + pose: {x: -10.0, y: -10.0, z: 0} plugins: - name: gui_server diff --git a/tutorial03/README.md b/tutorial03/README.md index 1c39644..e89445b 100644 --- a/tutorial03/README.md +++ b/tutorial03/README.md @@ -19,7 +19,7 @@ mkdir my-model-dir You have to let ED know where it will be able to find the models. You can do this by setting the ED_MODEL_PATH variable. ```bash -export ED_MODEL_PATH=`pwd`/my-model-dir +source ../setup_env.bash # This needs to be done from the tutorial specific folder ``` You can specify multiple paths by separating them with colons (':'). diff --git a/tutorial03/my-ed-config.yaml b/tutorial03/my-ed-config.yaml index 1e443e0..5a6c347 100644 --- a/tutorial03/my-ed-config.yaml +++ b/tutorial03/my-ed-config.yaml @@ -1,10 +1,10 @@ world: -- id: table1 - type: table - pose: { x: 2, y: 0, z: 0 } -- id: table2 - type: table - pose: { x: 3, y: 2, z: 0, Z: 1.54 } + - id: table1 + type: table + pose: {x: 2, y: 0, z: 0} + - id: table2 + type: table + pose: {x: 3, y: 2, z: 0, Z: 1.54} plugins: - name: gui_server diff --git a/tutorial03/my-model-dir/table/model.config b/tutorial03/my-model-dir/table/model.config new file mode 100644 index 0000000..eb0a714 --- /dev/null +++ b/tutorial03/my-model-dir/table/model.config @@ -0,0 +1,11 @@ + + + table + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + table + diff --git a/tutorial03/my-model-dir/table/model.sdf b/tutorial03/my-model-dir/table/model.sdf new file mode 100644 index 0000000..7224b4f --- /dev/null +++ b/tutorial03/my-model-dir/table/model.sdf @@ -0,0 +1,91 @@ + + + + true + + + + + 1.2 0.8 0.02 + + + + + + + 1.2 0.8 0.02 + + + + 0 0 0.75 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + -0.55 -0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 -0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + -0.55 0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 0.35 0.37 0 0 0 + + + diff --git a/tutorial03/my-model-dir/table/model.yaml b/tutorial03/my-model-dir/table/model.yaml index 4427536..25f771e 100644 --- a/tutorial03/my-model-dir/table/model.yaml +++ b/tutorial03/my-model-dir/table/model.yaml @@ -1,17 +1,17 @@ shape: group: - - box: - pose: {x: 0, y: 0, z: 0.75} - size: {x: 1.20, y: 0.80, z: 0.02} - - box: - pose: {x: -0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} - - box: - pose: {x: 0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} - - box: - pose: {x: -0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} - - box: - pose: {x: 0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + - box: + pose: {x: 0, y: 0, z: 0.75} + size: {x: 1.20, y: 0.80, z: 0.02} + - box: + pose: {x: -0.55, y: -0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} + - box: + pose: {x: 0.55, y: -0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} + - box: + pose: {x: -0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} + - box: + pose: {x: 0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} diff --git a/tutorial04/my-ed-config.yaml b/tutorial04/my-ed-config.yaml index 0fe4b20..3a2d6d0 100644 --- a/tutorial04/my-ed-config.yaml +++ b/tutorial04/my-ed-config.yaml @@ -1,6 +1,6 @@ world: -- type: robot-lab - pose: { x: 0, y: 0, z: 0 } + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: - name: gui_server diff --git a/tutorial04/my-model-dir/robot-lab/model.config b/tutorial04/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial04/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial04/my-model-dir/robot-lab/model.sdf b/tutorial04/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..4bdbf63 --- /dev/null +++ b/tutorial04/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,82 @@ + + + + + table1 + model://table + 2 0 0 0 0 0 + + + table2 + model://table + 3 2 0 0 0 1.54 + + + true + + + + + model://robot-lab/my-walls.stl + + + + + + + model://robot-lab/my-walls.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + 0.5 0.1 -0.9 + + 1000 + 0.9 + 0.01 + 0.001 + + + + 333.0 + 0.003 + + + 100 + + + 0.0001 + + + + + diff --git a/tutorial04/my-model-dir/robot-lab/model.yaml b/tutorial04/my-model-dir/robot-lab/model.yaml index f6b4268..0674d5c 100644 --- a/tutorial04/my-model-dir/robot-lab/model.yaml +++ b/tutorial04/my-model-dir/robot-lab/model.yaml @@ -1,14 +1,14 @@ composition: - - id: table1 - type: table - pose: { x: 2, y: 0, z: 0 } - - id: table2 - type: table - pose: { x: 3, y: 2, z: 0, Z: 1.54 } - - id: walls - shape: - heightmap: - image: $(file my-walls.pgm) - height: 2 - resolution: 0.025 - pose: { x: -13.0, y: -13.0, z: 0 } + - id: table1 + type: table + pose: {x: 2, y: 0, z: 0} + - id: table2 + type: table + pose: {x: 3, y: 2, z: 0, Z: 1.54} + - id: walls + shape: + heightmap: + image: $(file my-walls.pgm) + height: 2 + resolution: 0.025 + pose: {x: -13.0, y: -13.0, z: 0} diff --git a/tutorial04/my-model-dir/robot-lab/my-walls.stl b/tutorial04/my-model-dir/robot-lab/my-walls.stl new file mode 100644 index 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0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + -0.55 