I am currently trying to simulate my Turtlebot2 in Gazebo using this repo, but am running into the problem that whenever I launch turtlebot2_nav2.launch.py, the map is not shown; also, the localization is inactive. Furthermore, I have to run the nav2 launch file in connection with the slam launch file or otherwise no maps are received at all.
I've tried to run ros2 run map_server map_server map.yaml but it wasn't working.
The launch file looks like this (I have split the launch files in the repo into separate pieces, since I also ran into problems):
import os
from unicodedata import name
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import ReplaceString, RewrittenYaml
from launch.actions import TimerAction
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
slam = LaunchConfiguration('slam')
map_dir = LaunchConfiguration(
'map',
default=os.path.join(
get_package_share_directory('turtlebot2_gazebo'),
'maps',
'map_cafe_23Feb.yaml'))
param_dir = LaunchConfiguration(
'params_file',
default=os.path.join(
get_package_share_directory('turtlebot2_gazebo'),
'config',
'nav2_params.yaml'))
#python_commander_dir = get_package_share_directory('nav2_simple_commander')
rviz_config_file = os.path.join(
get_package_share_directory('turtlebot2_gazebo'), 'rviz', 'nav2.rviz')
#rviz_config_file = LaunchConfiguration('rviz_config')
#composition_config = LaunchConfiguration('composition', default=False)
nav2_launch_file_dir = os.path.join(
get_package_share_directory('nav2_bringup'), 'launch')
#turtlebot2_gazebo_dir = get_package_share_directory('turtlebot2_gazebo')
turtlebot2_world_launch = os.path.join(get_package_share_directory(
'turtlebot2_gazebo'), 'launch', 'turtlebot2_world.launch.py')
#namespaced_params = ReplaceString(
# source_file=param_dir, replacements={"/namespace": ("/", namespace)}
#)
#namespaced_rviz_config_file = ReplaceString(
# source_file=rviz_config_file, replacements={"/tb2": ("/", namespace)})
turtlebot2_gazebo_package = FindPackageShare(
package="turtlebot2_gazebo").find("turtlebot2_gazebo")
return LaunchDescription([
DeclareLaunchArgument(
'map',
default_value=map_dir,
description='Full path to map file to load'),
DeclareLaunchArgument(
'params_file',
default_value=param_dir,
description='Full path to param file to load'),
DeclareLaunchArgument(
'use_sim_time',
default_value='true',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'slam', default_value='True',
description='Whether run a SLAM'
),
#IncludeLaunchDescription(
# PythonLaunchDescriptionSource([turtlebot2_world_launch]),
# launch_arguments={'use_sim_time': use_sim_time}.items()
#),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[nav2_launch_file_dir, '/bringup_launch.py']),
launch_arguments={
'map': map_dir,
'use_sim_time': use_sim_time,
'slam': slam,
'params_file': param_dir}.items(),
),
#IncludeLaunchDescription(
#PythonLaunchDescriptionSource(
# os.path.join(turtlebot2_gazebo_package, "launch",
# "turtlebot2_spawn_robot.launch.py")
#),
#launch_arguments={'use_sim_time': use_sim_time}.items()
#),
Node(
package='rviz2',
executable='rviz2',
arguments=['-d', rviz_config_file],
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
),
])
The nav2_params.yaml file looks like this:
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
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
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
scan_topic: /scan
robot_model_type: "nav2_amcl::DifferentialMotionModel"
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_footprint
odom_topic: odom
default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
bt_loop_duration: 10
default_server_timeout: 20
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
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_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_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_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_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: True
controller_server:
ros__parameters:
use_sim_time: True
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 parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
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
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: True
rolling_window: true
width: 5
height: 5
resolution: 0.05
robot_radius: 0.1
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 1.0
inflation_radius: 0.55
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: /scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: /scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
use_sim_time: True
robot_radius: 0.1
resolution: 0.05
track_unknown_space: true
plugins:
["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: /scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: /scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "/home/jetracer/fiver_ws/src/TurtleBot2-on-ROS2/turtlebot2_gazebo/maps/map_cafe_23Feb.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_footprint
transform_timeout: 0.1
use_sim_time: True
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
loop_rate: 2000
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
smoother_server:
ros__parameters:
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
collision_monitor:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel"
state_topic: "collision_monitor_state"
transform_tolerance: 0.2
source_timeout: 1.0
base_shift_correction: True
stop_pub_timeout: 2.0
# Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
# and robot footprint for "approach" action type.
polygons: ["FootprintApproach"]
FootprintApproach:
type: "polygon"
action_type: "approach"
footprint_topic: "/local_costmap/published_footprint"
time_before_collision: 1.2
simulation_time_step: 0.1
min_points: 6
visualize: False
enabled: True
observation_sources: ["scan"]
scan:
type: "scan"
topic: "scan"
min_height: 0.15
max_height: 2.0
enabled: True
behavior_server:
ros__parameters:
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_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"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_footprint
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
And here is a picture of Rviz2 when the nav2_launch as well as all the other launches:
