| .. _mapping_and_navigaiton: | |
| Mapping and Navigation for Simulation | |
| ===================================== | |
| Mapping | |
| ------- | |
| Run simulation related nodes | |
| * Run roscore | |
| .. code-block:: bash | |
| roscore | |
| * Launch the robot (In another terminal) | |
| .. code-block:: bash | |
| roslaunch mir_bringup_sim robot.launch | |
| * Run gazebo simulator (In another terminal) | |
| .. code-block:: bash | |
| rosrun gazebo_ros gzclient | |
| * Run rviz (In another terminal) | |
| .. code-block:: bash | |
| rosrun rviz rviz | |
| .. note:: | |
| To setup the RViz, please go to the bottom of this page. | |
| Generate map | |
| ------------ | |
| * Run 2D SLAM (In another terminal) | |
| .. code-block:: bash | |
| roslaunch mir_2dslam 2dslam.launch | |
| Now there should be robot in an empty map in RViz. | |
| * Move the robot around the map. (In another terminal) | |
| .. code-block:: bash | |
| roslaunch mir_teleop teleop_keyboard.launch | |
| WSAD keys set the robot in motion and "Space bar" stops that motion. | |
| As you move the robot around, you should be able to see walls appearing in the map | |
| in RViz and all the other area will be free. After you have mapped the whole environment, | |
| you can save the map in config map directory. | |
| * Move to map config directory (In another terminal) | |
| .. code-block:: bash | |
| roscd mcr_default_env_config | |
| * Then make a directory and move inside that newly created directory | |
| .. code-block:: bash | |
| mkdir test_map | |
| cd test_map | |
| * Now you can save the map that you just created | |
| .. code-block:: bash | |
| rosrun map_server map_saver | |
| This will ideally create 2 files namely *map.pgm* and *map.yml*. | |
| Now you can exit out of *mir_2dslam* execution. You can also exit from *mir_teleop, gazebo, mir_bringup_sim* | |
| Making the map usable | |
| ---------------------- | |
| In order to use this map in future to navigate, follow the following steps: | |
| * Add files where the goals will be saved \(in the same directory where the map files have been saved\) | |
| .. code-block:: bash | |
| touch navigation_goals.yaml | |
| touch orientation_goals.yaml | |
| * Make a copy of the existing launch file. | |
| .. code-block:: bash | |
| cd ~/catkin_ws/src/mas_common_robotics/mcr_environments/mcr_gazebo_worlds/ros/launch | |
| cp brsu-c025-sim.launch test_map.launch | |
| .. note:: | |
| Inside *test_map.launch*, edit the argument of **robot_env** (line 10). | |
| Replace *brsu-c025-sim* with *test_map*. Save this file. | |
| * Make a copy of xacro file. | |
| .. code-block:: bash | |
| cd ~/catkin_ws/src/mas_common_robotics/mcr_environments/mcr_gazebo_worlds/common/worlds/ | |
| cp brsu-c025-sim.urdf.xacro test_map.urdf.xacro | |
| .. note:: | |
| Now your newly created map should be ready for use. | |
| Navigation | |
| ----------- | |
| * Run the commands from "Run simulation related nodes" as mentioned above to bring the robot up. | |
| * Launch the navigation node | |
| .. code-block:: bash | |
| roslaunch mir_2dnav 2dnav.launch | |
| * Open RViz | |
| Add *PoseArray* in RViz and change its topic to */particlecloud*. | |
| Now you will be able to see red arrows around the robot. These arrow show the pose of the robot. | |
| * You now need to localize the robot to get its correct pose. Move the robot around the map. (In another terminal) | |
| .. code-block:: bash | |
| roslaunch mir_teleop teleop_keyboard.launch | |
| Rotate the robot in its place using QE keys. | |
| You will notice the red arrows converging around the robot. Once the the robot is reasonably localised, | |
| you can navigate the robot around in 2 ways: | |
| 1. GUI (RViz) | |
| Click on the `2D Nav Goal` and select a goal on the map. | |
| 2. Terminal based (ROS Action Server Client) | |
| For Action server client, the robot first needs name of position for source and | |
| destination places (It cannot use `x, y, theta` values) | |
| To name the poses, you have to execute *save_base_map_poses_to_file* | |
| .. code-block:: bash | |
| roscd mcr_default_env_config | |
| cd test_map | |
| rosrun mcr_navigation_tools save_base_map_poses_to_file | |
| This program is terminal based interactive program. The program will ask you to name the position. | |
| 1. You can now navigate the robot to your desired position (using GUI of RViz or *mir_teleop*). | |
| 2. Once your robot is at the desired position, you can enter a name and press enter. | |
| .. note:: | |
| Note : The name of the location should be ALL CAPS. | |
| For example, CORNER_1, MAIN_DOOR, etc. If the name contains any lower case character, | |
| the server will not work) You will see pose of the robot inside square brackets in | |
| the next line and prompted for another name. | |
| 3. Repeat step 1 and 2 to add multiple names to different locations inside the map. | |
| 4. To close this interactive program, press *Ctrl + z*. (Note : *Ctrl + c* won't work.) Then kill this process. | |
| .. code-block:: bash | |
| ps | |
| take a note of the `pid` of python process. | |
| .. code-block:: bash | |
| kill -9 <pid_number> | |
| Now stop *mir_2dnav* and start it again. | |
| Launch move base launch file (In another terminal) | |
| .. code-block:: bash | |
| roslaunch mir_move_base_safe move_base.launch | |
| Run the server file. (In another terminal) | |
| .. code-block:: bash | |
| rosrun mir_move_base_safe move_base_safe_server.py | |
| You can test everything by running client test file. (In another terminal) | |
| .. code-block:: bash | |
| rosrun mir_move_base_safe move_base_safe_client_test.py SOURCE_NAME DESTINATION_NAME | |
| For example, if you want to move the robot from MAIN_DOOR to CORNER_1, then | |
| .. code-block:: bash | |
| rosrun mir_move_base_safe move_base_safe_client_test.py MAIN_DOOR CORNER_1 | |
| .. note:: | |
| The source location is irrelevant for the client test file. | |
| Your robot can be anywhere and the program will still work correctly. | |
| Just give some valid location name as a place holder.) | |
| The client will print **success : True**, if it was able to successfully navigate to the destination position. | |
| RViz setup | |
| ----------- | |
| * Add *Map, RobotModel, LaserScan* using the "Add" button in bottom left corner of "Display" section of RViz. | |
| * In *Map*, change the topic to */map* | |
| * In *LaserScan*, change the topic to */scan_front*. Add another *LaserScan* and change its topic to */scan_rear*. | |
| * In global option, change the *Fixed Frame* to *map*. | |
| .. note:: | |
| You can also add another *PoseArray* and change its topic to */move_base/GlobalPlannerWithOrientation* | |
| to visualise the plan created by the *mir_2Dnav* node. | |