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HiepLM
2026-05-28 10:29:58 +07:00
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87
simulators/sim_env/launch/app/environment_single.launch.xml Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief Single robot startup file. *
* @author Haodong Yang *
* @version 1.0.2 *
* @date 2022.07.08 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- robot's type -->
<arg name="robot" default="turtlebot3_waffle" />
<!-- robot's namespace -->
<arg name="robot_namespace" />
<!-- whether use namespace or not -->
<arg name="start_ns" default="false" />
<!-- global path planner name -->
<arg name="global_planner" default="astar"/>
<!-- local planner name -->
<arg name="local_planner" default="dwa" />
<!-- initial pose -->
<arg name="robot_x" />
<arg name="robot_y" />
<arg name="robot_z" />
<arg name="robot_yaw" />
<!-- multi -->
<group ns = "$(arg robot_namespace)" if="$(arg start_ns)">
<param name="tf_prefix" value="$(arg robot_namespace)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
<!-- Gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
-model $(arg robot_namespace) -param robot_description"/>
<!-- AMCL定位 -->
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot_x" value="$(arg robot_x)" />
<arg name="robot_y" value="$(arg robot_y)" />
<arg name="robot_z" value="$(arg robot_z)" />
</include>
<!-- MoveBase -->
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot" value="$(arg robot)" />
<arg name="global_planner" value="$(arg global_planner)" />
<arg name="local_planner" value="$(arg local_planner)" />
</include>
</group>
<!-- single -->
<group unless="$(arg start_ns)">
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
<!-- Gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
-model $(arg robot) -param robot_description"/>
<!-- AMCL -->
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot_x" value="$(arg robot_x)" />
<arg name="robot_y" value="$(arg robot_y)" />
<arg name="robot_z" value="$(arg robot_z)" />
</include>
<!-- MoveBase-->
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot" value="$(arg robot)" />
<arg name="global_planner" value="$(arg global_planner)" />
<arg name="local_planner" value="$(arg local_planner)" />
</include>
</group>
</launch>

51
simulators/sim_env/launch/config.launch Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief Launch gazebo simulation with world and multi robots. *
* @author Haodong Yang *
* @version 1.0.1 *
* @date 2022.06.30 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- Select the robots , the world and the map -->
<arg name="world" default="warehouse" doc="model type [warehouse, workshop, turtlebot3_house, ...]"/>
<arg name="map" default="warehouse" doc="map type [warehouse, workshop, turtlebot3_house, ...]" />
<!-- Select the number of robots -->
<arg name="robot_number" default="1" />
<!-- Tune some other parameters -->
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<!-- Start Gazebo with a specific world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" unless="$(eval arg('world') == '')">
<arg name="world_name" value="$(find sim_env)/worlds/$(arg world).world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- start map-server and publish user map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find sim_env)/maps/$(arg map)/$(arg map).yaml" unless="$(eval arg('map') == '')"/>
<!-- Spawn multi robots with specific pose, and add robot control and state publisher. -->
<!-- Remember to change robot initial poses when using different world in start_robots.launch.xml. -->
<include file="$(find sim_env)/launch/include/robots/start_robots.launch.xml" />
<!-- Open Rviz to visualize information -->
<arg name="rviz_file" default="" />
<node pkg="dynamic_rviz_config" type="rviz_generate.py" name="rosapp_rviz" args="$(arg robot_number)" output="screen"
if="$(eval arg('rviz_file') == '')" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find sim_env)/rviz/$(arg rviz_file)"
unless="$(eval arg('rviz_file') == '')"/>
</launch>

35