0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 0.35 0.37 0 0 0 + + + diff --git a/tutorial04/my-model-dir/table/model.yaml b/tutorial04/my-model-dir/table/model.yaml index 4427536..f74f45b 100644 --- a/tutorial04/my-model-dir/table/model.yaml +++ b/tutorial04/my-model-dir/table/model.yaml @@ -1,17 +1,17 @@ shape: group: - box: - pose: {x: 0, y: 0, z: 0.75} - size: {x: 1.20, y: 0.80, z: 0.02} + pose: {x: 0, y: 0, z: 0.75} + size: {x: 1.20, y: 0.80, z: 0.02} - box: pose: {x: -0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: 0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: 0.55, y: -0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: -0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: -0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: 0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: 0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} diff --git a/tutorial05/README.md b/tutorial05/README.md index adadbaf..040367b 100644 --- a/tutorial05/README.md +++ b/tutorial05/README.md @@ -12,7 +12,7 @@ We already know that we can visualize the world model by adding a certain plugin rosrun ed ed_view_model --model table ``` -(Again, remember that you should have set ED_MODEL_PATH). You should now see the table model visualized in a separate window. Now try: +(Again, remember that you should have set `ED_MODEL_PATH`). You should now see the table model visualized in a separate window. Now try: ```bash rosrun ed ed_view_model --model robot-lab diff --git a/tutorial05/my-model-dir/robot-lab/model.config b/tutorial05/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial05/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial05/my-model-dir/robot-lab/model.sdf b/tutorial05/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..4bdbf63 --- /dev/null +++ b/tutorial05/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,82 @@ + + + + + table1 + model://table + 2 0 0 0 0 0 + + + table2 + model://table + 3 2 0 0 0 1.54 + + + true + + + + + model://robot-lab/my-walls.stl + + + + + + + model://robot-lab/my-walls.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + 0.5 0.1 -0.9 + + 1000 + 0.9 + 0.01 + 0.001 + + + + 333.0 + 0.003 + + + 100 + + + 0.0001 + + + + + diff --git a/tutorial05/my-model-dir/robot-lab/model.yaml b/tutorial05/my-model-dir/robot-lab/model.yaml index f6b4268..0674d5c 100644 --- a/tutorial05/my-model-dir/robot-lab/model.yaml +++ b/tutorial05/my-model-dir/robot-lab/model.yaml @@ -1,14 +1,14 @@ composition: - - id: table1 - type: table - pose: { x: 2, y: 0, z: 0 } - - id: table2 - type: table - pose: { x: 3, y: 2, z: 0, Z: 1.54 } - - id: walls - shape: - heightmap: - image: $(file my-walls.pgm) - height: 2 - resolution: 0.025 - pose: { x: -13.0, y: -13.0, z: 0 } + - id: table1 + type: table + pose: {x: 2, y: 0, z: 0} + - id: table2 + type: table + pose: {x: 3, y: 2, z: 0, Z: 1.54} + - id: walls + shape: + heightmap: + image: $(file my-walls.pgm) + height: 2 + resolution: 0.025 + pose: {x: -13.0, y: -13.0, z: 0} diff --git a/tutorial05/my-model-dir/robot-lab/my-walls.stl b/tutorial05/my-model-dir/robot-lab/my-walls.stl new file mode 100644 index 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0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + -0.55 0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 0.35 0.37 0 0 0 + + + diff --git a/tutorial05/my-model-dir/table/model.yaml b/tutorial05/my-model-dir/table/model.yaml index 4427536..f74f45b 100644 --- a/tutorial05/my-model-dir/table/model.yaml +++ b/tutorial05/my-model-dir/table/model.yaml @@ -1,17 +1,17 @@ shape: group: - box: - pose: {x: 0, y: 0, z: 0.75} - size: {x: 1.20, y: 0.80, z: 0.02} + pose: {x: 0, y: 0, z: 0.75} + size: {x: 1.20, y: 0.80, z: 0.02} - box: pose: {x: -0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: 0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: 0.55, y: -0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: -0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: -0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: 0.55, y: 0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: 0.55, y: 0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} diff --git a/tutorial06/my-ed-config.yaml b/tutorial06/my-ed-config.yaml index 32038b3..125b171 100644 --- a/tutorial06/my-ed-config.yaml +++ b/tutorial06/my-ed-config.yaml @@ -1,6 +1,6 @@ world: -- type: robot-lab - pose: { x: 0, y: 0, z: 0 } + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: - name: gui_server @@ -8,44 +8,43 @@ plugins: - name: localization type: ed_localization/localization parameters: - robot_name: amigo - initial_pose_topic: /amigo/initialpose - resample_interval: 2 - update_min_d: 0.05 - update_min_a: 0.05 - particle_filter: - min_particles: 100 - max_particles: 750 - kld_err: 0.02 - kld_z: 0.98 - recovery_alpha_slow: 0 #0.001 - recovery_alpha_fast: 0 #0.1 - cell_size_x: 0.5 - cell_size_y: 0.5 - cell_size_theta: 0.1745 - initial_pose: - x: 0.586 #$(env ROBOT_INIT_X) - y: 4.259 #$(env ROBOT_INIT_Y) - rz: 0 #$(env