From b9e77bd974e52a8697beab78fddadb48d1d9f783 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sun, 13 Oct 2019 17:24:15 +0900 Subject: [PATCH 1/4] Add new world file shaped "C" --- rois_description/world/c_corridor.sdf | 626 ++++++++++++++++++++++++++ 1 file changed, 626 insertions(+) create mode 100644 rois_description/world/c_corridor.sdf diff --git a/rois_description/world/c_corridor.sdf b/rois_description/world/c_corridor.sdf new file mode 100644 index 00000000..590d22b0 --- /dev/null +++ b/rois_description/world/c_corridor.sdf @@ -0,0 +1,626 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + -1.72921 0.088103 0 0 -0 0 + + + + + 20.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 20.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0 -7.5 0 0 -0 3.14159 + 0 + 0 + 0 + + + + + + 20.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 20.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 10 2.5 0 0 -0 1.5708 + 0 + 0 + 0 + + + + + + 25.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 25.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 15 0 0 0 -0 -1.5708 + 0 + 0 + 0 + + + + + + 30.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 30.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0 -12.5 0 0 -0 3.14159 + 0 + 0 + 0 + + + + + + 0.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 0.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -10 -7.5 0 0 -0 0 + 0 + 0 + 0 + + + + + + 25.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 25.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -15 0 0 0 -0 -1.5708 + 0 + 0 + 0 + + + + + + 5.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 5.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -12.5 12.5 0 0 -0 0 + 0 + 0 + 0 + + + + + + 5.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 5.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 12.5 12.5 0 0 -0 0 + 0 + 0 + 0 + + + + + + 20.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 20.15 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -10 2.5 0 0 -0 1.5708 + 0 + 0 + 0 + + + + + + 0.8 0.17 0.8 + + + 0 0 0.4 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 0.4 0 -0 0 + + + 0.8 0.17 0.8 + + + + + + + -91.4044 19.4855 0.5 0 -0 0 + 0 + 0 + 0 + + 1 + + + 120 212000000 + 129 79244758 + 1570955006 790399043 + 120212 + + 12.1026 9.54724 0 0 -0 0 + 1 1 1 + + 12.1026 2.04724 0 0 -0 3.14159 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 22.1026 12.0472 0 0 -0 1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 27.1026 9.54724 0 0 0 -1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 12.1026 -2.95276 0 0 -0 3.14159 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 2.10259 2.04724 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -2.89741 9.54724 0 0 0 -1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -0.39741 22.0472 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 24.6026 22.0472 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 2.10259 12.0472 0 0 -0 1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -79.3018 29.0327 0.5 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + -1.55513 -2.79644 15.3997 0 1.5698 0.104193 + orbit + perspective + + + + -- GitLab From 0598870ae30288954bd18f9cd6dee6b275980753 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sun, 13 Oct 2019 17:27:06 +0900 Subject: [PATCH 2/4] Change default world file (lab_corridor => c_corridor) --- rois_bringup/README.md | 2 +- rois_bringup/launch/navigation.launch | 2 +- rois_gazebo/launch/setup_gazebo.launch | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rois_bringup/README.md b/rois_bringup/README.md index 7e27959c..3cb1a6a3 100644 --- a/rois_bringup/README.md +++ b/rois_bringup/README.md @@ -12,4 +12,4 @@ rois_bringup ### launch * `navigation.launch`:Gazebo, move_base 等を立ち上げナビゲーションを開始 - - `world_name`: world, map の名前 (default: lab_corridor) + - `world_name`: world, map の名前 (default: c_corridor) diff --git a/rois_bringup/launch/navigation.launch b/rois_bringup/launch/navigation.launch index 81c97bfe..75644b21 100644 --- a/rois_bringup/launch/navigation.launch +++ b/rois_bringup/launch/navigation.launch @@ -1,7 +1,7 @@ + default="c_corridor" /> + default="$(find rois_description)/world/c_corridor.sdf" /> Date: Sun, 13 Oct 2019 17:59:58 +0900 Subject: [PATCH 3/4] Fix document about map generation --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 39aaaf6c..2523bb37 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,9 @@ gazebo_RoIS_tanacchi // 当該パッケージ 4. rosbag をキルする 5. Gazebo, teleop_twist_keyboard をキルする 6. bag ファイルをもとに 2D マップを生成する - $ `roslaunch rois_2dnav_gazebo generate_2dmap.launch` + $ `roslaunch rois_2dnav_gazebo generate_2dmap.launch bagfile:=` +7. (rosbag play が終了したら別ターミナルで) 2D マップをファイルに保存 + $ `rosrun map_server map_saver -f ` ### ナビゲーションの起動 -- GitLab From b490b90ba4c4231756aa8a46d385c65221afe8dd Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sun, 13 Oct 2019 18:00:27 +0900 Subject: [PATCH 4/4] Add map files of c_corridor --- rois_2dnav_gazebo/map/c_corridor/c_corridor.pgm | 5 +++++ rois_2dnav_gazebo/map/c_corridor/c_corridor.yaml | 7 +++++++ 2 files changed, 12 insertions(+) create mode 100644 rois_2dnav_gazebo/map/c_corridor/c_corridor.pgm create mode 100644 rois_2dnav_gazebo/map/c_corridor/c_corridor.yaml diff --git a/rois_2dnav_gazebo/map/c_corridor/c_corridor.pgm b/rois_2dnav_gazebo/map/c_corridor/c_corridor.pgm new file mode 100644 index 00000000..10cae07b --- /dev/null +++ b/rois_2dnav_gazebo/map/c_corridor/c_corridor.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +4000 4000 +255 + \ No newline at end of file diff --git a/rois_2dnav_gazebo/map/c_corridor/c_corridor.yaml b/rois_2dnav_gazebo/map/c_corridor/c_corridor.yaml new file mode 100644 index 00000000..d0f04b50 --- /dev/null +++ b/rois_2dnav_gazebo/map/c_corridor/c_corridor.yaml @@ -0,0 +1,7 @@ +image: c_corridor.pgm +resolution: 0.050000 +origin: [-100.000000, -100.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + -- GitLab