simulators/sim_env/launch/include/location_methods/amcl.launch.xml Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief Amcl method module parameter configure. *
* @author Haodong Yang, *
* @version 1.0.0 *
* @date 2022.06.30 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- 机器人命名空间 -->
<arg name="robot_namespace" />
<!-- 是否启用命名空间 -->
<arg name="start_ns" default="false" />
<!-- 机器人属性 -->
<arg name="robot_x" />
<arg name="robot_y" />
<arg name="robot_z" />
<node pkg="amcl" type="amcl" name="amcl">
<!-- 加载初始化默认参数 -->
<rosparam file="$(find sim_env)/config/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="$(arg robot_x)"/>
<param name="initial_pose_y" value="$(arg robot_y)"/>
<param name="initial_pose_z" value="$(arg robot_z)"/>
<!-- 为坐标系添加命名空间 -->
<param name="odom_frame_id" value="$(arg robot_namespace)/odom" if="$(arg start_ns)"/>
<param name="base_frame_id" value="$(arg robot_namespace)/base_footprint" if="$(arg start_ns)"/>
<remap from="static_map" to="/static_map"/>
</node>
</launch>

130
simulators/sim_env/launch/include/navigation/move_base.launch.xml Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief move base module parameter configure. *
* @author Haodong Yang, *
* @version 1.0.0 *
* @date 2022.06.30 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- robot's namespace -->
<arg name="robot_namespace" />
<!-- whether use namespace or not -->
<arg name="start_ns" default="false" />
<!-- robot's type -->
<arg name="robot" default="turtlebot3_waffle" />
<!-- global path planner name -->
<arg name="global_planner" default="a_star" />
<!-- local planner name -->
<arg name="local_planner" default="dwa" />
<!-- move base module -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<!-- global planner plugin -->
<!-- graph search -->
<param name="base_global_planner" value="graph_planner/GraphPlanner"
if="$(eval arg('global_planner')=='a_star'
or arg('global_planner')=='jps'
or arg('global_planner')=='gbfs'
or arg('global_planner')=='dijkstra'
or arg('global_planner')=='d_star'
or arg('global_planner')=='lpa_star'
or arg('global_planner')=='voronoi'
or arg('global_planner')=='d_star_lite')" />
<param name="GraphPlanner/planner_name" value="$(arg global_planner)"
if="$(eval arg('global_planner')=='a_star'
or arg('global_planner')=='jps'
or arg('global_planner')=='gbfs'
or arg('global_planner')=='dijkstra'
or arg('global_planner')=='d_star'
or arg('global_planner')=='lpa_star'
or arg('global_planner')=='voronoi'
or arg('global_planner')=='d_star_lite')" />
<rosparam file="$(find sim_env)/config/planner/graph_planner_params.yaml" command="load"
if="$(eval arg('global_planner')=='a_star'
or arg('global_planner')=='jps'
or arg('global_planner')=='gbfs'
or arg('global_planner')=='dijkstra'
or arg('global_planner')=='d_star'
or arg('global_planner')=='lpa_star'
or arg('global_planner')=='voronoi'
or arg('global_planner')=='d_star_lite')"/>
<!-- sample search -->
<param name="base_global_planner" value="sample_planner/SamplePlanner"
if="$(eval arg('global_planner')=='rrt'
or arg('global_planner')=='rrt_star'
or arg('global_planner')=='informed_rrt'
or arg('global_planner')=='rrt_connect')" />
<param name="SamplePlanner/planner_name" value="$(arg global_planner)"
if="$(eval arg('global_planner')=='rrt'
or arg('global_planner')=='rrt_star'
or arg('global_planner')=='informed_rrt'
or arg('global_planner')=='rrt_connect')" />
<rosparam file="$(find sim_env)/config/planner/sample_planner_params.yaml" command="load"
if="$(eval arg('global_planner')=='rrt'
or arg('global_planner')=='rrt_star'
or arg('global_planner')=='informed_rrt'
or arg('global_planner')=='rrt_connect')"/>
<!-- evolutionary search -->
<param name="base_global_planner" value="evolutionary_planner/EvolutionaryPlanner"
if="$(eval arg('global_planner')=='aco'
or arg('global_planner')=='ga')" />
<param name="EvolutionaryPlanner/planner_name" value="$(arg global_planner)"
if="$(eval arg('global_planner')=='aco'
or arg('global_planner')=='ga')" />
<rosparam file="$(find sim_env)/config/planner/evolutionary_planner_params.yaml" command="load"
