diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/costmap_common_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/costmap_common_params.yaml new file mode 100644 index 0000000..2b76a0b --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/costmap_common_params.yaml @@ -0,0 +1,47 @@ +costmap_common_params: + update_frequency: 10.0 + publish_frequency: 5.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: false + rolling_window: false + robot_radius: 0.35 + plugins: + - name: static_layer + type: nav2_costmap_2d::StaticLayer + map_subscribe_transient_local: true + enabled: true + - name: obstacle_layer + type: nav2_costmap_2d::ObstacleLayer + enabled: true + observation_sources: scan camera_depth + scan: + topic: /scan + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + clearing: true + marking: true + data_type: LaserScan + camera_depth: + topic: /camera/depth/color/points + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + clearing: false + marking: true + data_type: PointCloud2 + sensor_frame: camera_link + expected_update_rate: 15.0 + observation_persistence: 0.0 + inf_is_valid: false + filter: passthrough + filter_value: 5.0 + - name: inflation_layer + type: nav2_costmap_2d::InflationLayer + enabled: true + inflation_radius: 0.55 + cost_scaling_factor: 10.0 + inflate_unknown: false + inflate_around_unknown: true + lethal_cost_threshold: 100 + unknown_cost_value: -1 + resolution: 0.05 diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/dwb_local_planner_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/dwb_local_planner_params.yaml new file mode 100644 index 0000000..fafda9f --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/dwb_local_planner_params.yaml @@ -0,0 +1,59 @@ +dwb_local_planner: + ros__parameters: + max_vel_x: 5.5 + min_vel_x: 0.0 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 3.0 + min_vel_theta: -3.0 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 2.5 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -2.5 + vx_samples: 20 + vy_samples: 1 + vtheta_samples: 40 + sim_time: 1.7 + sim_granularity: 0.05 + angular_sim_granularity: 0.1 + path_distance_bias: 32.0 + goal_distance_bias: 24.0 + occdist_scale: 0.02 + forward_point_distance: 0.325 + use_dwa: true + dwa_padding_inaccuracies: 0.1 + max_allowed_time_female: 0.0 + oscillation_max_iterations: 1800 + oscillation_max_distance: 0.02 + use_velocity_scaled_lookahead_dist: false + min_approach_linear_velocity: 0.1 + approach_velocity_scaling_dist: 1.0 + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + rotate_to_goal: + slowing_factor: 5.0 + lookahead_time: -1.0 + base_obstacle: + scale: 0.02 + max_scaling_factor: 0.02 + forward_point_distance: 0.325 + goal_align: + scale: 24.0 + forward_point_distance: 0.325 + path_align: + scale: 32.0 + forward_point_distance: 0.325 + max_allowed_time_female: 0.0 + path_dist: + scale: 32.0 + max_allowed_time_female: 0.0 + goal_dist: + scale: 24.0 + max_allowed_time_female: 0.0 + prune_plan: true + prune_distance: 1.5 + debug_trajectory_details: false + publish_evaluation: true + publish_scored_sampling_policies: false + publish_trajectories: false diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/global_costmap_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/global_costmap_params.yaml new file mode 100644 index 0000000..58df832 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/global_costmap_params.yaml @@ -0,0 +1,36 @@ +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: false + rolling_window: false + robot_radius: 0.35 + plugins: + - name: static_layer + type: nav2_costmap_2d::StaticLayer + map_subscribe_transient_local: true + enabled: true + - name: obstacle_layer + type: nav2_costmap_2d::ObstacleLayer + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + clearing: true + marking: true + data_type: LaserScan + - name: inflation_layer + type: nav2_costmap_2d::InflationLayer + enabled: true + inflation_radius: 0.55 + cost_scaling_factor: 10.0 + inflate_unknown: false + inflate_around_unknown: true + resolution: 0.05 + track_unknown_space: true + unknown_cost_value: -1 diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/local_costmap_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/local_costmap_params.yaml new file mode 100644 index 0000000..a21dd07 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/local_costmap_params.yaml @@ -0,0 +1,51 @@ +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 10.0 + publish_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: false + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.35 + plugins: + - name: