From f8af25e44dad15cdf487649f1a185c0553c92b05 Mon Sep 17 00:00:00 2001 From: Sebastian Buck Date: Sat, 16 Nov 2019 13:34:04 +0100 Subject: [PATCH] Add DARPA Virtual Subterranean Challenge example --- gerona_examples/cartographer/subt_x.lua | 58 +++ .../include/gerona_gazebo_params_x1.launch | 75 ++++ .../launch/subt_tunnel_cartographer.launch | 42 ++ .../launch/subt_tunnel_odom.launch | 33 ++ .../rviz/subt_tunnel_cartographer.rviz | 360 ++++++++++++++++++ gerona_examples/rviz/subt_tunnel_odom.rviz | 120 ++++++ 6 files changed, 688 insertions(+) create mode 100644 gerona_examples/cartographer/subt_x.lua create mode 100644 gerona_examples/launch/include/gerona_gazebo_params_x1.launch create mode 100644 gerona_examples/launch/subt_tunnel_cartographer.launch create mode 100644 gerona_examples/launch/subt_tunnel_odom.launch create mode 100644 gerona_examples/rviz/subt_tunnel_cartographer.rviz create mode 100644 gerona_examples/rviz/subt_tunnel_odom.rviz diff --git a/gerona_examples/cartographer/subt_x.lua b/gerona_examples/cartographer/subt_x.lua new file mode 100644 index 00000000..c1ef4cce --- /dev/null +++ b/gerona_examples/cartographer/subt_x.lua @@ -0,0 +1,58 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "X1", + published_frame = "X1", + odom_frame = "odom", + provide_odom_frame = false, + publish_frame_projected_to_2d = false, + use_pose_extrapolator = true, + use_odometry = true, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.num_background_threads = 7 + +TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 2 + +POSE_GRAPH.optimization_problem.huber_scale = 5e2 +POSE_GRAPH.optimize_every_n_nodes = 40 +POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 +POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 +POSE_GRAPH.constraint_builder.min_score = 0.62 +POSE_GRAPH.constraint_builder.log_matches = true + +return options diff --git a/gerona_examples/launch/include/gerona_gazebo_params_x1.launch b/gerona_examples/launch/include/gerona_gazebo_params_x1.launch new file mode 100644 index 00000000..2cd8a742 --- /dev/null +++ b/gerona_examples/launch/include/gerona_gazebo_params_x1.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gerona_examples/launch/subt_tunnel_cartographer.launch b/gerona_examples/launch/subt_tunnel_cartographer.launch new file mode 100644 index 00000000..2e861643 --- /dev/null +++ b/gerona_examples/launch/subt_tunnel_cartographer.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gerona_examples/launch/subt_tunnel_odom.launch b/gerona_examples/launch/subt_tunnel_odom.launch new file mode 100644 index 00000000..41d867c2 --- /dev/null +++ b/gerona_examples/launch/subt_tunnel_odom.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gerona_examples/rviz/subt_tunnel_cartographer.rviz b/gerona_examples/rviz/subt_tunnel_cartographer.rviz new file mode 100644 index 00000000..0fb6d415 --- /dev/null +++ b/gerona_examples/rviz/subt_tunnel_cartographer.rviz @@ -0,0 +1,360 @@ +Panels: + - Class: rviz/Displays + Help Height: 114 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PathSequence1 + Splitter Ratio: 0.5 + Tree Height: 1234 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Camera +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + X1: + Value: true + X1/base_link: + Value: true + X1/base_link/camera_front: + Value: true + X1/base_link/front_laser: + Value: true + X1/base_link/imu_sensor: + Value: true + X1/front_left_wheel: + Value: false + X1/front_right_wheel: + Value: false + X1/rear_left_wheel: + Value: false + X1/rear_right_wheel: + Value: false + map: + Value: true + tunnel_circuit_practice_01: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + X1: + X1/base_link: + X1/base_link/camera_front: + {} + X1/base_link/front_laser: + {} + X1/base_link/imu_sensor: + {} + X1/front_left_wheel: + {} + X1/front_right_wheel: + {} + X1/rear_left_wheel: + {} + X1/rear_right_wheel: + {} + world: + tunnel_circuit_practice_01: + {} + Update Interval: 0 + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /X1/front/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Axes: true + Grid: true + LaserScan: true + Map: true + Marker: true + Obstacles: true + Odometry: true + PathSequence: true + Planning Map: true + TF: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /X1/front_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /X1/odom + Unreliable: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 0.20000000298023224 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: X1/base_link + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/PathSequence + Color Backward: 255; 25; 0 + Color Forward: 25; 255; 0 + Enabled: true + Line Style: Billboards + Line Width: 0.20000000298023224 + Name: PathSequence + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /X1/path + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25999999046325684 + Min Value: 0.25999999046325684 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Obstacles + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Boxes + Topic: /X1/obstacle_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: /X1/map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Planning Map + Topic: /X1/path_planner/map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /X1/visualization_marker + Name: Marker + Namespaces: + abscissa_distance: true + collision_box: true + ordinate_distance: true + path_coord_abscissa: true + path_coord_ordinate: true + path_robot_vector: true + planning/lines: true + planning/outline: true + planning/steps: true + robot path: true + segment_marker: true + slam pose: true + steer: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 29.57532501220703 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.8006398677825928 + Y: -0.870549201965332 + Z: 0.6753711104393005 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.3503977060317993 + Target Frame: X1 + Value: Orbit (rviz) + Yaw: 3.275402545928955 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 2083 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000021500000756fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000058000005980000013800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000005fa000001b40000001c00fffffffb0000000c00430061006d00650072006101000006c5000000e90000000000000000000000010000012600000756fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000005800000756000000f400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000076000000047fc0100000002fb0000000800540069006d0065010000000000000760000003a200fffffffb0000000800540069006d00650100000000000004500000000000000000000005410000075600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1888 + X: 1928 + Y: 16 diff --git a/gerona_examples/rviz/subt_tunnel_odom.rviz b/gerona_examples/rviz/subt_tunnel_odom.rviz new file mode 100644 index 00000000..b1157362 --- /dev/null +++ b/gerona_examples/rviz/subt_tunnel_odom.rviz @@ -0,0 +1,120 @@ +Panels: + - Class: rviz/Displays + Help Height: 114 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1681 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2083 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000019c00000757fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000058000007570000013800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000012600000757fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000005800000757000000f400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e800000046fc0100000002fb0000000800540069006d00650100000000000004e8000003a200fffffffb0000000800540069006d00650100000000000004500000000000000000000002120000075700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1256 + X: 1800 + Y: 16