if="$(eval arg('global_planner')=='aco'
or arg('global_planner')=='ga')"/>
<!-- local planner plugin -->
<param name="base_local_planner" value="dwa_planner/DWAPlanner"
if="$(eval arg('local_planner')=='dwa')" />
<rosparam file="$(find sim_env)/config/planner/dwa_planner_params.yaml" command="load"
if="$(eval arg('local_planner')=='dwa')" />
<param name="base_local_planner" value="pid_planner/PIDPlanner"
if="$(eval arg('local_planner')=='pid')" />
<rosparam file="$(find sim_env)/config/planner/pid_planner_params.yaml" command="load"
if="$(eval arg('local_planner')=='pid')" />
<!-- loading navigation parameters -->
<rosparam
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
+ arg('robot') + '.yaml')"
command="load" ns="global_costmap" />
<rosparam
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
+ arg('robot') + '.yaml')"
command="load" ns="local_costmap" />
<rosparam file="$(find sim_env)/config/costmap/local_costmap_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/costmap/global_costmap_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/move_base_params.yaml" command="load" />
<!-- set coordinate transformation namespace -->
<param name="global_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
if="$(arg start_ns)" />
<param name="global_costmap/obstacle_layer/scan/sensor_frame"
value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
<param name="global_costmap/global_frame" value="map" />
<param name="global_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
if="$(arg start_ns)" />
<param name="local_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
if="$(arg start_ns)" />
<param name="local_costmap/obstacle_layer/scan/sensor_frame"
value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
<param name="local_costmap/global_frame" value="$(arg robot_namespace)/odom"
if="$(arg start_ns)" />
<param name="local_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
if="$(arg start_ns)" />
<!-- centralize map -->
<remap from="map" to="/map" />
</node>
</launch>

25
simulators/sim_env/launch/include/robots/start_robots.launch.xml Executable file
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<?xml version='1.0' encoding='utf-8'?>
<launch>
<arg name="robot_number" default="1" />
<arg name="robot1_type" value="turtlebot3_waffle" />
<arg name="robot1_global_planner" value="d_star" />
<arg name="robot1_local_planner" value="dwa" />
<arg name="robot1_x_pos" value="0.0" />
<arg name="robot1_y_pos" value="0.0" />
<arg name="robot1_z_pos" value="0.0" />
<arg name="robot1_yaw" value="0.0" />
<include file="$(find sim_env)/launch/app/environment_single.launch.xml">
<arg name="robot" value="$(eval arg('robot' + str(arg('robot_number')) + '_type'))" />
<arg name="global_planner" value="$(eval arg('robot' + str(arg('robot_number')) + '_global_planner'))" />
<arg name="local_planner" value="$(eval arg('robot' + str(arg('robot_number')) + '_local_planner'))" />
<arg name="robot_namespace" value="robot$(arg robot_number)" />
<arg name="start_ns" value="false" />
<arg name="robot_x" value="$(eval arg('robot' + str(arg('robot_number')) + '_x_pos'))" />
<arg name="robot_y" value="$(eval arg('robot' + str(arg('robot_number')) + '_y_pos'))" />
<arg name="robot_z" value="$(eval arg('robot' + str(arg('robot_number')) + '_z_pos'))" />
<arg name="robot_yaw" value="$(eval arg('robot' + str(arg('robot_number')) + '_yaw'))" />
</include>
<include file="$(find sim_env)/launch/include/robots/start_robots.launch.xml" if="$(eval arg('robot_number') &gt; 1)">
<arg name="robot_number" value="$(eval arg('robot_number') - 1)" />
</include>
</launch>

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simulators/sim_env/launch/main.launch Executable file
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<?xml version='1.0' encoding='utf-8'?>
<launch>
<arg name="world_parameter" value="warehouse_with_pedestrians" />
<node pkg="dynamic_xml_config" type="obstacles_generate_ros.py" name="obstacles_generate" args="user_config.yaml" output="screen" />
<include file="$(find sim_env)/launch/config.launch">
