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Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id)

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Mathieu Labbe
2015-02-06 13:56:20 -05:00
parent 19f667b3f4
commit cd4975849a
12 changed files with 181 additions and 134 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+37 -65
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@@ -7,73 +7,9 @@
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
<remap from="joy" to="/joy"/>
<node name="teleop" pkg="nodelet" type="nodelet"
args="standalone azimut_tools/Teleop"/>
<param name="cmd_eta/abtr_priority" value="50"/>
</group>
<group ns="go_back">
<remap from="joy" to="/joy"/>
<remap from="goal" to="/planner_goal"/>
<node name="go_back" pkg="azimut_tools" type="go_back"/>
<rosparam>
btn_save: 1
btn_goto: 3
</rosparam>
</group>
<group ns="planner">
<remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<include file="$(find az3_navigation)/launch/az3_move_base_slam.launch"/>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
</node>
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap_ros/point_cloud_xyzrgb camera_nodelet_manager">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="cloud" to="/planner_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="4"/>
</node>
</group>
<!-- SLAM (robot side) -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
@@ -94,7 +30,6 @@
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
@@ -136,4 +71,41 @@
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
<remap from="joy" to="/joy"/>
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
<param name="cmd_eta/abtr_priority" value="50"/>
</group>
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser_only.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
</node>
<!-- Arbitration between teleop and planner -->
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
</launch>