Merge pull request #79 from rt-net/ros2

2.1.0リリースのためにros2ブランチの変更差分をhumble-develブランチへマージ

Author: Kuwamai

README.en.md

@@ -93,6 +93,102 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
+### camera_line_follower 
+
+Terminal 1:
+
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
+```
+
+Terminal 2:
+
+```sh
+ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
+```
+
+Terminal 3: Start
+
+```sh
+ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
+```
+
+Terminal 3: Stop
+```sh
+ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
+```
+
+For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters).
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif)
+
+### SLAM & Navigation
+
+#### SLAM
+
+Terminal 1:
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+```
+The lidar option supports `urg`, `lds`, and `rplidar`.
+
+Terminal 2:
+```sh
+ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
+```
+
+Terminal 3:
+```sh
+ros2 launch raspimouse_slam pc_slam.launch.py
+```
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
+
+Terminal 4:
+```sh
+ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
+```
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif)
+
+#### Navigation
+
+Terminal 1:
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+```
+The lidar option supports `urg`, `lds`, and `rplidar`.
+
+Terminal 2:
+```sh
+ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
+```
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
+
+## Model data list
+
+### course_curve_50x50cm
+Curve course panel for line following.
+Panel size is 50 cm x 50 cm and line width is 4 cm.
+
+![](./raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg)
+
+### course_straight_50x50cm
+Straight course panel for line following.
+Panel size is 50 cm x 50 cm and line width is 4 cm.
+
+![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
+
+### cube_*cm_color-name
+Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm, 30 cm on a side.
+The cube colors are red, yellow, blue, green and black.
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
+
+### about dae files
+The dae file is edited in Blender 4.0.
+
 ## License
 
 This repository is licensed under the MIT license, see [LICENSE]( ./LICENSE ).  

README.md

@@ -39,6 +39,7 @@ git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git
 ```sh
 cd ~/ros2_ws/src
 git clone https://github.com/rt-net/raspimouse_ros2_examples.git
+git clone https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
 git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
 rosdep install -r -y -i --from-paths raspimouse*
 ```
@@ -93,6 +94,103 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
+### RGBカメラを用いたライントレースサンプル
+
+端末1で次のコマンドを実行すると、ライントレースのサンプルコースが配置されたワールドが表示されます。
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
+```
+
+端末2で次のコマンドを実行すると、カメラライントレースのノードが起動します。
+```sh
+ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
+```
+
+端末3で次のコマンドを実行すると、Raspberry Pi Mouseが走行を開始します。
+```sh
+ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
+```
+
+次のコマンドを実行すると、Raspberry Pi Mouseが停止します。
+```sh
+ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
+```
+
+カメラライントレースにおけるパラメータは[こちら](https://github.com/rt-net/raspimouse_ros2_examples?tab=readme-ov-file#parameters)を参照してください。
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif)
+
+### LiDARを用いたSLAMとNavigationのサンプル
+
+#### SLAM
+
+端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+```
+`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。
+
+端末2で次のコマンドを実行すると、Raspberry Pi Mouseをジョイスティックコントローラで操作できます。
+```sh
+ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
+```
+
+端末3で次のコマンドを実行すると、SLAMが実行されます。
+```sh
+ros2 launch raspimouse_slam pc_slam.launch.py
+```
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
+
+端末4で次のコマンドを実行すると、作成した地図を保存できます。
+```sh
+ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
+```
+`MAP_NAME`は任意の名前を指定できます。
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif)
+
+#### Navigation
+
+端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。
+```sh
+ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+```
+`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。
+
+端末2で次のコマンドを実行すると、Navigationが実行されます。
+```sh
+ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
+```
+引数`map`にはSLAMで作成した地図ファイルのパスを指定してください。
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
+
+## モデルデータ一覧
+
+### course_curve_50x50cm
+
+ライントレース用の曲線コースパネルです。
+パネルサイズは50cm x 50cm、線の幅は4cmです。
+
+![](./raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg)
+
+### course_straight_50x50cm
+
+ライントレース用の直線コースパネルです。
+パネルサイズは50cm x 50cm、線の幅は4cmです。
+
+![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
+
+### cube_*cm_color-name
+それぞれ一辺5cm、7.5cm、10cm、15cm、30cmの立方体です。
+色は赤、黄、青、緑、黒です。
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
+
+### daeファイルについて
+daeファイルはBlender 4.0で編集しています。
+
 ## ライセンス
 
