- Robot Foxy 2 0 Mod
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This is a companion guide to the ROS 2 tutorials. Sample commands are based on the ROS 2 Foxy distribution. Although the basic concepts do not change between ROS 1 and ROS 2, many of the commands differ and the underlying architecture is quite different. What you’ll need. No programming experience is required to complete this tutorial! ROS2 is the next generation robot operating system and is actively being developed to fully replace ROS1 in the near future. With the release of ROS2 bouncy in July 2018, ROS2 has gained a lot of maturities and most of its design goals were achieved and implemented. The Navigation 2 project is the spiritual successor of the ROS Navigation Stack. This project seeks to find a safe way to have a mobile robot move from point A to point B. It can also be applied in other applications that involve robot navigation, like following dynamic points. This should show the age of the page.
Moving from ROS 2 Foxy to Galactic, a number of stability improvements were added that we will not specifically address here.
NavigateToPose BT-node Interface Changes¶
The NavigateToPose input port has been changed to PoseStamped instead of Point and Quaternion.
See NavigateToPose for more information.
ComputePathToPose BT-node Interface Changes¶
The
start
input port has been added to optionally allow the request of a path from start
to goal
instead of from the current position of the robot to goal
.See ComputePathToPose for more information.
ComputePathToPose Action Interface Changes¶
- The goal pose field
pose
was changed togoal
. - The PoseStamped field
start
has been added. - The bool field
use_start
has been added.
These two additional fields have been added to optionally allow, when
use_start
is true, the request of a path from start
to goal
instead of from the current position of the robot to goal
. Corresponding changes have been done of the Planner Server.BackUp BT-node Interface Changes¶
The
backup_dist
and backup_speed
input ports should both be positive values indicating the distance to go backward respectively the speed with which the robot drives backward.BackUp Recovery Interface Changes¶
speed
in a backup recovery goal should be positive indicating the speed with which to drive backward.target.x
in a backup recovery goal should be positive indicating the distance to drive backward.In both cases negative values are silently inverted.Groot Support¶
Live Monitoring and Editing of behavior trees with Groot is now possible.Switching bt-xmls on the fly through a new goal request is also included.This is all done without breaking any APIs.Enabled by default.
New Plugins¶
nav2_waypoint_follower
has an action server that takes in a list of waypoints to follow and follow them in order. In some cases we might want robot toperform some tasks/behaviours at arrivals of these waypoints. In order to perform such tasks, a generic plugin interface WaypointTaskExecutor has been added to nav2_core
.Users can inherit from this interface to implement their own plugin to perform more specific tasks at waypoint arrivals for their needs.Several example implementations are included in
nav2_waypoint_follower
. WaitAtWaypoint
and PhotoAtWaypoint
plusings are included innav2_waypoint_follower
as run-time loadable plugins. WaitAtWaypoint
simply lets robot to pause for a specified amount of time in milliseconds, at waypoint arrivals.While
PhotoAtWaypoint
takes photos at waypoint arrivals and saves the taken photos to specified directory, the format for taken photos also can be configured through parameters.All major image formats such as png
, jpeg
, jpg
etc. are supported, the default format is png
.Loading a plugin of this type is done through
nav2_bringup/params/nav2_param.yaml
, by specifying plugin’s name, type and it’s used parameters.Original GitHub tickets:
Costmap Filters¶
A new concept interacting with spatial-dependent objects called “Costmap Filters” appeared in Galactic (more information about this concept could be found at Navigation Concepts page). Costmap filters are acting as a costmap plugins. In order to make a filtered costmap and change robot’s behavior in annotated areas, filter plugin reads the data came from filter mask. Then this data is being linearly transformed into feature map in a filter space. It could be passability of an area, maximum speed limit in m/s, robot desired direction in degrees or anything else. Transformed feature map along with the map/costmap, sensors data and current robot position is used in plugin’s algorithms to make required updates in the resulting costmap and robot’s behavor.