obstacle_layer + type: nav2_costmap_2d::ObstacleLayer + enabled: true + observation_sources: scan camera_depth + scan: + topic: /scan + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + clearing: true + marking: true + data_type: LaserScan + raytrace_max_range: 10.0 + raytrace_min_range: 0.0 + expected_update_rate: 5.5 + observation_persistence: 0.0 + camera_depth: + topic: /camera/depth/color/points + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + clearing: false + marking: true + data_type: PointCloud2 + sensor_frame: camera_link + expected_update_rate: 15.0 + observation_persistence: 0.5 + inf_is_valid: false + filter: passthrough + filter_value: 5.0 + - name: inflation_layer + type: nav2_costmap_2d::InflationLayer + enabled: true + inflation_radius: 0.55 + cost_scaling_factor: 10.0 + inflate_unknown: true + inflate_around_unknown: false + track_unknown_space: true + unknown_cost_value: 0 diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/nav2_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/nav2_params.yaml new file mode 100644 index 0000000..35209b8 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/nav2_params.yaml @@ -0,0 +1,219 @@ +amcl: + ros__parameters: + use_sim_time: false + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_search_increment: 0.1 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "differential" + save_pose_rate: 0.5 + sigma_hit: 0.2 + sigma_short: 0.05 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + +amcl_map_client: + ros__parameters: + use_sim_time: false + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: false + +bt_navigator: + ros__parameters: + use_sim_time: false + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + enable_groot_monitoring: true + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + default_nav_through_poses_bt_xml: $(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml + default_nav_to_pose_bt_xml: $(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_assisted_teleop_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: false + +controller_server: + ros__parameters: + use_sim_time: false + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_core::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + general_goal_checker: + stateful: True + plugin: "nav2_core::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: true + min_vel_x: 0.0 + max_vel_x: 5.5 + max_vel_theta: 3.0 + min_speed_xy: 0.0 + max_speed_xy: 5.5 + acc_lim_x: 2.5 + acc_lim_theta: 2.5 + decel_lim_x: -2.5 + decel_lim_theta: -2.5 + vx_samples: 20 + vtheta_samples: 40 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.1 + transform_tolerance: 0.2 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: true + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + GoalAlign.scale: 24.0 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: false + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: false + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: true + allow_unknown: true + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: false + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + wait: + plugin: "nav2_behaviors/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: false + simulate_ahead_time: 2.0 + max_rotations: 1.0 + max_backup_dist: 0.15 + backup_speed: 0.5 + +behavior_server_rclcpp_node: + ros__parameters: + use_sim_time: false + +robot_state_publisher: + ros__parameters: + use_sim_time: false + +lifecycle_manager_navigation: + ros__parameters: + use_sim_time: false + autostart: true + node_names: ['controller_server', 'planner_server', 'behavior_server', 'bt_navigator'] + +lifecycle_manager_localization: + ros__parameters: + use_sim_time: false + autostart: true + node_names: ['amcl'] + +map_server: + ros__parameters: + use_sim_time: false + yaml_filename: "map.yaml" + +velocity_smoother: + ros__parameters: + use_sim_time: false + smoothing_frequency: 20.0 + scale_velocities: false + feedback: "odometry" + max_velocity: [5.5, 0.0, 3.0] + min_velocity: [-5.5, 0.0, -3.0] + max_accel: [2.5, 0.0, 2.5] + max_decel: [-2.5, 0.0, -2.5] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/slam_toolbox_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/slam_toolbox_params.yaml new file mode 100644 index 0000000..7344f25 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/slam_toolbox_params.yaml @@ -0,0 +1,58 @@ +slam_toolbox: + ros__parameters: + mode: mapping + async_mode: true + use_scan_matching: true + use_scan_bamatching: true + minimum_time_interval: 0.5 + minimum_travel_distance: 0.2 + minimum_rotation_deg: 5.0 + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.05 + correlation_search_space_smear_deviation: 0.1 + correlation_search_space_std_dev_ratio: 0.5 + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + scan_buffer_size: 10 + scan_buffer_max_scan_distance: 12.0 + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_search_step_size: 0.0349 + fine_angle_search_step_size: 0.00349 + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_queue_size: 10 + loop_match_minimum_response_fine: 0.1 + loop_match_minimum_response_coarse: 0.3 + minimum_score_to_accept_loop_closure: 0.07 + do_final_optimization: true + final_optimization_particle_filter_size: 800 + final_optimization_min_particles: 400 + final_optimization_max_particles: 2000 + final_optimization_threshold_metric_improvement: 0.0002 + add_loops_as_edges: false + num_for_scan_matching: 0 + icp_iterations: 10 + interactive_mode: false + print_timing_information: false + map_frame: map + odom_frame: odom + base_frame: base_link + scan_topic: /scan + publish_tf: true + tf_buffer_duration: 30.0 + transform_timeout: 0.2 + queue_size: 10 + throttle_scans: 1 + use_map_saver: true + map_start_at_dock: true + map_start_pose: [0.0, 0.0, 0.0] + rollout_velocity_smoothing_factor: 0.07 + force_turtlebot_rep: false diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/launch/depth_to_costmap.launch.py b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/depth_to_costmap.launch.py new file mode 100644 index 0000000..20851b4 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/depth_to_costmap.launch.py @@ -0,0 +1,28 @@ +"""RealSense Depth to Costmap Integration""" + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time') + + return LaunchDescription([ + DeclareLaunchArgument('use_sim_time', default_value='false'), + + Node( + package='depth_image_proc', + executable='convert_node', + name='depth_image_converter', + namespace='camera', + remappings=[ + ('image_rect', '/camera/aligned_depth_to_color/image_raw'), + ('camera_info', '/camera/color/camera_info'), + ('points', '/camera/depth/color/points'), + ], + parameters=[{'use_sim_time': use_sim_time}], + output='screen', + ), + ]) diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_bringup.launch.py b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_bringup.launch.py new file mode 100644 index 0000000..25abd20 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_bringup.launch.py @@ -0,0 +1,66 @@ +"""Nav2 SLAM Bringup for SaltyBot (Issue #422)""" + +import os +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + nav2_slam_dir = get_package_share_directory('saltybot_nav2_slam') + bringup_dir = get_package_share_directory('saltybot_bringup') + + nav2_params = os.path.join(nav2_slam_dir, 'config', 'nav2_params.yaml') + slam_params = os.path.join(nav2_slam_dir, 'config', 'slam_toolbox_params.yaml') + + return LaunchDescription([ + DeclareLaunchArgument('use_sim_time', default_value='false'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'sensors.launch.py') + ), + launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_slam_dir, 'launch', 'odometry_bridge.launch.py') + ), + launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_slam_dir, 'launch', 'nav2_slam_integrated.launch.py') + ), + launch_arguments={ + 'slam_params_file': slam_params, + 'use_sim_time': LaunchConfiguration('use_sim_time'), + }.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_slam_dir, 'launch', 'depth_to_costmap.launch.py') + ), + launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory('nav2_bringup'), + 'launch', 'navigation_launch.py' + ) + ), + launch_arguments={ + 'use_sim_time': LaunchConfiguration('use_sim_time'), + 'params_file': nav2_params, + 'autostart': 'true', + 'map_subscribe_transient_local': 'true', + }.items(), + ), + ]) diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_integrated.launch.py b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_integrated.launch.py new file mode 100644 index 0000000..3c1f7b2 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/nav2_slam_integrated.launch.py @@ -0,0 +1,35 @@ +"""SLAM Toolbox integrated launch for SaltyBot""" + +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + slam_share = get_package_share_directory('slam_toolbox') + nav2_slam_dir = get_package_share_directory('saltybot_nav2_slam') + + slam_params = LaunchConfiguration('slam_params_file') + use_sim_time = LaunchConfiguration('use_sim_time') + + return LaunchDescription([ + DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(nav2_slam_dir, 'config', 'slam_toolbox_params.yaml'), + ), + + DeclareLaunchArgument('use_sim_time', default_value='false'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(slam_share, 