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navigation_turtlebot_onboard.launch
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<!--
MIT License (modified)
Copyright (c) 2020 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- ARGUMENTS FOR MAIN NODE (point_navigation.py) -->
<!-- Define publisher topics -->
<arg name="pub_twist_topic" default="/kobuki/mobile_base/commands/velocity"/> <!-- Topic for twist commands - CHECK YOUR PLATFORM -->
<arg name="pub_behaviorID_topic" default="/minitaur/command/behaviorId"/> <!-- Topic for behavior ID commands - CHECK YOUR PLATFORM -->
<arg name="pub_behaviorMode_topic" default="/minitaur/command/behaviorMode"/> <!-- Topic for behavior mode commands - CHECK YOUR PLATFORM -->
<!-- Define subscriber topics -->
<arg name="sub_robot_topic" default="/zed/zed_node/odom"/> <!-- Robot odometry - CHECK YOUR STATE ESTIMATOR -->
<arg name="sub_laser_topic" default="/sensor_integration/lidar_scan"/> <!-- LaserScan topic - CHECK YOUR SENSOR TOPIC OR DEPTHMAP TO LIDAR CONVERTER -->
<arg name="sub_semantic_topic" default="/pose_tracking/semantic_map"/> <!-- Semantic map topic - CHECK YOUR POSE TRACKING PIPELINE -->
<!-- Define frame IDs -->
<arg name="world_frame_id" default="map"/> <!-- World frame ID in tf - CHECK YOUR STATE ESTIMATOR -->
<arg name="odom_frame_id" default="odom"/> <!-- Odom frame ID in tf - CHECK YOUR STATE ESTIMATOR -->
<arg name="laser_frame_id" default="laser"/> <!-- LIDAR frame ID in tf - CHECK YOUR SENSOR TOPIC OR DEPTHMAP TO LIDAR CONVERTER -->
<!-- Launch tracking file to start odometry, LIDAR and object tracking and disable teleop mode for Kobuki -->
<!-- <include file = "$(find semnav)/launch/tracking_turtlebot_semslam.launch">
<arg name="teleop" value="true"/>
</include> -->
<!-- Launch main node and assign appropriate parameters -->
<node name="navigation_node" pkg="semnav" type="navigation" ns="reactive_planner" output="screen" launch-prefix="">
<!-- ARGUMENT PARAMETERS -->
<param name="pub_twist_topic" value="$(arg pub_twist_topic)"/>
<param name="pub_behaviorID_topic" value="$(arg pub_behaviorID_topic)"/>
<param name="pub_behaviorMode_topic" value="$(arg pub_behaviorMode_topic)"/>
<param name="sub_laser_topic" value="$(arg sub_laser_topic)"/>
<param name="sub_robot_topic" value="$(arg sub_robot_topic)"/>
<param name="sub_semantic_topic" value="$(arg sub_semantic_topic)"/>
<param name="world_frame_id" value="$(arg world_frame_id)"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="laser_frame_id" value="$(arg laser_frame_id)"/>
<!-- NUMERICAL PARAMETERS -->
<!-- Platform-specific parameters -->
<param name="RobotRadius" value="0.1"/> <!-- Radius of the robot, i.e, distance from the camera to the center of the LIDAR (m) -->
<param name="ObstacleDilation" value="0.2"/> <!-- Desired obstacle dilation - for safety, it needs to be greater than or equal to the robot radius (m) -->
<param name="WalkHeight" value="0.5"/> <!-- Nominal walking height to be used during walk (m) -->
<!-- LIDAR parameters -->
<param name="AllowableRange" value="4."/> <!-- Maximum allowable LIDAR range (m) -->
<param name="CutoffRange" value="0.15"/> <!-- Cutoff LIDAR range below which range is flipped to Inf (m) -->
<!-- Diffeomorphism parameters -->
<param name="RFunctionExponent" value="20"/> <!-- R-function exponent -->
<param name="Epsilon" value="0.4"/> <!-- Parameter tuning the distance away from the obstacle the R-function affects -->
<param name="VarEpsilon" value="0.4"/> <!-- Parameter tuning the size of polygonal collars -->
<param name="Mu1" value="0.8"/> <!-- Exponent for beta switches -->
<param name="Mu2" value="0.05"/> <!-- Exponent for gamma switches -->
<param name="SemanticMapUpdateRate" value="8.0"/> <!-- Desired update rate for the semantic map in the navigation node (Hz) -->
<!-- Parameters for linear and angular commands -->
<param name="ForwardLinCmdLimit" value="0.1"/> <!-- Forward linear command limit -->
<param name="BackwardLinCmdLimit" value="0."/> <!-- Backward linear command limit -->
<param name="AngCmdLimit" value="0.7"/> <!-- Angular command limit for Move and MoveTo -->
<!-- Linear and angular gains -->
<param name="LinearGain" value="0.2"/> <!-- Linear gain-->
<param name="AngularGain" value="0.4"/> <!-- Angular gain-->
<!-- Goal and tolerance for successful placement -->
<param name="Goal_x" value="7.231"/> <!-- Goal Position in x -->
<param name="Goal_y" value="2.803"/> <!-- Goal Position in y-->
<param name="Tolerance" value="0.1"/> <!-- Tolerance for successful placement -->
<!-- Lowpass filtering parameters -->
<param name="LowpassCutoff" value="4."/> <!-- Cutoff frequency for lowpass filter (Hz) -->
<param name="LowpassSampling" value="25."/> <!-- Sampling frequency (Hz) -->
<param name="LowpassOrder" value="6"/> <!-- Order of the lowpass filter -->
<param name="LowpassSamples" value="10"/> <!-- Number of samples to use for filtering (moving window) -->
<!-- Debug parameter -->
<param name="DebugFlag" value="false"/> <!-- True if you want access to debug functionality -->
</node>
<!-- Record -->
<node name="rosbag_record" pkg="rosbag" type="record" args="/pose_tracking/semantic_map /pose_tracking/semslam/robot_odom /pose_tracking/semslam/landmarks_poses /pose_tracking/klt/marked_image/compressed /pose_tracking/object_tracker/tracking_visualization/compressed /pose_tracking/trajectory /pose_tracking/pose /pose_tracking/keypoint_objects/object_markers /pose_tracking/map_points /pose_tracking/keypoint_objects/object_keypoint_markers /vicon/turtlebot/odom /zed/zed_node/odom /kobuki/mobile_base/commands/velocity /tf /tf_static" output="screen"/>
</launch>