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FIX ERRORS FOR ROS-MELODIC #10

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0a9df02
Merge branch 'kinetic-devel' into melodic-devel
croesmann Jul 3, 2019
9cd449d
FIX ERRORS FOR ROS-MELODIC
nvhungtl42 Apr 8, 2020
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15 changes: 10 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,13 @@ and without any URDF models. However, they are easily extendable and integrable

Refer to the [teb_local_planner](http://wiki.ros.org/teb_local_planner) ROS wiki page for more information.

**Dependencies:**

* *navigation stack* and *teb_local_planner* package
* *stage*: `sudo apt-get install ros-kinetic-stage-ros`

# Using
(Tested OK on ubuntu 18.04 LTS + ros-melodic)
- install *navigation stack* and *teb_local_planner* package
- Build [**fixed stage_ros**](https://github.com/AMRobots/stage_ros):
```
$ git clone https://github.com/AMRobots/stage_ros.git
$ cd ../
$ catkin_make --only-pkg-with-deps stage_ros
$ source devel/setup.bash
```
248 changes: 112 additions & 136 deletions launch/dyn_obst_corridor_scenario.launch
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@@ -1,136 +1,112 @@
<launch>
<arg name="map_file" default="corridor"/>

<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="true"/>

<!-- ************** Stage Simulator ***************** -->
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find teb_local_planner_tutorials)/stage/$(arg map_file).world">
<remap from="/robot_0/base_scan" to="/robot_0/scan"/>
</node>

<!-- ******************* Maps *********************** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/$(arg map_file).yaml" output="screen">
<param name="frame_id" value="map"/>
</node>

<!-- ************** Navigation ROBOT 0 ************* -->
<group ns="robot_0">
<!-- work around for footprint reload -->
<rosparam command="delete" ns="move_base" />

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="2 3 0 0 0 0 1 /map /robot_0/odom 100" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/local_costmap_params.yaml" command="load" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/global_costmap_params.yaml" command="load" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml" command="load" />
<!-- Here we load our costmap conversion settings -->
<!-- If you active the following line, disable 'ground_truth_obstacles' at the bottom of this script! -->
<!-- rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml" command="load" /-->
<param name="TebLocalPlannerROS/include_costmap_obstacles" value="False" />
<param name="TebLocalPlannerROS/include_dynamic_obstacles" value="True" />

<param name="base_global_planner" value="navfn/NavfnROS" />
<!--param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" /-->

<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
<remap from="map" to="/map"/>
</node>
</group>

<!-- ****************** Obstacles ******************** -->
<group ns="robot_1">
<param name="tf_prefix" value="robot_1"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_2">
<param name="tf_prefix" value="robot_2"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_3">
<param name="tf_prefix" value="robot_3"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_4">
<param name="tf_prefix" value="robot_4"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_5">
<param name="tf_prefix" value="robot_5"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_6">
<param name="tf_prefix" value="robot_6"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_7">
<param name="tf_prefix" value="robot_7"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_8">
<param name="tf_prefix" value="robot_8"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_9">
<param name="tf_prefix" value="robot_9"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_10">
<param name="tf_prefix" value="robot_10"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_11">
<param name="tf_prefix" value="robot_11"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_12">
<param name="tf_prefix" value="robot_12"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<group ns="robot_13">
<param name="tf_prefix" value="robot_13"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>

<node name="ground_truth_obstacles" pkg="teb_local_planner_tutorials" type="publish_ground_truth_obstacles.py" output="screen" />

<!--node name="visualize_velocity_profile" pkg="teb_local_planner_tutorials" type="visualize_velocity_profile.py" output="screen" /-->

<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation_cc.rviz">
<remap from="/move_base_simple/goal" to="/robot_0/move_base_simple/goal" />
</node>

</launch>
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="map_file" default="corridor"/>
<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="true"/>
<!-- ************** Stage Simulator ***************** -->
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find teb_local_planner_tutorials)/stage/$(arg map_file).world">
<remap from="/robot_0/base_scan" to="/robot_0/scan"/>
</node>
<!-- ******************* Maps *********************** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/$(arg map_file).yaml" output="screen">
<param name="frame_id" value="map"/>
</node>
<!-- ************** Navigation ROBOT 0 ************* -->
<group ns="robot_0">
<!-- work around for footprint reload -->
<rosparam command="delete" ns="move_base" />
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 /map /robot_0/odom 100" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/local_costmap_params.yaml" command="load" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/global_costmap_params.yaml" command="load" />
<rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml" command="load" />
<!-- Here we load our costmap conversion settings -->
<!-- If you active the following line, disable 'ground_truth_obstacles' at the bottom of this script! -->
<!-- rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml" command="load" /-->
<param name="TebLocalPlannerROS/include_costmap_obstacles" value="False" />
<param name="TebLocalPlannerROS/include_dynamic_obstacles" value="True" />
<param name="base_global_planner" value="navfn/NavfnROS" />
<!--param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" /-->
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
<remap from="map" to="/map"/>
</node>
</group>
<!-- ****************** Obstacles ******************** -->
<group ns="robot_1">
<param name="tf_prefix" value="robot_1"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_2">
<param name="tf_prefix" value="robot_2"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_3">
<param name="tf_prefix" value="robot_3"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_4">
<param name="tf_prefix" value="robot_4"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_5">
<param name="tf_prefix" value="robot_5"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_6">
<param name="tf_prefix" value="robot_6"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_7">
<param name="tf_prefix" value="robot_7"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_8">
<param name="tf_prefix" value="robot_8"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_9">
<param name="tf_prefix" value="robot_9"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_10">
<param name="tf_prefix" value="robot_10"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_11">
<param name="tf_prefix" value="robot_11"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_12">
<param name="tf_prefix" value="robot_12"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<group ns="robot_13">
<param name="tf_prefix" value="robot_13"/>
<node name="Mover" pkg="teb_local_planner_tutorials" type="move_obstacle.py" output="screen"/>
<param name="vel_y" value="0.3" />
</group>
<node name="ground_truth_obstacles" pkg="teb_local_planner_tutorials" type="publish_ground_truth_obstacles.py" output="screen" />
<!--node name="visualize_velocity_profile" pkg="teb_local_planner_tutorials" type="visualize_velocity_profile.py" output="screen" /-->
<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation_cc.rviz">
<remap from="/move_base_simple/goal" to="/robot_0/move_base_simple/goal" />
</node>
</launch>