Architecturally, costmap filters consists from
CostmapFilter
class which is a basic class incorporating much common of its inherited filter plugins:Robot Foxy 2 0 Mod
KeepoutFilter
: keep-out/safety zones filter plugin.SpeedFilter
: slow/speed-restricted areas filter.- Preferred lanes in industries. This plugin is covered by
KeepoutFilter
(see discussion in corresponding PR for more details).
Each costmap filter subscribes to filter info topic (publishing by Costmap Filter Info Publisher Server) having all necessary information for loaded costmap filter and filter mask topic.
SpeedFilter
additionally publishes maximum speed restricting messages targeted for a Controller to enforce robot won’t exceed given limit.High-level design of this concept could be found here. The functionality of costmap filters is being disscussed in the ticket #1263 and carried out by PR #1882. The following tutorials: Navigating with Keepout Zones and Navigating with Speed Limits will help to easily get involved with
KeepoutFilter
and SpeedFilter
functionalities.SmacPlanner¶
A new package,
nav2_smac_planner
was added containing 4 or 8 connected 2D A*, and Dubin and Reed-shepp model hybrid-A* with smoothing, multi-resolution query, and more.The
nav2_smac_planner
package contains an optimized templated A* search algorithm used to create multiple A*-based planners for multiple types of robot platforms. We support differential-drive and omni-directional drive robots using the SmacPlanner2D
planner which implements a cost-aware A* planner. We support cars, car-like, and ackermann vehicles using the SmacPlanner
plugin which implements a Hybrid-A* planner. This plugin is also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don’t flip over or otherwise skid out of control.The
SmacPlanner
fully-implements the Hybrid-A* planner as proposed in Practical Search Techniques in Path Planning for Autonomous Driving, including hybrid searching, CG smoothing, analytic expansions and hueristic functions.RegulatedPurePursuitController¶
A new package,
nav2_regulated_pure_pursuit_controller
was added containing a novel varient of the Pure Pursuit algorithm.It also includes configurations to enable Pure Pursuit and Adaptive Pure Pursuit variations as well.This variation is specifically targeting service / industrial robot needs.It regulates the linear velocities by curvature of the path to help reduce overshoot at high speeds around blind corners allowing operations to be much more safe.It also better follows paths than any other variation currently available of Pure Pursuit.It also has heuristics to slow in proximity to other obstacles so that you can slow the robot automatically when nearby potential collisions.It also implements the Adaptive lookahead point features to be scaled by velocities to enable more stable behavior in a larger range of translational speeds.
There’s more this does, that that’s the general information. See the package’s
README
for more.Costmap2D current_
Usage¶
In costmap2D,
current_
was used in ROS1 to represent whether a costmap layer was still enabled and actively processing data. It would be turned to false
only under the situation that the expected update rate of a sensor was not met, so it was getting stale or no messages. It acts as a fail-safe for if a navigation sensor stops publishing.In galactic, that will remain turn, however it will also add additional capabilities. It is also now set to
false
when a costmap is reset due to clearing or other navigation recoveries. That stops the robot from creating a plan or control effort until after the costmap has been updated at least once after a reset. This enables us to make sure we cannot ever create a path or control with a completely empty costmap, potentially leading to collisions, due to clearing the costmap and then immediately requesting an algorithm to run.Standard time units in parameters¶
To follow the SI units outlined in REP-103 to the “T” nodes below were modified to use seconds consistently in every parameter. Under each node name you can see which parameters changed to seconds instead of using milliseconds. Glyphs 2 2 1 (819) download free.
- lifecycle manager
Robot Foxy 2 0 Games
- smac planner
max_planning_time_ms
becamemax_planning_time
in seconds
- map saver
Ray Tracing Parameters¶
Raytracing functionality was modified to include a minimum range parameter from which ray tracing starts to clear obstacles to avoid incorrectly clearing obstacles too close to the robot. This issue was mentioned in ROS Answers. An existing parameter
raytrace_range
was renamed to raytrace_max_range
to reflect the functionality it affects. The renamed parameters and the plugins that they belong to are mentioned below. The changes were introduced in this pull request.- obstacle_layer plugin
raytrace_min_range
controls the minimum range from which ray tracing clears obstacles from the costmapraytrace_max_range
controls the maximum range to which ray tracing clears obstacles from the costmap
- voxel_layer plugin
raytrace_min_range
controls the minimum range from which ray tracing clears obstacles from the costmapraytrace_max_range
controls the maximum range to which ray tracing clears obstacles from the costmap
Obstacle Marking Parameters¶
Obstacle marking was modified to include a minimum range parameter from which obstacles are marked on the costmap to prevent addition of obstacles in the costmap due to noisy and incorrect measurements. This modification is related to the change with the raytracing parameters. The renamed parameters, newly added parameters and the plugins they belong to are given below.
