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This commit is contained in:
litian.zhuang 2021-08-12 20:02:04 +08:00
parent 9b940bd49d
commit 585d39111e
4 changed files with 60 additions and 2 deletions
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36
src/spark_app/spark_navigation/launch/move_base.launch Executable file
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<!--
ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>
<include file="$(find spark_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<arg name="custom_param_file" default="$(find spark_navigation)/param/3i_lidar_costmap_params.yaml"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find spark_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find spark_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find spark_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find spark_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find spark_navigation)/param/global_planner_params.yaml" command="load" />
<rosparam file="$(find spark_navigation)/param/navfn_global_planner_params.yaml" command="load" />
<!-- external params file that could be loaded into the move_base namespace -->
<rosparam file="$(arg custom_param_file)" command="load" />
<!-- reset frame_id parameters using user input data -->
<param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
<param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
<param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
<remap from="cmd_vel" to="/navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="scan" to="$(arg laser_topic)"/>
</node>
</launch>

2
src/spark_app/spark_slam/launch/2d_slam.launch
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@ -9,7 +9,7 @@
<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="start_camera" value="false"/>
<arg name="start_camera" value="true"/>
<arg name="camera_types" value="$(arg camera_types)"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include>

22
src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch Executable file
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<!--spark 2d slam-->
<!--SPARK技术讨论与反馈群：8346256-->
<launch>
<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
<!--spark slam-->
<arg name="slam_methods_tel" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
<arg name="camera_type_tel" default="astrapro"/>
<include file="$(find spark_slam)/launch/2d_slam.launch">
<arg name="slam_methods" value="$(arg slam_methods_tel)"/>
<arg name="camera_types" value="$(arg camera_type_tel)"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include>
<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_2d" />
<!--创建新的终端，确定是否保存地图-->
<node pkg="spark_slam" type="cmd_save_map.sh" name="csm_2d" />
<!-- Move base -->
<arg name="custom_param_file" default="$(find spark_navigation)/param/dummy.yaml"/>
<include file="$(find spark_navigation)/launch/includes/move_base.launch.xml">
<arg name="custom_param_file" value="$(arg custom_param_file)"/>
</include>
</launch>

2
src/spark_driver/base/spark_base/launch/spark_base.launch
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@ -1,5 +1,5 @@
<!-- -->
<launch>
<arg name="serialport"/>
<arg name="serialport" default="/dev/sparkBase"/>
<node pkg="spark_base" type="spark_base_node" name="spark_base_server" args="$(arg serialport)" output="screen"/>
</launch>