Use AMCL for navigation, minor update to some xacro files

TheNoobInventor · Oct 16, 2023 · bd81ee4 · bd81ee4
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diff --git a/README.md b/README.md
@@ -666,36 +666,49 @@ Drive around the environment to generate a map:
 
 Then save the generated map.
 
-TODO: Need to change slam_toolbox ROS parameter mode to `mapping` in `mapper_params_online_async.yaml` in `lidarbot_slam/config`. Show a snippet of the code and what needs to be changed for mapping. Same thing applies for localization
 
-Prop robot and show different odometry movements in rviz. Then show the robot response when on the 'ground'
 ## Navigation
 
 ### Gazebo
 
-TODO:
-``` 
-    # ROS Parameters
-    odom_frame: odom
-    map_frame: map
-    base_frame: base_footprint
-    scan_topic: /scan
-    use_map_saver: true
-    mode: localization #mapping
+Nav2's amcl package is used for localization with the map generated from slam_toolbox
 
-    # if you'd like to immediately start continuing a map at a given pose
-    # or at the dock, but they are mutually exclusive, if pose is given
-    # will use pose
-    map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/sim_map
-    #map_start_pose: [0.0, 0.0, 0.0]
-    map_start_at_dock: true 
+```
+ros2 launch lidarbot_gazebo gazebo_launch.py
 ```
 
-TODO: Note about the option of using AMCL for localization using nav2's localization launch file. Currently using slam_toolbox for localization
+Note map location and name
 
+```
+ros2 launch nav2_bringup localization_launch.py map:=./sim_map.yaml use_sim_time:=true
+```
+
+```
+ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true
+```
+
+```
+rviz2 -d src/lidarbot_navigation/rviz/lidarbot_nav.rviz
+```
 ### Lidarbot
 
-Change `map_file_name` key to use real map
+TODO: Prop robot and show different odometry movements in rviz. Then show the robot response when on the 'ground'
+
+```
+ros2 launch lidarbot_bringup lidarbot_bringup_launch.py
+```
+
+```
+ros2 launch nav2_bringup localization_launch.py map:=./real_map.yaml use_sim_time:=false
+```
+
+```
+ros2 launch nav2_bringup navigation_launch.py use_sim_time:=false map_subscribe_transient_local:=true
+```
+
+```
+rviz2 -d src/lidarbot_navigation/rviz/lidarbot_nav.rviz
+```
 
 ## Acknowledgment
 

diff --git a/lidarbot_description/urdf/gazebo_control.xacro b/lidarbot_description/urdf/gazebo_control.xacro
@@ -18,7 +18,7 @@
             <odometry_frame>odom</odometry_frame>
             <robot_base_frame>base_footprint</robot_base_frame>
             <publish_odom>true</publish_odom>
-            <publish_odom_tf>false</publish_odom_tf>     
+            <publish_odom_tf>true</publish_odom_tf>     
             <publish_wheel_tf>true</publish_wheel_tf>
 
         </plugin>

diff --git a/lidarbot_description/urdf/imu.xacro b/lidarbot_description/urdf/imu.xacro
@@ -19,6 +19,7 @@
  <gazebo reference="imu_link">
    <sensor name="mpu6050_imu" type="imu">
     <plugin name="imu_controller" filename="libgazebo_ros_imu_sensor.so">
+      <frame_name>imu_link</frame_name>
        <ros>
          <remapping>~/out:=imu_broadcaster/imu</remapping>
        </ros>

diff --git a/lidarbot_description/urdf/lidarbot_core.xacro b/lidarbot_description/urdf/lidarbot_core.xacro
@@ -13,7 +13,7 @@
   <xacro:property name="wheel_height" value="0.025"/>
   <xacro:property name="wheel_mass" value="0.031"/>
 
-  <!-- Distance between centre of wheel and robot base/base -->
+  <!-- Distance between centre of wheel and robot base -->
   <xacro:property name="wheel_zoff" value="0.0125"/>
 
   <link name="base_footprint"/> 	

diff --git a/lidarbot_gazebo/launch/gazebo_launch.py b/lidarbot_gazebo/launch/gazebo_launch.py
@@ -82,13 +82,6 @@ def generate_launch_description():
         executable='spawner',
         arguments=['diff_controller'])
 
-   # Spawn imu_sensor_broadcaser
-    start_imu_broadcaster_cmd = Node(
-        condition=IfCondition(use_ros2_control),
-        package='controller_manager',
-        executable='spawner',
-        arguments=['imu_broadcaster'])
-
     # Spawn joint_state_broadcaser
     start_joint_broadcaster_cmd = Node(
         condition=IfCondition(use_ros2_control),
@@ -129,7 +122,6 @@ def generate_launch_description():
     ld.add_action(start_spawner_cmd)
     ld.add_action(start_diff_controller_cmd)
     ld.add_action(start_joint_broadcaster_cmd)
-    ld.add_action(start_imu_broadcaster_cmd)
     ld.add_action(start_robot_localization_cmd)
     ld.add_action(start_joystick_cmd)
     ld.add_action(start_twist_mux_cmd)

diff --git a/lidarbot_navigation/rviz/lidarbot_nav.rviz b/lidarbot_navigation/rviz/lidarbot_nav.rviz
@@ -5,9 +5,10 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Odometry2/Shape1
-        - /Map2
+        - /Map2/Status1
+        - /Map2/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 495
+    Tree Height: 381
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -182,7 +183,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
+      Max Intensity: 0
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: LaserScan
@@ -215,7 +216,6 @@ Visualization Manager:
         Value: /camera/image_raw
       Value: false
       Visibility:
-        "": true
         Grid: true
         LaserScan: true
         Map: true
@@ -331,7 +331,7 @@ Visualization Manager:
       Name: Map
       Topic:
         Depth: 5
-        Durability Policy: Volatile
+        Durability Policy: Transient Local
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
@@ -390,7 +390,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0.005000018514692783
+      Angle: -1.5649993419647217
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -400,23 +400,23 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 151.76046752929688
+      Scale: 96.04316711425781
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 1.487661600112915
-      Y: -0.19905652105808258
+      X: 0.33311280608177185
+      Y: -2.180479049682617
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1043
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000027a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e0020003201000002bd000001390000013900ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002170000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000208000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e00200032010000024b000001900000012600ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   SlamToolboxPlugin:
@@ -426,5 +426,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1920
-  X: 1920
-  Y: 0
+  X: 0
+  Y: 27
diff --git a/lidarbot_slam/config/mapper_params_online_async.yaml b/lidarbot_slam/config/mapper_params_online_async.yaml
@@ -15,16 +15,16 @@ slam_toolbox:
     base_frame: base_footprint
     scan_topic: /scan
     use_map_saver: true
-    mode: localization #mapping 
+    mode: mapping #localization 
 
     # if you'd like to immediately start continuing a map at a given pose
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/library_serial
+    # map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/library_serial
     #map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/real_map
     #map_file_name: /home/noobinventor/lidarbot_ws/src/lidarbot_navigation/maps/sim_map
     # map_start_pose: [0.0, 0.0, 0.0]
-    map_start_at_dock: true
+    #map_start_at_dock: true
 
     debug_logging: false
     throttle_scans: 1