- obstacle_layer plugin
obstacle_min_range
controls the minimum range from which obstacle are marked on the costmapobstacle_max_range
controls the maximum range to which obstacles are marked on the costmap
- voxel_layer plugin
obstacle_min_range
controls the minimum range from which obstacle are marked on the costmapobstacle_max_range
controls the maximum range to which obstacles are marked on the costmap
Recovery Action Changes¶
The recovery actions,
Spin
and BackUp
were modified to correctly return FAILURE
if the recovery action is aborted due to a potential collision. Previously, these actions incorrectly always returned SUCCESS
. Changes to this resulted in downstream action clients, such as the default behavior tree. The changes were introduced in this pull request.Default Behavior Tree Changes¶
The default behavior tree (BT)
navigate_w_replanning_and_recovery.xml
has been updated to allow for replanning in between recoveries. The changes were introduced in this pull request. Additionally, an alternative BT navigate_w_replanning_and_round_robin_recovery.xml
was removed due to similarity with the updated default BT.NavFn Planner Parameters¶
The NavFn Planner has now its 3 parameters reconfigurable at runtime (
tolerance
, use_astar
and allow_unknown
). The changes were introduced in this pull request.New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes¶
The ClearEntireCostmap action node was already implemented but the ClearCostmapExceptRegion and ClearCostmapAroundRobot BT nodes calling the sister services
(local_or_global)_costmap/clear_except_(local_or_global)_costmap
and clear_around_(local_or_global)_costmap
of Costmap 2D were missing, they are now implemented in a similar way. They both expose a reset_distance
input port. See ClearCostmapExceptRegion and ClearCostmapAroundRobot for more. The changes were introduced in this pull request.New Behavior Tree Nodes¶
A new behavior tree node was added and dynamically loadable at run-time using behavior tree cpp v3.See
nav2_behavior_tree
for a full listing, or Navigation Plugins for the current list of behavior tree plugins and their descriptions.These plugins are set as default in the nav2_bt_navigator
but may be overridden by the bt_plugins
parameter to include your specific plugins.Original GitHub tickets:
Please consider providing some quick feedback on how you plan to use MoveIt to help us obtain government funding for further development and prioritize milestones on our roadmap.
Installing MoveIt 2 from source is the first step in contributing new features, optimizations, and bug fixes back to the open source project. Access phone through computer. Thanks for getting involved!
MoveIt is mainly supported on Linux, and the following build instructions support in particular:
Robot Foxy 2 0 2
- Ubuntu 20.04 / ROS 2 Foxy Fitzroy
In the future, we would like to expand our source build instructions to more OS’s, please contribute instruction write-ups to this repo.
These instructions assume you are running on Ubuntu 20.04.
Prerequisites
Install
Install ROS2 Foxy following the installation instructions.Use the desktop installation and don’t forget to source the setup script.
Make sure you have the latest versions of packages installed:
Source installation requires various ROS2 build tools and optionally clang-format:
Create Workspace and Source
Create a colcon workspace:
Robot Foxy 2 0 And Co Updated
Download Source Code
Download the repository and install any dependencies:
Build MoveIt
Configure and build the workspace:
Source the Colcon Workspace
Setup your environment - you can do this every time you work with this particular source install of the code, or you can add this to your
.bashrc
(recommended):Quick Start
Robot Foxy 2 0 Download
We’ve prepared a simple demo setup that you can use for quickly spinning up a simulated robot environment with MoveItCpp.