ROBOT_INIT_PHI) - laser_model: - topic: /amigo/base_laser/scan - num_beams: 100 - z_hit: 0.95 - sigma_hit: 0.2 - z_short: 0.1 - z_max: 0.05 - z_rand: 0.05 - lambda_short: 0.1 - range_max: 10 - min_particle_distance: 0.01 - min_particle_rotation_distance: 0.02 - odom_model: - map_frame: map - odom_frame: /amigo/odom - base_link_frame: /amigo/base_link - alpha1: 0.05 # rot -> trans + strafe - alpha2: 0.5 # trans -> rot - alpha3: 0.5 # trans -> trans - alpha4: 0.5 # rot -> rot - alpha5: 0.5 # trans -> strafeb: libed_gui_server_plugin.so - + robot_name: amigo + initial_pose_topic: /amigo/initialpose + resample_interval: 2 + update_min_d: 0.05 + update_min_a: 0.05 + particle_filter: + min_particles: 100 + max_particles: 750 + kld_err: 0.02 + kld_z: 0.98 + recovery_alpha_slow: 0 #0.001 + recovery_alpha_fast: 0 #0.1 + cell_size_x: 0.5 + cell_size_y: 0.5 + cell_size_theta: 0.1745 + initial_pose: + x: 0.586 #$(env ROBOT_INIT_X) + y: 4.259 #$(env ROBOT_INIT_Y) + rz: 0 #$(env ROBOT_INIT_PHI) + laser_model: + topic: /amigo/base_laser/scan + num_beams: 100 + z_hit: 0.95 + sigma_hit: 0.2 + z_short: 0.1 + z_max: 0.05 + z_rand: 0.05 + lambda_short: 0.1 + range_max: 10 + min_particle_distance: 0.01 + min_particle_rotation_distance: 0.02 + odom_model: + map_frame: map + odom_frame: /amigo/odom + base_link_frame: /amigo/base_link + alpha1: 0.05 # rot -> trans + strafe + alpha2: 0.5 # trans -> rot + alpha3: 0.5 # trans -> trans + alpha4: 0.5 # rot -> rot + alpha5: 0.5 # trans -> strafe diff --git a/tutorial06/my-model-dir/robot-lab/model.config b/tutorial06/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial06/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial06/my-model-dir/robot-lab/model.sdf b/tutorial06/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..f9bf63d --- /dev/null +++ b/tutorial06/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,73 @@ + + + + + 0.5 0.1 -0.9 + 0 0 10 0 0 0 + 0.2 0.2 0.2 1 + true + 0.8 0.8 0.8 1 + + 1000 + 0.001 + 0.9 + 0.01 + + + + true + + + + + model://robot-lab/shape/heightmap.stl + + + + + + + model://robot-lab/shape/heightmap.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + 333.0 + 0.003 + + + 0.0001 + + + quick + 100 + + + + + diff --git a/tutorial06/my-model-dir/robot-lab/model.yaml b/tutorial06/my-model-dir/robot-lab/model.yaml index 0c05897..af1638a 100644 --- a/tutorial06/my-model-dir/robot-lab/model.yaml +++ b/tutorial06/my-model-dir/robot-lab/model.yaml @@ -1,8 +1,8 @@ type: walls shape: - path: shape/heightmap.pgm - blockheight: 2.0 - resolution: 0.025000 - origin_x: -13.800000 - origin_y: -14.200000 - origin_z: 0.000000 + path: shape/heightmap.pgm + blockheight: 2.0 + resolution: 0.025000 + origin_x: -13.800000 + origin_y: -14.200000 + origin_z: 0.000000 diff --git 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b/tutorial07/global_costmap.yaml @@ -1,6 +1,6 @@ # SETUP -global_frame: /map +global_frame: map robot_base_frame: /amigo/base_link rolling_window: false track_unknown_space: false @@ -14,20 +14,19 @@ always_send_full_costmap: true # LAYER SETUP plugins: - # Obstacles - - {name: ed_occupancy_grid, type: "costmap_2d::StaticLayer"} - - {name: robot_footprint, type: "costmap_2d::FootprintLayer"} - - {name: configuration_space, type: "costmap_2d::InflationLayer"} + # Obstacles + - {name: ed_occupancy_grid, type: "costmap_2d::StaticLayer"} + - {name: configuration_space, type: "costmap_2d::InflationLayer"} # Ed World model layer ed_occupancy_grid: - map_topic: /ed/navigation/map - track_unknown_space: false + map_topic: /ed/navigation/map + track_unknown_space: false # Workspace to configuration space configuration_space: - use_footprint: false - target_cell_value: 254 - dilation_cell_value: 253 - dilation_radius: 0.37 # 2cm margin - inflation_radius: 0.6 + use_footprint: false + target_cell_value: 254 + dilation_cell_value: 253 + dilation_radius: 0.37 # 2cm margin + inflation_radius: 0.6 diff --git a/tutorial07/local_costmap.yaml b/tutorial07/local_costmap.yaml index 9f7a249..9859cc2 100644 --- a/tutorial07/local_costmap.yaml +++ b/tutorial07/local_costmap.yaml @@ -1,6 +1,6 @@ # SETUP -global_frame: /map +global_frame: map robot_base_frame: /amigo/base_link rolling_window: true track_unknown_space: false @@ -17,24 +17,22 @@ always_send_full_costmap: true # LAYER SETUP plugins: - - {name: ed_occupancy_grid, type: "costmap_2d::StaticLayer"} - - {name: robot_footprint, type: "costmap_2d::FootprintLayer"} - - {name: configuration_space, type: "costmap_2d::InflationLayer"} + - {name: ed_occupancy_grid, type: "costmap_2d::StaticLayer"} + - {name: configuration_space, type: "costmap_2d::InflationLayer"} # LAYER CONFIGURATION - ed_occupancy_grid: - map_topic: /ed/navigation/map - track_unknown_space: true - use_maximum: true - lethal_cost_threshold: 99 + map_topic: /ed/navigation/map + track_unknown_space: true + use_maximum: true + lethal_cost_threshold: 99 # Workspace to configuration space configuration_space: - use_footprint: false - target_cell_value: 254 - dilation_cell_value: 253 - dilation_radius: 0.35 # inscribed radius - inflation_radius: 1.0 # optimization - cost_scaling_factor: 5.0 + use_footprint: false + target_cell_value: 254 + dilation_cell_value: 253 + dilation_radius: 0.35 # inscribed radius + inflation_radius: 1.0 # optimization + cost_scaling_factor: 5.0 diff --git a/tutorial07/move_base.launch b/tutorial07/move_base.launch new file mode 100644 index 0000000..0e6be9f --- /dev/null +++ b/tutorial07/move_base.