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YusukeKatoShota Aoki
YusukeKato
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Shota Aoki
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シミュレータ環境でSLAMとNavigationを実行 (#77)
* LakeHouseのモデルをワールドに配置 * bridgeにscanトピックを追加 * センサのプラグインを追加 * READMEにカメラライントレースとSLAM&Navigationの実行方法を追記 * lakehouseワールドに30cmの黒いキューブを複数配置 * READMEに画像を追加 * 不足していた依存関係を追加 * コピペできるようにコマンドを修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 引数mapの説明を修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * Copyrightの文面を修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 英語版READMEのコマンドもコピペできるように修正 --------- Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
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‎README.en.md

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@@ -93,6 +93,79 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
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### camera_line_follower
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Terminal 1:
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
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```
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Terminal 2:
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```sh
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ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
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```
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Terminal 3: Start
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```sh
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ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
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```
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Terminal 3: Stop
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```sh
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ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
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```
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For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters).
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif)
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### SLAM & Navigation
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#### SLAM
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Terminal 1:
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
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```
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The lidar option supports `urg`, `lds`, and `rplidar`.
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Terminal 2:
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```sh
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ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
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```
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Terminal 3:
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```sh
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ros2 launch raspimouse_slam pc_slam.launch.py
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```
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
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Terminal 4:
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```sh
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ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
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```
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif)
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#### Navigation
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Terminal 1:
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
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```
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The lidar option supports `urg`, `lds`, and `rplidar`.
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Terminal 2:
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```sh
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ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
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```
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
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## Model data list
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### course_curve_50x50cm
@@ -108,12 +181,12 @@ Panel size is 50 cm x 50 cm and line width is 4 cm.
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![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
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### cube_*cm_color-name
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Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm on a side.
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The cube colors are red, yellow, blue, and green.
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Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm, 30 cm on a side.
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The cube colors are red, yellow, blue, green and black.
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![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
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### daeファイルについて
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### about dae files
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The dae file is edited in Blender 4.0.
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## License

‎README.md

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```sh
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cd ~/ros2_ws/src
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git clone https://github.com/rt-net/raspimouse_ros2_examples.git
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git clone https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
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git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
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rosdep install -r -y -i --from-paths raspimouse*
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```
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
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### RGBカメラを用いたライントレースサンプル
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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。
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
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```
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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。
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```sh
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ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
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```
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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。
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```sh
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ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
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```
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次のコマンドを実行すると、Raspberry Pi Mouseが停止します。
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```sh
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ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
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```
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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。
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif)
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### LiDARを用いたSLAMとNavigationのサンプル
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#### SLAM
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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。
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
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```
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`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。
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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。
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```sh
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ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
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```
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端末3で次のコマンドを実行すると、SLAMが実行されます。
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```sh
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ros2 launch raspimouse_slam pc_slam.launch.py
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```
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
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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。
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```sh
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ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
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```
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`MAP_NAME`は任意の名前を指定できます。
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif)
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#### Navigation
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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。
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```sh
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ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
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```
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`lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。
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端末2で次のコマンドを実行すると、Navigationが実行されます。
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```sh
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ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
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```
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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。
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![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
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## モデルデータ一覧
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### course_curve_50x50cm
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![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
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### cube_*cm_color-name
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それぞれ一辺5cm、7.5cm、10cm、15cmの立方体です。
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色は赤、黄、青、緑です。
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それぞれ一辺5cm、7.5cm、10cm、15cm、30cmの立方体です。
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色は赤、黄、青、緑、黒です。
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![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
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‎raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py

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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
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'/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
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'/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image',
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'/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'],
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output='screen'

‎raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py

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

‎raspimouse_gazebo/models/cube_30cm_black/model.config

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<?xml version="1.0" ?>
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<model>
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<name>Black Cube 30cm</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>YusukeKato</name>
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<email>yusuke.kato@rt-net.jp</email>
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</author>
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<description>
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Cube
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</description>
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</model>

‎raspimouse_gazebo/models/cube_30cm_black/model.sdf

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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="cube_30cm_black">
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<link name="cube_black_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="cube_black_collision">
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<geometry>
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<box>
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<size>0.3 0.3 0.3</size>
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</box>
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</geometry>
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</collision>
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<visual name="cube_black_visual">
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0 0 0 1</diffuse>
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<specular>0 0 0 0</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<geometry>
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<box>
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<size>0.3 0.3 0.3</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>

‎raspimouse_gazebo/package.xml

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<depend>raspimouse_fake</depend>
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<depend>raspimouse_description</depend>
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<depend>robot_state_publisher</depend>
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<depend>diff_drive_controller</depend>
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<depend>joint_state_broadcaster</depend>
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<export>
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<build_type>ament_cmake</build_type>

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