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Merge pull request #1 from NVIDIA-ISAAC-ROS/release-2.0.0
Isaac ROS 2.0.0
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‎.gitattributes‎

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# Images
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.png filter=lfs diff=lfs merge=lfs -text
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*.psd filter=lfs diff=lfs merge=lfs -text
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# CAD models
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*.usd filter=lfs diff=lfs merge=lfs -text
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*.obj filter=lfs diff=lfs merge=lfs -text
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# Archives
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*.gz filter=lfs diff=lfs merge=lfs -text
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*.tar filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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# Documents
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*.pdf filter=lfs diff=lfs merge=lfs -text
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# Numpy data
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*.npy filter=lfs diff=lfs merge=lfs -text
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# Debian packages
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*.deb filter=lfs diff=lfs merge=lfs -text
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# Shared libraries
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*.so.* filter=lfs diff=lfs merge=lfs -text
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*.so filter=lfs diff=lfs merge=lfs -text
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# Binary
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*.bin filter=lfs diff=lfs merge=lfs -text
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*.engine filter=lfs diff=lfs merge=lfs -text

‎.gitignore‎

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# Ignore all pycache files
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**/__pycache__/**

‎.gitmodules‎

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[submodule "segway_rmp/RMP220-SDK"]
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path = segway_rmp/RMP220-SDK
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url = https://github.com/SegwayRoboticsSamples/RMP220-SDK
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branch = release

‎README.md‎

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# Nova Carter
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This meta-repository contains the packages required for the [Nova Carter](https://robotics.segway.com/nova-carter/)
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robots to control their motors / wheelbase,
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communicate with the [Mission Dispatcher](https://github.com/nvidia-isaac/isaac_mission_dispatch), navigate with
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[Nav2](https://github.com/ros-planning/navigation2), and localize with [Isaac ROS Visual SLAM](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/index.html),
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and reconstruct 3D scenes with [Isaac ROS Nvblox](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/index.html).
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/nova_carter/carter_header.jpg/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/nova_carter/carter_header.jpg/" width="800px"/></a></div>
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## Setup and Documentation
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Visit the [Nova Carter page](https://nvidia-isaac-ros.github.io/robots/nova_carter.html) to learn how to use this repository.

‎carter_navigation/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22.1)
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project(carter_navigation)
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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ament_auto_package(INSTALL_TO_SHARE launch maps params behavior_trees)

‎carter_navigation/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml‎

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<!--
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This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
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and it also has recovery actions specific to planning / control as well as general system issues.
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-->
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<root main_tree_to_execute="MainTree">
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<BehaviorTree ID="MainTree">
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<RecoveryNode number_of_retries="6" name="NavigateRecovery">
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<PipelineSequence name="NavigateWithReplanning">
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<RateController hz="0.333">
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<RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
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<ReactiveSequence>
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<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
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<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
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</ReactiveSequence>
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<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
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</RecoveryNode>
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</RateController>
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<RecoveryNode number_of_retries="1" name="FollowPath">
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<FollowPath path="{path}" controller_id="FollowPath"/>
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<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
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</RecoveryNode>
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</PipelineSequence>
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<ReactiveFallback name="RecoveryFallback">
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<GoalUpdated/>
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<RoundRobin name="RecoveryActions">
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<Sequence name="ClearingActions">
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<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
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<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
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</Sequence>
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<Wait wait_duration="1"/>
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</RoundRobin>
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</ReactiveFallback>
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</RecoveryNode>
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</BehaviorTree>
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</root>

‎carter_navigation/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml‎

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<!--
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This Behavior Tree replans the global path periodically at 1 Hz and it also has
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recovery actions specific to planning / control as well as general system issues.
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This will be continuous if a kinematically valid planner is selected.
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-->
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<root main_tree_to_execute="MainTree">
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<BehaviorTree ID="MainTree">
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<RecoveryNode number_of_retries="6" name="NavigateRecovery">
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<PipelineSequence name="NavigateWithReplanning">
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<RateController hz="1.0">
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<RecoveryNode number_of_retries="1" name="ComputePathToPose">
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
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<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
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</RecoveryNode>
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</RateController>
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<RecoveryNode number_of_retries="1" name="FollowPath">
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<FollowPath path="{path}" controller_id="FollowPath"/>
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<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
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</RecoveryNode>
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</PipelineSequence>
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<ReactiveFallback name="RecoveryFallback">
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<GoalUpdated/>
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<RoundRobin name="RecoveryActions">
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<Sequence name="ClearingActions">
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<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
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<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
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</Sequence>
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<Wait wait_duration="1"/>
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</RoundRobin>
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</ReactiveFallback>
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</RecoveryNode>
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</BehaviorTree>
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</root>

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