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/tutorial07/my-ed-config.yaml b/tutorial07/my-ed-config.yaml index cf03f30..f8055cf 100644 --- a/tutorial07/my-ed-config.yaml +++ b/tutorial07/my-ed-config.yaml @@ -1,16 +1,19 @@ world: -- type: robot-lab - pose: { x: 0, y: 0, z: 0 } + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: -- name: gui_server - type: ed_gui_server/gui_server -- name: localization - type: ed_localization/localization - parameters: - robot_name: amigo - initial_pose_topic: /amigo/initialpose - particle_filter: + - name: gui_server + type: ed_gui_server/gui_server + - name: localization + type: ed_localization/localization + parameters: + robot_name: amigo + initial_pose_topic: /amigo/initialpose + resample_interval: 2 + update_min_d: 0.05 + update_min_a: 0.05 + particle_filter: min_particles: 100 max_particles: 750 kld_err: 0.02 @@ -20,11 +23,11 @@ plugins: cell_size_x: 0.5 cell_size_y: 0.5 cell_size_theta: 0.1745 - initial_pose: + initial_pose: x: 0.586 #$(env ROBOT_INIT_X) y: 4.259 #$(env ROBOT_INIT_Y) rz: 0 #$(env ROBOT_INIT_PHI) - laser_model: + laser_model: topic: /amigo/base_laser/scan num_beams: 100 z_hit: 0.95 @@ -36,7 +39,7 @@ plugins: range_max: 10 min_particle_distance: 0.01 min_particle_rotation_distance: 0.02 - odom_model: + odom_model: map_frame: map odom_frame: /amigo/odom base_link_frame: /amigo/base_link @@ -44,13 +47,16 @@ plugins: alpha2: 0.5 # trans -> rot alpha3: 0.5 # trans -> trans alpha4: 0.5 # rot -> rot - alpha5: 0.5 # trans -> strafeb: libed_gui_server_plugin.so -- name: navigation - type: ed_navigation/navigation - parameters: - occupancy_grid_publisher: + alpha5: 0.5 # trans -> strafe + - name: navigation + type: ed_navigation/navigation + parameters: + constraint_service: + default_offset: 0.55 + room_offset: -0.3 + occupancy_grid_publisher: resolution: 0.05 - frame_id: /map + frame_id: map min_z: 0.025 - max_z: 1.8 + max_z: 1.65 default_offset: 0.7 diff --git a/tutorial07/my-model-dir/robot-lab/model.config b/tutorial07/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial07/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial07/my-model-dir/robot-lab/model.sdf b/tutorial07/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..f9bf63d --- /dev/null +++ b/tutorial07/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,73 @@ + + + + + 0.5 0.1 -0.9 + 0 0 10 0 0 0 + 0.2 0.2 0.2 1 + true + 0.8 0.8 0.8 1 + + 1000 + 0.001 + 0.9 + 0.01 + + + + true + + + + + model://robot-lab/shape/heightmap.stl + + + + + + + model://robot-lab/shape/heightmap.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + 333.0 + 0.003 + + + 0.0001 + + + quick + 100 + + + + + diff --git a/tutorial07/my-model-dir/robot-lab/model.yaml b/tutorial07/my-model-dir/robot-lab/model.yaml index 0c05897..af1638a 100644 --- a/tutorial07/my-model-dir/robot-lab/model.yaml +++ b/tutorial07/my-model-dir/robot-lab/model.yaml @@ -1,8 +1,8 @@ type: walls shape: - path: shape/heightmap.pgm - blockheight: 2.0 - resolution: 0.025000 - origin_x: -13.800000 - origin_y: -14.200000 - origin_z: 0.000000 + 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a/tutorial08/my-ed-config.yaml b/tutorial08/my-ed-config.yaml index c22c9a3..7df0f8f 100644 --- a/tutorial08/my-ed-config.yaml +++ b/tutorial08/my-ed-config.yaml @@ -1,16 +1,19 @@ world: -- type: robot-lab - pose: { x: 0, y: 0, z: 0 } + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: -- name: gui_server - type: ed_gui_server/gui_server -- name: localization - type: ed_localization/localization - parameters: - robot_name: amigo - initial_pose_topic: /amigo/initialpose - particle_filter: + - name: gui_server + type: ed_gui_server/gui_server + - name: localization + type: ed_localization/localization + parameters: + robot_name: amigo + initial_pose_topic: /amigo/initialpose + resample_interval: 2 + update_min_d: 0.05 + update_min_a: 0.05 + particle_filter: min_particles: 100 max_particles: 750 kld_err: 0.02 @@ -20,11 +23,11 @@ plugins: cell_size_x: 0.5 cell_size_y: 0.5 cell_size_theta: 0.1745 - initial_pose: + initial_pose: x: 0.586 #$(env ROBOT_INIT_X) y: 4.259 #$(env ROBOT_INIT_Y) rz: 0 #$(env ROBOT_INIT_PHI) - laser_model: + laser_model: topic: /amigo/base_laser/scan num_beams: 100 z_hit: 0.95 @@ -36,7 +39,7 @@ plugins: range_max: 10 min_particle_distance: 0.01 min_particle_rotation_distance: 0.02 - odom_model: + odom_model: map_frame: map odom_frame: /amigo/odom base_link_frame: /amigo/base_link @@ -44,18 +47,16 @@ plugins: alpha2: 0.5 # trans -> rot alpha3: 0.5 # trans -> trans alpha4: 0.5 # rot -> rot - alpha5: 0.5 # trans -> strafeb: libed_gui_server_plugin.so - -- name: entity_clearer - type: ed_sensor_integration/clearer - enabled: 1 - parameters: + alpha5: 0.5 # trans -> strafe + - name: entity_clearer + type: ed_sensor_integration/clearer + enabled: 1 + parameters: entity_timeout: 1.0 - -- name: laser_integration - type: ed_sensor_integration/laser - frequency: 40 - parameters: + - name: laser_integration + type: ed_sensor_integration/laser + frequency: 40 + parameters: laser_topic: /amigo/torso_laser/scan min_segment_size_pixels: 10 world_association_distance: 0.4 diff --git a/tutorial08/my-model-dir/robot-lab/model.config b/tutorial08/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial08/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial08/my-model-dir/robot-lab/model.sdf b/tutorial08/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..f9bf63d --- /dev/null +++ b/tutorial08/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,73 @@ + + + + + 0.5 0.1 -0.9 + 0 0 10 0 0 0 + 0.2 0.2 0.2 1 + true + 0.8 0.8 0.8 1 + + 1000 + 0.001 + 0.9 + 0.01 + + + + true + + + + + model://robot-lab/shape/heightmap.stl + + + + + + + model://robot-lab/shape/heightmap.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + 333.0 + 0.003 + + + 0.0001 + + + quick + 100 + + + + + diff --git a/tutorial08/my-model-dir/robot-lab/model.yaml b/tutorial08/my-model-dir/robot-lab/model.yaml index 0c05897..af1638a 100644 --- a/tutorial08/my-model-dir/robot-lab/model.yaml +++ b/tutorial08/my-model-dir/robot-lab/model.yaml @@ -1,8 +1,8 @@ type: walls shape: - path: shape/heightmap.pgm - blockheight: 2.0 - resolution: 0.025000 - origin_x: -13.800000 - origin_y: -14.200000 - origin_z: 0.000000 + path: shape/heightmap.pgm + blockheight: 2.0 + resolution: 0.025000 + origin_x: -13.800000 + origin_y: -14.200000 + origin_z: 0.000000 diff --git a/tutorial08/my-model-dir/robot-lab/shape/heightmap.stl b/tutorial08/my-model-dir/robot-lab/shape/heightmap.stl new file mode 100644 index 0000000..9330fda --- /dev/null +++ b/tutorial08/my-model-dir/robot-lab/shape/heightmap.stl @@ -0,0 +1,978 @@ +solid AssimpScene + facet normal 0 0.89442718 0.44721359 + outer loop + vertex 1.375 5.625 0 + vertex 1.375 5.625 1.2 + vertex 1.375 5.5749998 0 + endloop + endfacet + + facet normal 0 0.44721359 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0.80000001 + vertex -0.25 -0.5 0 + endloop + endfacet + + facet normal 0 0 1 + outer loop + vertex -0.44999999 -0.5 0.80000001 + vertex -0.25 -1.7 0.80000001 + vertex -0.25 -0.5 0.80000001 + endloop + endfacet + + facet normal 0 0 1 + outer loop + vertex -0.44999999 -0.5 0.80000001 + vertex -0.44999999 -1.7 0.80000001 + vertex -0.25 -1.7 0.80000001 + endloop + endfacet + +endsolidAssimpScene diff --git a/tutorial09/my-ed-config.yaml b/tutorial09/my-ed-config.yaml index f9770d8..16923ba 100644 --- a/tutorial09/my-ed-config.yaml +++ b/tutorial09/my-ed-config.yaml @@ -1,14 +1,19 @@ -world_name: robot-lab +world: + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: -- name: gui_server - type: ed_gui_server/gui_server -- name: localization - type: ed_localization/localization - parameters: - robot_name: amigo - initial_pose_topic: /amigo/initialpose - particle_filter: + - name: gui_server + type: ed_gui_server/gui_server + - name: localization + type: ed_localization/localization + parameters: + robot_name: amigo + initial_pose_topic: /amigo/initialpose + resample_interval: 2 + update_min_d: 0.05 + update_min_a: 0.05 + particle_filter: min_particles: 100 max_particles: 750 kld_err: 0.02 @@ -18,11 +23,11 @@ plugins: cell_size_x: 0.5 cell_size_y: 0.5 cell_size_theta: 0.1745 - initial_pose: + initial_pose: x: 0.586 #$(env ROBOT_INIT_X) y: 4.259 #$(env ROBOT_INIT_Y) rz: 0 #$(env ROBOT_INIT_PHI) - laser_model: + laser_model: topic: /amigo/base_laser/scan num_beams: 100 z_hit: 0.95 @@ -34,7 +39,7 @@ plugins: range_max: 10 min_particle_distance: 0.01 min_particle_rotation_distance: 0.02 - odom_model: + odom_model: map_frame: map odom_frame: /amigo/odom base_link_frame: /amigo/base_link @@ -42,10 +47,9 @@ plugins: alpha2: 0.5 # trans -> rot alpha3: 0.5 # trans -> trans alpha4: 0.5 # rot -> rot - alpha5: 0.5 # trans -> strafeb: libed_gui_server_plugin.so - -- name: rgbd_integration - type: ed_sensor_integration/rgbd - enabled: 1 - parameters: + alpha5: 0.5 # trans -> strafe + - name: rgbd_integration + type: ed_sensor_integration/rgbd + enabled: 1 + parameters: topic: /amigo/top_kinect/rgbd diff --git a/tutorial09/my-model-dir/cabinet/model.config b/tutorial09/my-model-dir/cabinet/model.config new file mode 100644 index 0000000..578f281 --- /dev/null +++ b/tutorial09/my-model-dir/cabinet/model.config @@ -0,0 +1,11 @@ + + + cabinet + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + cabinet + diff --git a/tutorial09/my-model-dir/cabinet/model.sdf b/tutorial09/my-model-dir/cabinet/model.sdf new file mode 100644 index 0000000..221115b --- /dev/null +++ b/tutorial09/my-model-dir/cabinet/model.sdf @@ -0,0 +1,146 @@ + + + + true + + + + + 0.395 0.05 0.79 + + + + + + + 