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Gps waypoint follower demo (#70)
* update params for the unit testing * python script wip * WIP: files changes for tutorial writeup * format, urdf & other PR comments * comments on parameters changes * git ignore pycache folders * Update simulation files to nav2's * mapviz & rviz conditional launch * Add simple gps waypoint logging node * update button name * add yaw units * Take in wps file in logged navigator * Update turtlebot urdf * Update nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change base link for base footprint --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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‎.gitignore‎

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# Python artifacts
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__pycache__/

‎nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml‎

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waypoints:
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- latitude: 38.161491054181276
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longitude: -122.45464431092836
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yaw: 0.0
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- latitude: 38.161587576524845
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longitude: -122.4547994038464
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yaw: 1.57
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- latitude: 38.161708040316405
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longitude: -122.45499603070951
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yaw: 3.14
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- latitude: 38.16180165780551
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longitude: -122.45515645020123
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yaw: 4.71

‎nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml‎

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# For parameter descriptions, please refer to the template parameter files for each node.
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ekf_filter_node_odom:
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ros__parameters:
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frequency: 30.0
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two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
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print_diagnostics: true
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debug: false
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publish_tf: true
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map_frame: map
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odom_frame: odom
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base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
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world_frame: odom
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odom0: odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, true,
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false, false, true,
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false, false, false]
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odom0_queue_size: 10
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odom0_differential: false
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odom0_relative: false
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imu0: imu
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imu0_config: [false, false, false,
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false, false, true,
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false, false, false,
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false, false, false,
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false, false, false]
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imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
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imu0_relative: false
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imu0_queue_size: 10
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imu0_remove_gravitational_acceleration: true
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use_control: false
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process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3]
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ekf_filter_node_map:
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ros__parameters:
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frequency: 30.0
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two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
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print_diagnostics: true
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debug: false
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publish_tf: true
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map_frame: map
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odom_frame: odom
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base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
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world_frame: map
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odom0: odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, true,
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false, false, true,
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false, false, false]
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odom0_queue_size: 10
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odom0_differential: false
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odom0_relative: false
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odom1: odometry/gps
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odom1_config: [true, true, false,
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false, false, false,
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false, false, false,
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false, false, false,
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false, false, false]
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odom1_queue_size: 10
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odom1_differential: false
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odom1_relative: false
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imu0: imu
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imu0_config: [false, false, false,
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false, false, true,
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false, false, false,
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false, false, false,
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false, false, false]
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imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
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imu0_relative: false
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imu0_queue_size: 10
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imu0_remove_gravitational_acceleration: true
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use_control: false
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process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3]
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navsat_transform:
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ros__parameters:
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frequency: 30.0
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delay: 3.0
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magnetic_declination_radians: 0.0
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yaw_offset: 0.0
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zero_altitude: true
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broadcast_utm_transform: true
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publish_filtered_gps: true
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use_odometry_yaw: true
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wait_for_datum: false

‎nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc‎

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capture_directory: "~"
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fixed_frame: map
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target_frame: map
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fix_orientation: false
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rotate_90: false
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enable_antialiasing: true
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show_displays: true
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show_status_bar: true
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show_capture_tools: true
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window_width: 1920
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window_height: 1016
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view_scale: 0.564473748
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offset_x: -55.0469894
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offset_y: -4.65194941
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use_latest_transforms: true
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background: "#a0a0a4"
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image_transport: raw
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displays:
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- type: mapviz_plugins/tile_map
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name: new display
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config:
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visible: true
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collapsed: false
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custom_sources:
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[]
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bing_api_key: ""
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source: Bing Maps (terrain)
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- type: mapviz_plugins/point_click_publisher
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name: new display
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config:
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visible: true
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collapsed: false
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topic: clicked_point
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output_frame: wgs84
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- type: mapviz_plugins/tf_frame
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name: new display
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config:
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visible: true
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collapsed: false
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frame: base_link
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color: "#00ff00"
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draw_style: arrows
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position_tolerance: 0
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buffer_size: 1
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static_arrow_sizes: true
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arrow_size: 53
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- type: mapviz_plugins/navsat
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name: new display
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config:
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visible: true
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collapsed: false
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topic: /gps/fix
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color: "#55aaff"
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draw_style: points
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position_tolerance: 0
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buffer_size: 1

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