From 7d5b75cc955eb0bc1030b739a28bb13ee7fec5a1 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sun, 13 Oct 2019 23:21:14 +0900 Subject: [PATCH 1/4] Add package of navigation_signal_sender --- navigaion_signal_sender/CMakeLists.txt | 206 +++++++++++++++++++++++++ navigaion_signal_sender/package.xml | 68 ++++++++ 2 files changed, 274 insertions(+) create mode 100644 navigaion_signal_sender/CMakeLists.txt create mode 100644 navigaion_signal_sender/package.xml diff --git a/navigaion_signal_sender/CMakeLists.txt b/navigaion_signal_sender/CMakeLists.txt new file mode 100644 index 00000000..5a27dc4c --- /dev/null +++ b/navigaion_signal_sender/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(navigaion_signal_sender) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + actionlib + move_base_msgs + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# move_base_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES navigaion_signal_sender +# CATKIN_DEPENDS actionlib move_base_msgs rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/navigaion_signal_sender.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/navigaion_signal_sender_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_navigaion_signal_sender.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/navigaion_signal_sender/package.xml b/navigaion_signal_sender/package.xml new file mode 100644 index 00000000..b67968e2 --- /dev/null +++ b/navigaion_signal_sender/package.xml @@ -0,0 +1,68 @@ + + + navigaion_signal_sender + 0.0.0 + The navigaion_signal_sender package + + + + + tanacchi + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + move_base_msgs + rospy + actionlib + move_base_msgs + rospy + actionlib + move_base_msgs + rospy + + + + + + + + -- GitLab From dd473e7d94a12c5a2e26792f42647a4db2d19927 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 14 Oct 2019 01:55:45 +0900 Subject: [PATCH 2/4] Fix navigation params for signal test --- .../config/planner/base_local_planner_params.yaml | 4 ++-- rois_2dnav_gazebo/config/planner/recovery_behaviors.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml index 6ec9a2c5..669410df 100644 --- a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml +++ b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml @@ -12,8 +12,8 @@ TrajectoryPlannerROS: holonomic_robot: false - yaw_goal_tolerance: 0.1 - xy_goal_tolerance: 0.1 + yaw_goal_tolerance: 1.0 + xy_goal_tolerance: 2.0 sim_time: 2.0 controller_frequency: 5.0 diff --git a/rois_2dnav_gazebo/config/planner/recovery_behaviors.yaml b/rois_2dnav_gazebo/config/planner/recovery_behaviors.yaml index 65d063bc..8fa96666 100644 --- a/rois_2dnav_gazebo/config/planner/recovery_behaviors.yaml +++ b/rois_2dnav_gazebo/config/planner/recovery_behaviors.yaml @@ -1,4 +1,4 @@ -recovery_behavior_enabled: true +recovery_behavior_enabled: false recovery_behaviors: - name: 'conservative_reset' type: 'clear_costmap_recovery/ClearCostmapRecovery' -- GitLab From 980e754396aa6dd850e1c637171054241825e139 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 14 Oct 2019 01:58:31 +0900 Subject: [PATCH 3/4] Add script to catch whether navigation succeeded or not --- .../scripts/goal_signal.py | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100755 navigaion_signal_sender/scripts/goal_signal.py diff --git a/navigaion_signal_sender/scripts/goal_signal.py b/navigaion_signal_sender/scripts/goal_signal.py new file mode 100755 index 00000000..9f61677d --- /dev/null +++ b/navigaion_signal_sender/scripts/goal_signal.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python + +import rospy +import actionlib +from actionlib_msgs.msg import GoalStatus + +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal +from geometry_msgs.msg import PoseStamped + +def pose_to_goal(pose): + goal = MoveBaseGoal() + goal.target_pose.header.frame_id = 'map' + goal.target_pose.pose.position.x = pose[0][0] + goal.target_pose.pose.position.y = pose[0][1] + goal.target_pose.pose.position.z = pose[0][2] + goal.target_pose.pose.orientation.x = pose[1][0] + goal.target_pose.pose.orientation.y = pose[1][1] + goal.target_pose.pose.orientation.z = pose[1][2] + goal.target_pose.pose.orientation.w = pose[1][3] + + return goal + + +def main(): + rospy.init_node('goal_signal_sender') + + action_client = actionlib.SimpleActionClient('move_base', MoveBaseAction) + action_client.wait_for_server() + + pose = [(-14.1430511475,-1.39947879314,0.0),(0.0,0.0,0.712479235583,0.701693194255)] + goal = pose_to_goal(pose) + state = action_client.send_goal_and_wait(goal) + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("state: SUCCEEDED!!") + elif state == GoalStatus.ABORTED: + rospy.loginfo("state: ABORTED...") + else: + rospy.loginfo("state: {}".format(state)) + + +if __name__ == '__main__': + main() -- GitLab From 56a9417d1bf15af39c344b271c19bbdcff79c60c Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 14 Oct 2019 02:10:01 +0900 Subject: [PATCH 4/4] Rename goal_signal => nagigation_signal_sender.py --- .../scripts/{goal_signal.py => nagigation_signal_sender.py} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename navigaion_signal_sender/scripts/{goal_signal.py => nagigation_signal_sender.py} (96%) diff --git a/navigaion_signal_sender/scripts/goal_signal.py b/navigaion_signal_sender/scripts/nagigation_signal_sender.py similarity index 96% rename from navigaion_signal_sender/scripts/goal_signal.py rename to navigaion_signal_sender/scripts/nagigation_signal_sender.py index 9f61677d..31ef7a62 100755 --- a/navigaion_signal_sender/scripts/goal_signal.py +++ b/navigaion_signal_sender/scripts/nagigation_signal_sender.py @@ -22,7 +22,7 @@ def pose_to_goal(pose): def main(): - rospy.init_node('goal_signal_sender') + rospy.init_node('navigation_signal_sender') action_client = actionlib.SimpleActionClient('move_base', MoveBaseAction) action_client.wait_for_server() -- GitLab