125 lines
5.4 KiB
Markdown
Executable File
125 lines
5.4 KiB
Markdown
Executable File
# Example dynamic_logistics_warehouse
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-----------------------------------------------
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* Terminal 1 :
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```bash
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roslaunch mir_gazebo mir_empty_world.launch \
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world_name:=$(rospack find dynamic_logistics_warehouse)/worlds/warehouse.world robot_x:=9.0 robot_y:=25.0 2> >(grep -v TF_REPEATED_DATA buffer_core)
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```
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* Terminal 2 :
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```bash
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### mapping:
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roslaunch mir_navigation hector_mapping.launch
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```
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```bash
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### localization:
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roslaunch mir_navigation amcl.launch initial_pose_x:=0.00 initial_pose_y:=0.00 \ initial_pose_a:=0.0 2> >(grep -v TF_REPEATED_DATA buffer_core)
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```
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* Terminal 3 :
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```bash
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rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core)
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```
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* Terminal 4 :
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```bash
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# navigation:
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roslaunch mir_navigation start_planner.launch \
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map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/warehouse.yaml \
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empty_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/map_empty.yaml \
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virtual_walls_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/virtual_walls.yaml \
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with_virtual_walls:=true \
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preferred_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/preferred_zones.yaml \
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with_preferred_zones:=true \
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unpreferred_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/unpreferred_zones.yaml \
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with_unpreferred_zones:=true \
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critical_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/critical_zones.yaml \
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with_critical_zones:=true \
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direction_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/direction_zones.yaml \
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with_direction_zones:=true 2> >(grep -v TF_REPEATED_DATA buffer_core)
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```
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```bash
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roslaunch mir_navigation move_base.xml with_virtual_walls:=false
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```
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# Default
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```bash
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### gazebo:
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roslaunch mir_gazebo mir_maze_world.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)
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rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI
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### localization:
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roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 2> >(grep -v TF_REPEATED_DATA buffer_core)
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# or alternatively: roslaunch mir_gazebo fake_localization.launch delta_x:=-10.0 delta_y:=-10.0
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# navigation:
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roslaunch mir_navigation start_planner.launch \
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map_file:=$(rospack find mir_gazebo)/maps/maze.yaml
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roslaunch mir_navigation start_planner.launch \
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map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \
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virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \
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with_virtual_walls:=true \
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preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \
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with_preferred_zones:=true \
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unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \
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with_unpreferred_zones:=true \
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critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \
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with_critical_zones:=true \
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direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \
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with_direction_zones:=true 2> >(grep -v TF_REPEATED_DATA buffer_core)
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# rviz
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rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core)
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```
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# Multilpe mir
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# start Gazebo + first MiR
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roslaunch mir_gazebo mir_maze_world.launch tf_prefix:=mir
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# first MiR: start localization, navigation + rviz
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roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 tf_prefix:=mir
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roslaunch mir_navigation start_planner.launch \
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map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \
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virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \
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with_virtual_walls:=true \
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preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \
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with_preferred_zones:=true \
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unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \
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with_unpreferred_zones:=true \
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critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \
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with_critical_zones:=true \
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direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \
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with_direction_zones:=true prefix:=mir/ 2> >(grep -v TF_REPEATED_DATA buffer_core)
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ROS_NAMESPACE=mir rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core)
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# spawn second MiR into Gazebo
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roslaunch mir_gazebo mir_gazebo_common.launch robot_x:=-2 robot_y:=-2 tf_prefix:=mir2 model_name:=mir2 __ns:=mir2
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# second MiR: start localization, navigation + rviz
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roslaunch mir_navigation amcl.launch initial_pose_x:=8.0 initial_pose_y:=8.0 tf_prefix:=mir2
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roslaunch mir_navigation start_planner.launch \
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map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \
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virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \
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with_virtual_walls:=true \
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preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \
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with_preferred_zones:=true \
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unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \
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with_unpreferred_zones:=true \
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critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \
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with_critical_zones:=true \
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direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \
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with_direction_zones:=true prefix:=mir2/ 2> >(grep -v TF_REPEATED_DATA buffer_core)
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ROS_NAMESPACE=mir2 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core) |