 このリポジトリはMITライセンスに基づいて公開されています。  

raspimouse_fake/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package raspimouse_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+
 2.0.0 (2023-11-07)
 ------------------
 * シミュレータ環境に擬似的なラズパイマウスノードを追加 (`#69 <https://github.com/rt-net/raspimouse_sim/issues/69>`_)

raspimouse_fake/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>raspimouse_fake</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>The raspimouse_control package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>MIT</license>

raspimouse_gazebo/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package raspimouse_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+* シミュレータ環境でSLAMとNavigationを実行 (`#77 <https://github.com/rt-net/raspimouse_sim/issues/77>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* コントローラのパラメータを調整してオドメトリのズレを修正 (`#76 <https://github.com/rt-net/raspimouse_sim/issues/76>`_)
+* camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 (`#75 <https://github.com/rt-net/raspimouse_sim/issues/75>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* ライントレース用のコースを作成 (`#74 <https://github.com/rt-net/raspimouse_sim/issues/74>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* Contributors: YusukeKato
+
 2.0.0 (2023-11-07)
 ------------------
 * Gazebo上で画像トピックを配信できるようにbridgeを設定 (`#71 <https://github.com/rt-net/raspimouse_sim/issues/71>`_)

raspimouse_gazebo/config/raspimouse_controllers.yaml

@@ -19,9 +19,9 @@ diff_drive_controller:
     wheel_separation : 0.09
     wheels_per_side: 1
     wheel_radius : 0.024
-    wheel_separation_multiplier : 1.0
-    left_wheel_radius_multiplier : 1.0
-    right_wheel_radius_multiplier : 1.0
+    wheel_separation_multiplier : 0.95
+    left_wheel_radius_multiplier : 1.05
+    right_wheel_radius_multiplier : 1.05
 
     odom_frame_id: odom
     base_frame_id: base_footprint

raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py

@@ -46,10 +46,26 @@ def generate_launch_description():
         'use_rgb_camera',
         default_value='false',
         description='Set "true" to mount rgb camera.')
+    declare_arg_camera_downward = DeclareLaunchArgument(
+        'camera_downward',
+        default_value='false',
+        description='Set "true" to point the camera downwards.')
     declare_arg_world_name = DeclareLaunchArgument(
         'world_name',
         default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf',
         description='Set world name.')
+    declare_arg_spawn_x = DeclareLaunchArgument(
+        'spawn_x',
+        default_value='0.0',
+        description='Set initial position x.')
+    declare_arg_spawn_y = DeclareLaunchArgument(
+        'spawn_y',
+        default_value='0.0',
+        description='Set initial position y.')
+    declare_arg_spawn_z = DeclareLaunchArgument(
+        'spawn_z',
+        default_value='0.02',
+        description='Set initial position z.')
 
     env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
            'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
@@ -71,6 +87,9 @@ def generate_launch_description():
         output='screen',
         arguments=['-topic', '/robot_description',
                    '-name', 'raspimouse',
+                   '-x', LaunchConfiguration('spawn_x'),
+                   '-y', LaunchConfiguration('spawn_y'),
+                   '-z', LaunchConfiguration('spawn_z'),
                    '-allow_renaming', 'true'],
     )
 
@@ -79,6 +98,7 @@ def generate_launch_description():
     description_loader.lidar_frame = LaunchConfiguration('lidar_frame')
     description_loader.use_gazebo = 'true'
     description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera')
+    description_loader.camera_downward = LaunchConfiguration('camera_downward')
     description_loader.gz_control_config_package = 'raspimouse_gazebo'
     description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml'
 
@@ -115,6 +135,7 @@ def generate_launch_description():
         package='ros_gz_bridge',
         executable='parameter_bridge',
         arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+                   '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
                    '/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image',
                    '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'],
         output='screen'
@@ -139,7 +160,11 @@ def generate_launch_description():
         declare_arg_lidar,
         declare_arg_lidar_frame,
         declare_arg_use_rgb_camera,
+        declare_arg_camera_downward,
         declare_arg_world_name,
+        declare_arg_spawn_x,
+        declare_arg_spawn_y,
+        declare_arg_spawn_z,
         ign_gazebo,
         ignition_spawn_entity,
         robot_state_publisher,

raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py

@@ -0,0 +1,48 @@
+# The MIT License (MIT)
+#
+# Copyright 2024 RT Corporation <support@rt-net.jp>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+# the Software, and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import SetParameter
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    world_file = os.path.join(
+        get_package_share_directory('raspimouse_gazebo'),
+        'worlds',
+        'lakehouse.sdf')
+    world_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('raspimouse_gazebo'),
+            '/launch/raspimouse_with_emptyworld.launch.py']),
+        launch_arguments={
+            'world_name': world_file
+            }.items()
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        world_launch
+    ])