<arg name="world" value="$(arg world_parameter)" />
<arg name="map" value="warehouse" />
<arg name="robot_number" value="1" />
<arg name="rviz_file" value="sim_env.rviz" />
</include>
</launch>

103
simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch Executable file
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<launch>
<!-- Planner -->
<arg name="global_planner" default="astar" />
<arg name="local_planner" default="pid" />
<!-- Init pose -->
<arg name="robot_x" value="0.0" />
<arg name="robot_y" value="0.0" />
<arg name="robot_z" value="0.0" />
<arg name="robot_yaw" value="0.0" />
<arg name="robot" default="turtlebot3_waffle" />
<!-- Map file TODO -->
<arg name="map" default="warehouse" doc="map type [warehouse, workshop, turtlebot3_house, ...]" />
<!-- Load map -->
<node name="map_server" pkg="map_server" type="map_server"
args="$(find sim_env)/maps/$(arg map)/$(arg map).yaml" />
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">
<rosparam file="$(find sim_env)/config/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="$(arg robot_x)" />
<param name="initial_pose_y" value="$(arg robot_y)" />
<param name="initial_pose_z" value="$(arg robot_z)" />
<remap from="static_map" to="/static_map" />
</node>
<!-- Move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<!-- global planner plugin -->
<!-- graph search -->
<param name="base_global_planner" value="graph_planner/GraphPlanner"
if="$(eval arg('global_planner')=='a_star'
or arg('global_planner')=='jps'
or arg('global_planner')=='gbfs'
or arg('global_planner')=='dijkstra'
or arg('global_planner')=='d_star'
or arg('global_planner')=='lpa_star'
or arg('global_planner')=='d_star_lite')" />
<param name="GraphPlanner/planner_name" value="$(arg global_planner)"
if="$(eval arg('global_planner')=='a_star'
or arg('global_planner')=='jps'
or arg('global_planner')=='gbfs'
or arg('global_planner')=='dijkstra'
or arg('global_planner')=='d_star'
or arg('global_planner')=='lpa_star'
or arg('global_planner')=='d_star_lite')" />
<!-- sample search -->
<param name="base_global_planner" value="sample_planner/SamplePlanner"
if="$(eval arg('global_planner')=='rrt'
or arg('global_planner')=='rrt_star'
or arg('global_planner')=='informed_rrt'
or arg('global_planner')=='rrt_connect')" />
<param name="SamplePlanner/planner_name" value="$(arg global_planner)"
if="$(eval arg('global_planner')=='rrt'
or arg('global_planner')=='rrt_star'
or arg('global_planner')=='informed_rrt'
or arg('global_planner')=='rrt_connect')" />
<!-- local planner plugin -->
<param name="base_local_planner" value="dwa_planner/DWAPlanner"
if="$(eval arg('local_planner')=='dwa')" />
<rosparam file="$(find sim_env)/config/planner/dwa_planner_params.yaml" command="load"
if="$(eval arg('local_planner')=='dwa')" />
<param name="base_local_planner" value="pid_planner/PIDPlanner"
if="$(eval arg('local_planner')=='pid')" />
<rosparam file="$(find sim_env)/config/planner/pid_planner_params.yaml" command="load"
if="$(eval arg('local_planner')=='pid')" />
<!-- loading navigation parameters -->
<rosparam
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
+ arg('robot') + '.yaml')"
command="load" ns="global_costmap" />
<rosparam
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
+ arg('robot') + '.yaml')"
command="load" ns="local_costmap" />
<rosparam file="$(find sim_env)/config/costmap/local_costmap_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/costmap/global_costmap_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/move_base_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/planner/graph_planner_params.yaml" command="load" />
<rosparam file="$(find sim_env)/config/planner/sample_planner_params.yaml" command="load" />
<!-- set coordinate transformation namespace -->
<param name="global_costmap/global_frame" value="map" />
<!-- centralize map -->
<remap from="map" to="/map" />
<!-- command -->
<remap from="/cmd_vel" to="/" />
</node>
<!-- Rviz -->
<node name="rviz" pkg="rviz" type="rviz" />
<!-- args="-d $(find sim_env)/rviz/$(arg rviz_file)" -->
</launch>