HiepLM/AMR_T800
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This commit is contained in:
HiepLM
2026-01-12 15:49:52 +07:00
parent bff56e85f1
commit 78b11b60fe
11 changed files with 594 additions and 27 deletions
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1
Controllers/Packages/amr_startup/config/costmap_global_params_plugins_no_virtual_walls.yaml
View File

@@ -1,4 +1,5 @@
global_costmap:
library_path: libplugins
frame_id: map
plugins:
- {name: navigation_map, type: "costmap_2d::StaticLayer" }

7
Controllers/Packages/amr_startup/config/costmap_local_params_plugins_no_virtual_walls.yaml
View File

@@ -1,8 +1,9 @@
local_costmap:
frame_id: odom
library_path: libplugins
global_frame: odom
plugins:
- {name: obstacles, type: "costmap_2d::VoxelLayer" }
- {name: inflation, type: "costmap_2d::InflationLayer" }
- {name: obstacles, type: "VoxelLayer" }
- {name: inflation, type: "InflationLayer" }
obstacles:
enabled: true
footprint_clearing_enabled: true

4
Controllers/Packages/amr_startup/config/mqtt_general.yaml
View File

@@ -1,8 +1,8 @@
MQTT:
Name: T801
Name: T800
Host: 172.20.235.170
Port: 1885
Client_ID: T801
Client_ID: T800
Username: robotics
Password: robotics
Keep_Alive: 60

19
Controllers/Packages/amr_startup/rviz/navigation.rviz
View File

@@ -7,11 +7,10 @@ Panels:
- /Global Options1
- /Grid1/Offset1
- /TF1/Frames1
- /Global Map1/Straight Path1
- /Local Map1
- /Global Map1
- /Local Map1/Costmap1
- /Local Map1/Trajectory1
- /Local Map1/Trajectory1/transform plan1
- /Pose1
Splitter Ratio: 0.37295082211494446
Tree Height: 422
- Class: rviz/Selection
@@ -260,7 +259,7 @@ Visualization Manager:
Draw Behind: true
Enabled: true
Name: Costmap
Topic: /amr_node/global_costmap/costmap
Topic: /global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -294,7 +293,7 @@ Visualization Manager:
Enabled: true
Name: Footprint
Queue Size: 10
Topic: move_base_node/global_costmap/footprint
Topic: /global_costmap/costmap/footprint
Unreliable: false
Value: true
- Alpha: 1
@@ -379,7 +378,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Costmap
Topic: /amr_node/local_costmap/costmap
Topic: /local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -607,7 +606,7 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: -359.3964538574219
Scale: -168.75274658203125
Target Frame: base_link
X: -0.49439820647239685
Y: 0.196189746260643
@@ -632,7 +631,7 @@ Window Geometry:
Height: 573
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000001e3fc0200000008fb000000100044006900730070006c006100790073000000003d000001e3000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d0065000000000000000752000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000418000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000024f000001e3fc0200000008fb000000100044006900730070006c006100790073010000003d000001e3000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000001e0000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -641,6 +640,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1048
Width: 1077
X: 0
Y: 21
Y: 0