'launch', 'online_async_launch.py') + ), + launch_arguments={ + 'params_file': slam_params, + 'use_sim_time': use_sim_time, + }.items(), + ), + ]) diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/launch/odometry_bridge.launch.py b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/odometry_bridge.launch.py new file mode 100644 index 0000000..0ec8e29 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/launch/odometry_bridge.launch.py @@ -0,0 +1,36 @@ +"""VESC Telemetry to Odometry Bridge""" + +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time') + + return LaunchDescription([ + DeclareLaunchArgument('use_sim_time', default_value='false'), + + Node( + package='saltybot_nav2_slam', + executable='vesc_odometry_bridge', + name='vesc_odometry_bridge', + parameters=[{ + 'use_sim_time': use_sim_time, + 'vesc_state_topic': '/vesc/state', + 'odometry_topic': '/odom', + 'odom_frame_id': 'odom', + 'base_frame_id': 'base_link', + 'update_frequency': 50, + 'wheel_base': 0.35, + 'wheel_radius': 0.10, + 'max_rpm': 60000, + 'publish_tf': True, + 'tf_queue_size': 10, + }], + output='screen', + ), + ]) diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/package.xml b/jetson/ros2_ws/src/saltybot_nav2_slam/package.xml new file mode 100644 index 0000000..2e1ce41 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/package.xml @@ -0,0 +1,39 @@ + + + + saltybot_nav2_slam + 0.1.0 + + Nav2 SLAM integration for SaltyBot autonomous navigation. + Combines SLAM Toolbox (RPLIDAR 2D SLAM), RealSense depth for obstacle avoidance, + VESC odometry, and DWB planner for autonomous navigation up to 20km/h. + + sl-controls + MIT + + rclpy + sensor_msgs + std_msgs + nav_msgs + geometry_msgs + tf2 + tf2_ros + + nav2_bringup + slam_toolbox + rplidar_ros + realsense2_camera + depth_image_proc + pointcloud_to_laserscan + + ament_python + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/resource/saltybot_nav2_slam b/jetson/ros2_ws/src/saltybot_nav2_slam/resource/saltybot_nav2_slam new file mode 100644 index 0000000..e69de29 diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/__init__.py b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/__init__.py new file mode 100644 index 0000000..a3dc99b --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/__init__.py @@ -0,0 +1 @@ +# Nav2 SLAM integration for SaltyBot diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py new file mode 100644 index 0000000..f75618d --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python3 +"""VESC telemetry to Nav2 odometry bridge.""" + +import json +import math +import time + +import rclpy +from rclpy.node import Node +from std_msgs.msg import String +from nav_msgs.msg import Odometry +from geometry_msgs.msg import TransformStamped, Quaternion +from tf2_ros import TransformBroadcaster + + +class VESCOdometryBridge(Node): + """ROS2 node bridging VESC telemetry to Nav2 odometry.""" + + def __init__(self): + super().__init__("vesc_odometry_bridge") + + self.declare_parameter("vesc_state_topic", "/vesc/state") + self.declare_parameter("odometry_topic", "/odom") + self.declare_parameter("odom_frame_id", "odom") + self.declare_parameter("base_frame_id", "base_link") + self.declare_parameter("update_frequency", 50) + self.declare_parameter("wheel_base", 0.35) + self.declare_parameter("wheel_radius", 0.10) + self.declare_parameter("max_rpm", 60000) + self.declare_parameter("publish_tf", True) + + self.vesc_state_topic = self.get_parameter("vesc_state_topic").value + self.odometry_topic = self.get_parameter("odometry_topic").value + self.odom_frame_id = self.get_parameter("odom_frame_id").value + self.base_frame_id = self.get_parameter("base_frame_id").value + frequency = self.get_parameter("update_frequency").value + self.wheel_base = self.get_parameter("wheel_base").value + self.wheel_radius = self.get_parameter("wheel_radius").value + self.publish_tf = self.get_parameter("publish_tf").value + + self.last_rpm = 0 + self.last_update_time = time.time() + + self.x = 0.0 + self.y = 0.0 + self.theta = 0.0 + self.vx = 0.0 + self.vy = 0.0 + self.vtheta = 0.0 + + self.pub_odom = self.create_publisher(Odometry, self.odometry_topic, 10) + + if self.publish_tf: + self.tf_broadcaster = TransformBroadcaster(self) + + self.create_subscription(String, self.vesc_state_topic, self._on_vesc_state, 10) + + period = 1.0 / frequency + self.create_timer(period, self._publish_odometry) + + self.get_logger().info( + f"VESC odometry bridge initialized: " + f"wheel_base={self.wheel_base}m, wheel_radius={self.wheel_radius}m" + ) + + def _on_vesc_state(self, msg: String) -> None: + """Update VESC telemetry from JSON.""" + try: + data = json.loads(msg.data) + current_rpm = data.get("rpm", 0) + motor_rad_s = (current_rpm / 60.0) * (2.0 * math.pi) + wheel_velocity = motor_rad_s * self.wheel_radius + + self.vx = wheel_velocity + self.vy = 0.0 + self.vtheta = 0.0 + self.last_rpm = current_rpm + + except json.JSONDecodeError: + pass + + def _publish_odometry(self) -> None: + """Publish odometry message and TF.""" + current_time = time.time() + dt = current_time - self.last_update_time + self.last_update_time = current_time + + if abs(self.vtheta) > 0.001: + self.theta += self.vtheta * dt + self.x += (self.vx / self.vtheta) * (math.sin(self.theta) - math.sin(self.theta - self.vtheta * dt)) + self.y += (self.vx / self.vtheta) * (math.cos(self.theta - self.vtheta * dt) - math.cos(self.theta)) + else: + self.x += self.vx * math.cos(self.theta) * dt + self.y += self.vx * math.sin(self.theta) * dt + + odom_msg = Odometry() + odom_msg.header.stamp = self.get_clock().now().to_msg() + odom_msg.header.frame_id = self.odom_frame_id + odom_msg.child_frame_id = self.base_frame_id + + odom_msg.pose.pose.position.x = self.x + odom_msg.pose.pose.position.y = self.y + odom_msg.pose.pose.position.z = 0.0 + odom_msg.pose.pose.orientation = self._euler_to_quaternion(0, 0, self.theta) + + odom_msg.pose.covariance = [ + 0.1, 0, 0, 0, 0, 0, + 0, 0.1, 0, 0, 0, 0, + 0, 0, 0.1, 0, 0, 0, + 0, 0, 0, 0.1, 0, 0, + 0, 0, 0, 0, 0.1, 0, + 0, 0, 0, 0, 0, 0.1, + ] + + odom_msg.twist.twist.linear.x = self.vx + odom_msg.twist.twist.linear.y = self.vy + odom_msg.twist.twist.linear.z = 0.0 + odom_msg.twist.twist.angular.z = self.vtheta + + odom_msg.twist.covariance = [ + 0.05, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, + 0, 0, 0.05, 0, 0, 0, + 0, 0, 0, 0.05, 0, 0, + 0, 0, 0, 0, 0.05, 0, + 0, 0, 0, 0, 0, 0.05, + ] + + self.pub_odom.publish(odom_msg) + + if self.publish_tf: + self._publish_tf(odom_msg.header.stamp) + + def _publish_tf(self, timestamp) -> None: + """Publish odom → base_link TF.""" + tf_msg = TransformStamped() + tf_msg.header.stamp = timestamp + tf_msg.header.frame_id = self.odom_frame_id + tf_msg.child_frame_id = self.base_frame_id + + tf_msg.transform.translation.x = self.x + tf_msg.transform.translation.y = self.y + tf_msg.transform.translation.z = 0.0 + tf_msg.transform.rotation = self._euler_to_quaternion(0, 0, self.theta) + + self.tf_broadcaster.sendTransform(tf_msg) + + @staticmethod + def _euler_to_quaternion(roll: float, pitch: float, yaw: float) -> Quaternion: + """Convert Euler angles to quaternion.""" + cy = math.cos(yaw * 0.5) + sy = math.sin(yaw * 0.5) + cp = math.cos(pitch * 0.5) + sp = math.sin(pitch * 0.5) + cr = math.cos(roll * 0.5) + sr = math.sin(roll * 0.5) + + q = Quaternion() + q.w = cr * cp * cy + sr * sp * sy + q.x = sr * cp * cy - cr * sp * sy + q.y = cr * sp * cy + sr * cp * sy + q.z = cr * cp * sy - sr * sp * cy + + return q + + +def main(args=None): + rclpy.init(args=args) + node = VESCOdometryBridge() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/setup.cfg b/jetson/ros2_ws/src/saltybot_nav2_slam/setup.cfg new file mode 100644 index 0000000..d602608 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/saltybot_nav2_slam +[install] +install_scripts=$base/lib/saltybot_nav2_slam diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/setup.py b/jetson/ros2_ws/src/saltybot_nav2_slam/setup.py new file mode 100644 index 0000000..735c773 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/setup.py @@ -0,0 +1,39 @@ +from setuptools import setup + +package_name = "saltybot_nav2_slam" + +setup( + name=package_name, + version="0.1.0", + packages=[package_name], + data_files=[ + ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), + (f"share/{package_name}", ["package.xml"]), + (f"share/{package_name}/launch", [ + "launch/nav2_slam_bringup.launch.py", + "launch/nav2_slam_integrated.launch.py", + "launch/depth_to_costmap.launch.py", + "launch/odometry_bridge.launch.py", + ]), + (f"share/{package_name}/config", [ + "config/nav2_params.yaml", + "config/slam_toolbox_params.yaml", + "config/costmap_common_params.yaml", + "config/global_costmap_params.yaml", + "config/local_costmap_params.yaml", + "config/dwb_local_planner_params.yaml", + ]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="sl-controls", + maintainer_email="sl-controls@saltylab.local", + description="Nav2 SLAM integration with RPLIDAR + RealSense for autonomous navigation", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "vesc_odometry_bridge = saltybot_nav2_slam.vesc_odometry_bridge:main", + ], + }, +)