0.395 0.05 0.79 + + + + 0.1 0.1 0.1 1 + + + 0 -0.37 0.395 0 0 0 + + + + + + 0.395 0.05 0.79 + + + + + + + 0.395 0.05 0.79 + + + + 0.1 0.1 0.1 1 + + + 0 0.37 0.395 0 0 0 + + + + + + 0.395 0.69 0.05 + + + + + + + 0.395 0.69 0.05 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.765 0 0 0 + + + + + + 0.395 0.69 0.05 + + + + + + + 0.395 0.69 0.05 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.025 0 0 0 + + + + + + 0.395 0.69 0.02 + + + + + + + 0.395 0.69 0.02 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.395 0 0 0 + + + + + + 0.395 0.02 0.69 + + + + + + + 0.395 0.02 0.69 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.395 0 0 0 + + + + + + 0.7 0.79 0 + + + -0.35 0.0 0.0 0 0 0 + + + + + + + 0.34 0.74 0.355 + + + 0.0 0.0 1.0225 0 0 0 + + + + diff --git a/tutorial09/my-model-dir/cabinet/model.yaml b/tutorial09/my-model-dir/cabinet/model.yaml index 3779910..b1d770a 100644 --- a/tutorial09/my-model-dir/cabinet/model.yaml +++ b/tutorial09/my-model-dir/cabinet/model.yaml @@ -1,33 +1,33 @@ shape: - compound: - - box: - # Left side - pose: {x: 0, y: -0.37, z: 0.395} - size: {x: 0.395, y: 0.05, z: 0.79} - - box: - # Right side - pose: {x: 0, y: 0.37, z: 0.395} - size: {x: 0.395, y: 0.05, z: 0.79} - - box: - # Top - pose: {x: 0, y: 0, z: 0.765} - size: {x: 0.395, y: 0.69, z: 0.05} - - box: - # Bottom - pose: {x: 0, y: 0, z: 0.025} - size: {x: 0.395, y: 0.69, z: 0.05} - - box: - # Shelf - pose: {x: 0, y: 0, z: 0.395} - size: {x: 0.395, y: 0.69, z: 0.02} - - box: - # Shelf - pose: {x: 0, y: 0, z: 0.395} - size: {x: 0.395, y: 0.02, z: 0.69} + compound: + - box: + # Left side + pose: {x: 0, y: -0.37, z: 0.395} + size: {x: 0.395, y: 0.05, z: 0.79} + - box: + # Right side + pose: {x: 0, y: 0.37, z: 0.395} + size: {x: 0.395, y: 0.05, z: 0.79} + - box: + # Top + pose: {x: 0, y: 0, z: 0.765} + size: {x: 0.395, y: 0.69, z: 0.05} + - box: + # Bottom + pose: {x: 0, y: 0, z: 0.025} + size: {x: 0.395, y: 0.69, z: 0.05} + - box: + # Shelf + pose: {x: 0, y: 0, z: 0.395} + size: {x: 0.395, y: 0.69, z: 0.02} + - box: + # Shelf + pose: {x: 0, y: 0, z: 0.395} + size: {x: 0.395, y: 0.02, z: 0.69} color: - red: 0.1 - green: 0.1 - blue: 0.1 + red: 0.1 + green: 0.1 + blue: 0.1 areas: - name: near @@ -35,10 +35,10 @@ areas: - name: in_front_of shape: - box: - min: { x: -0.7, y: -0.395, z: 0 } - max: { x: 0, y: 0.395, z: 0 } + min: {x: -0.7, y: -0.395, z: 0} + max: {x: 0, y: 0.395, z: 0} - name: on_top_of shape: - box: - min: { x: -0.17, y: -0.37, z: 0.845 } - max: { x: 0.17, y: 0.37, z: 1.2 } + min: {x: -0.17, y: -0.37, z: 0.845} + max: {x: 0.17, y: 0.37, z: 1.2} diff --git a/tutorial09/my-model-dir/robot-lab/model.config b/tutorial09/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial09/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial09/my-model-dir/robot-lab/model.sdf b/tutorial09/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..bd6ec02 --- /dev/null +++ b/tutorial09/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,61 @@ + + + + + walls + model://robot-lab/walls + 0 0 0 0 0 0 + + + cabinet + model://cabinet + 3.3 4.35 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + 0.5 0.1 -0.9 + + 1000 + 0.9 + 0.01 + 0.001 + + + + 333.0 + 0.003 + + + 100 + + + 0.0001 + + + + + diff --git a/tutorial09/my-model-dir/robot-lab/model.yaml b/tutorial09/my-model-dir/robot-lab/model.yaml index 8b3ab0e..6eaa5bf 100644 --- a/tutorial09/my-model-dir/robot-lab/model.yaml +++ b/tutorial09/my-model-dir/robot-lab/model.yaml @@ -1,16 +1,16 @@ composition: - - type: "robot-lab/walls" - id: "walls" - pose: - x: 0 - y: 0 - z: 0 - - type: "cabinet" - id: "cabinet" - pose: - x: 3.30 - y: 4.35 - z: 0 - X: 0 - Y: 0 - Z: 0 + - type: "robot-lab/walls" + id: "walls" + pose: + x: 0 + y: 0 + z: 0 + - type: "cabinet" + id: "cabinet" + pose: + x: 3.30 + y: 4.35 + z: 0 + X: 0 + Y: 0 + Z: 0 diff --git a/tutorial09/my-model-dir/robot-lab/walls/model.config b/tutorial09/my-model-dir/robot-lab/walls/model.config new file mode 100644 index 0000000..254b6d7 --- /dev/null +++ b/tutorial09/my-model-dir/robot-lab/walls/model.config @@ -0,0 +1,11 @@ + + + robot-lab/walls + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab/walls + diff --git a/tutorial09/my-model-dir/robot-lab/walls/model.sdf b/tutorial09/my-model-dir/robot-lab/walls/model.sdf new file mode 100644 index 0000000..96b4bd8 --- /dev/null +++ b/tutorial09/my-model-dir/robot-lab/walls/model.sdf @@ -0,0 +1,26 @@ + + + + true + + + + + model://robot-lab/walls/shape/heightmap.stl + + + + + + + model://robot-lab/walls/shape/heightmap.stl + + + + 0.1 0.1 0.9 1 + + + 0 0 0 0 0 0 + + + diff --git a/tutorial09/my-model-dir/robot-lab/walls/model.yaml b/tutorial09/my-model-dir/robot-lab/walls/model.yaml index 66ea6c3..8c8a1d6 100644 --- a/tutorial09/my-model-dir/robot-lab/walls/model.yaml +++ b/tutorial09/my-model-dir/robot-lab/walls/model.yaml @@ -1,12 +1,12 @@ type: walls color: - red: 0.1 - green: 0.1 - blue: 0.9 + red: 0.1 + green: 0.1 + blue: 0.9 shape: - path: shape/heightmap.pgm - blockheight: 2.0 - resolution: 0.025000 - origin_x: -13.800000 - origin_y: -14.200000 - origin_z: 0.000000 + 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+endsolidAssimpScene diff --git a/tutorial11/my-ed-config.yaml b/tutorial11/my-ed-config.yaml index 09c492f..02617bd 100644 --- a/tutorial11/my-ed-config.yaml +++ b/tutorial11/my-ed-config.yaml @@ -1,14 +1,19 @@ -world_name: robot-lab +world: + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: -- name: gui_server - type: ed_gui_server/gui_server -- name: localization - type: ed_localization/localization - parameters: - robot_name: amigo - initial_pose_topic: /amigo/initialpose - particle_filter: + - name: gui_server + type: ed_gui_server/gui_server + - name: localization + type: ed_localization/localization + parameters: + robot_name: amigo + initial_pose_topic: /amigo/initialpose + resample_interval: 2 + update_min_d: 0.05 + update_min_a: 0.05 + particle_filter: min_particles: 100 max_particles: 750 kld_err: 0.02 @@ -18,11 +23,11 @@ plugins: cell_size_x: 0.5 cell_size_y: 0.5 cell_size_theta: 0.1745 - initial_pose: + initial_pose: x: 0.586 #$(env ROBOT_INIT_X) y: 4.259 #$(env ROBOT_INIT_Y) rz: 0 #$(env ROBOT_INIT_PHI) - laser_model: + laser_model: topic: /amigo/base_laser/scan num_beams: 100 z_hit: 0.95 @@ -34,7 +39,7 @@ plugins: range_max: 10 min_particle_distance: 0.01 min_particle_rotation_distance: 0.02 - odom_model: + odom_model: map_frame: map odom_frame: /amigo/odom base_link_frame: /amigo/base_link @@ -42,13 +47,13 @@ plugins: alpha2: 0.5 # trans -> rot alpha3: 0.5 # trans -> trans alpha4: 0.5 # rot -> rot - alpha5: 0.5 # trans -> strafeb: libed_gui_server_plugin.so + alpha5: 0.5 # trans -> strafe -- name: rgbd_integration - type: ed_sensor_integration/rgbd - enabled: 1 - parameters: + - name: rgbd_integration + type: ed_sensor_integration/rgbd + enabled: 1 + parameters: topic: /amigo/top_kinect/rgbd -- name: perception - type: ed_perception/image_recognition + - name: perception + type: ed_perception/image_recognition diff --git a/tutorial11/my-model-dir/cabinet/model.config b/tutorial11/my-model-dir/cabinet/model.config new file mode 100644 index 0000000..578f281 --- /dev/null +++ b/tutorial11/my-model-dir/cabinet/model.config @@ -0,0 +1,11 @@ + + + cabinet + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + cabinet + diff --git a/tutorial11/my-model-dir/cabinet/model.sdf b/tutorial11/my-model-dir/cabinet/model.sdf new file mode 100644 index 0000000..221115b --- /dev/null +++ b/tutorial11/my-model-dir/cabinet/model.sdf @@ -0,0 +1,146 @@ + + + + true + + + + + 0.395 0.05 0.79 + + + + + + + 0.395 0.05 0.79 + + + + 0.1 0.1 0.1 1 + + + 0 -0.37 0.395 0 0 0 + + + + + + 0.395 0.05 0.79 + + + + + + + 0.395 0.05 0.79 + + + + 0.1 0.1 0.1 1 + + + 0 0.37 0.395 0 0 0 + + + + + + 0.395 0.69 0.05 + + + + + + + 0.395 0.69 0.05 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.765 0 0 0 + + + + + + 0.395 0.69 0.05 + + + + + + + 0.395 0.69 0.05 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.025 0 0 0 + + + + + + 0.395 0.69 0.02 + + + + + + + 0.395 0.69 0.02 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.395 0 0 0 + + + + + + 0.395 0.02 0.69 + + + + + + + 0.395 0.02 0.69 + + + + 0.1 0.1 0.1 1 + + + 0 0 0.395 0 0 0 + + + + + + 0.7 0.79 0 + + + -0.35 0.0 0.0 0 0 0 + + + + + + + 0.34 0.74 0.355 + + + 0.0 0.0 1.0225 0 0 0 + + + + diff --git a/tutorial11/my-model-dir/cabinet/model.yaml b/tutorial11/my-model-dir/cabinet/model.yaml index 3779910..b1d770a 100644 --- a/tutorial11/my-model-dir/cabinet/model.yaml +++ b/tutorial11/my-model-dir/cabinet/model.yaml @@ -1,33 +1,33 @@ shape: - compound: - - box: - # Left side - pose: {x: 0, y: -0.37, z: 0.395} - size: {x: 0.395, y: 0.05, z: 0.79} - - box: - # Right side - pose: {x: 0, y: 0.37, z: 0.395} - size: {x: 0.395, y: 0.05, z: 0.79} - - box: - # Top - pose: {x: 0, y: 0, z: 0.765} - size: {x: 0.395, y: 0.69, z: 0.05} - - box: - # Bottom - pose: {x: 0, y: 0, z: 0.025} - size: {x: 0.395, y: 0.69, z: 0.05} - - box: - # Shelf - pose: {x: 0, y: 0, z: 0.395} - size: {x: 0.395, y: 0.69, z: 0.02} - - box: - # Shelf - pose: {x: 0, y: 0, z: 0.395} - size: {x: 0.395, y: 0.02, z: 0.69} + compound: + - box: + # Left side + pose: {x: 0, y: -0.37, z: 0.395} + size: {x: 0.395, y: 0.05, z: 0.79} + - box: + # Right side + pose: {x: 0, y: 0.37, z: 0.395} + size: {x: 0.395, y: 0.05, z: 0.79} + - box: + # Top + pose: {x: 0, y: 0, z: 0.765} + size: {x: 0.395, y: 0.69, z: 0.05} + - box: + # Bottom + pose: {x: 0, y: 0, z: 0.025} + size: {x: 0.395, y: 0.69, z: 0.05} + - box: + # Shelf + pose: {x: 0, y: 0, z: 0.395} + size: {x: 0.395, y: 0.69, z: 0.02} + - box: + # Shelf + pose: {x: 0, y: 0, z: 0.395} + size: {x: 0.395, y: 0.02, z: 0.69} color: - red: 0.1 - green: 0.1 - blue: 0.1 + red: 0.1 + green: 0.1 + blue: 0.1 areas: - name: near @@ -35,10 +35,10 @@ areas: - name: in_front_of shape: - box: - min: { x: -0.7, y: -0.395, z: 0 } - max: { x: 0, y: 0.395, z: 0 } + min: {x: -0.7, y: -0.395, z: 0} + max: {x: 0, y: 0.395, z: 0} - name: on_top_of shape: - box: - min: { x: -0.17, y: -0.37, z: 0.845 } - max: { x: 0.17, y: 0.37, z: 1.2 } + min: {x: -0.17, y: -0.37, z: 0.845} + max: {x: 0.17, y: 0.37, z: 1.2} diff --git a/tutorial11/my-model-dir/robot-lab/model.config b/tutorial11/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial11/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial11/my-model-dir/robot-lab/model.sdf b/tutorial11/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..bd6ec02 --- /dev/null +++ b/tutorial11/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,61 @@ + + + + + walls + model://robot-lab/walls + 0 0 0 0 0 0 + + + cabinet + model://cabinet + 3.3 4.35 0 0 0 0 + + + + + + + 200 200 0.02 + + + + + + + 200 200 0.02 + + + + 0 0 -0.01 0 0 0 + + true + 0 0 0 0 0 0 + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + 0.5 0.1 -0.9 + + 1000 + 0.9 + 0.01 + 0.001 + + + + 333.0 + 0.003 + + + 100 + + + 0.0001 + + + + + diff --git a/tutorial11/my-model-dir/robot-lab/model.yaml b/tutorial11/my-model-dir/robot-lab/model.yaml index 8b3ab0e..6eaa5bf 100644 --- a/tutorial11/my-model-dir/robot-lab/model.yaml +++ b/tutorial11/my-model-dir/robot-lab/model.yaml @@ -1,16 +1,16 @@ composition: - - type: "robot-lab/walls" - id: "walls" - pose: - x: 0 - y: 0 - z: 0 - - type: "cabinet" - id: "cabinet" - pose: - x: 3.30 - y: 4.35 - z: 0 - X: 0 - Y: 0 - Z: 0 + - type: "robot-lab/walls" + id: "walls" + pose: + x: 0 + y: 0 + z: 0 + - type: "cabinet" + id: "cabinet" + pose: + x: 3.30 + y: 4.35 + z: 0 + X: 0 + Y: 0 + Z: 0 diff --git a/tutorial11/my-model-dir/robot-lab/walls/model.config b/tutorial11/my-model-dir/robot-lab/walls/model.config new file mode 100644 index 0000000..254b6d7 --- /dev/null +++ b/tutorial11/my-model-dir/robot-lab/walls/model.config @@ -0,0 +1,11 @@ + + + robot-lab/walls + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab/walls + diff --git a/tutorial11/my-model-dir/robot-lab/walls/model.sdf b/tutorial11/my-model-dir/robot-lab/walls/model.sdf new file mode 100644 index 0000000..96b4bd8 --- /dev/null +++ b/tutorial11/my-model-dir/robot-lab/walls/model.sdf @@ -0,0 +1,26 @@ + + + + true + + + + + model://robot-lab/walls/shape/heightmap.stl + + + + + + + model://robot-lab/walls/shape/heightmap.stl + + + + 0.1 0.1 0.9 1 + + + 0 0 0 0 0 0 + + + diff --git a/tutorial11/my-model-dir/robot-lab/walls/model.yaml b/tutorial11/my-model-dir/robot-lab/walls/model.yaml index 66ea6c3..8c8a1d6 100644 --- a/tutorial11/my-model-dir/robot-lab/walls/model.yaml +++ b/tutorial11/my-model-dir/robot-lab/walls/model.yaml @@ -1,12 +1,12 @@ type: walls color: - red: 0.1 - green: 0.1 - blue: 0.9 + red: 0.1 + green: 0.1 + blue: 0.9 shape: - path: shape/heightmap.pgm - blockheight: 2.0 - resolution: 0.025000 - origin_x: -13.800000 - origin_y: -14.200000 - origin_z: 0.000000 + path: shape/heightmap.pgm + blockheight: 2.0 + resolution: 0.025000 + origin_x: -13.800000 + origin_y: -14.200000 + origin_z: 0.000000 diff --git a/tutorial11/my-model-dir/robot-lab/walls/shape/heightmap.stl 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+1,10 @@ world: -- type: robot-lab - pose: { x: 0, y: 0, z: 0 } + - type: robot-lab + pose: {x: 0, y: 0, z: 0} plugins: - name: gui_server type: ed_gui_server/gui_server - - name: tf_publisher type: ed/tf_publisher parameters: diff --git a/tutorial12/my-model-dir/robot-lab/model.config b/tutorial12/my-model-dir/robot-lab/model.config new file mode 100644 index 0000000..59560e0 --- /dev/null +++ b/tutorial12/my-model-dir/robot-lab/model.config @@ -0,0 +1,11 @@ + + + robot-lab + 1.0 + model.sdf + + AMIGO + todo@todo.nl + + robot-lab + diff --git a/tutorial12/my-model-dir/robot-lab/model.sdf b/tutorial12/my-model-dir/robot-lab/model.sdf new file mode 100644 index 0000000..4bdbf63 --- /dev/null +++ b/tutorial12/my-model-dir/robot-lab/model.sdf @@ -0,0 +1,82 @@ + + + + + table1 + model://table + 2 0 0 0 0 0 + + + table2 + model://table + 3 2 0 0 0 1.54 + + + true + + + + + model://robot-lab/my-walls.stl + + + + + + + model://robot-lab/my-walls.stl + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + + + 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+ + -0.55 -0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 -0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + -0.55 0.35 0.37 0 0 0 + + + + + + 0.05 0.05 0.74 + + + + + + + 0.05 0.05 0.74 + + + + 0.55 0.35 0.37 0 0 0 + + + diff --git a/tutorial12/my-model-dir/table/model.yaml b/tutorial12/my-model-dir/table/model.yaml index 4427536..f74f45b 100644 --- a/tutorial12/my-model-dir/table/model.yaml +++ b/tutorial12/my-model-dir/table/model.yaml @@ -1,17 +1,17 @@ shape: group: - box: - pose: {x: 0, y: 0, z: 0.75} - size: {x: 1.20, y: 0.80, z: 0.02} + pose: {x: 0, y: 0, z: 0.75} + size: {x: 1.20, y: 0.80, z: 0.02} - box: pose: {x: -0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: 0.55, y: -0.35, z: 0.37} - size: {x: 0.05, y: 0.05, z: 0.74} + pose: {x: 0.55, y: -0.35, z: 0.37} + size: {x: 0.05, y: 0.05, z: 0.74} - box: - pose: {x: -0.55, y: 0.35, z: 0.37} - 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