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Commit cff31431 authored by Lucas Pina's avatar Lucas Pina :skull_crossbones:
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Get url script and Enable Planner plugin

parent f899f63e
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with 96 additions and 16 deletions
+96 -16
git_repos_urls.txt 0 → 100644
View file @ cff31431
git@gitlab.ingeniarius.pt:ingeniarius_common/localization/lio_sam_tf_transform
git@gitlab.ingeniarius.pt:ingeniarius_common/ros_msgs/multilateration_msgs.git
git@gitlab.ingeniarius.pt:ingeniarius_common/perception/lio-sam.git
https://github.com/ros-planning/navigation_msgs.git
https://github.com/FlexBE/flexbe_app.git
git@gitlab.ingeniarius.pt:ingeniarius_common/flexbe/generic_flexbe_states.git
git@gitlab.ingeniarius.pt:ingeniarius_common/ros_msgs/ingeniarius_msgs.git
git@gitlab.ingeniarius.pt:fortis/fortis_ros/ds5_ros.git
git@gitlab.ingeniarius.pt:ingeniarius_common/digital_twin/headquarter_unity.git
git@gitlab.ingeniarius.pt:ingeniarius_common/digital_twin/world_3d_models.git
git@gitlab.ingeniarius.pt:semfire_ing_uc/navigation/ranger_navigation.git
git@gitlab.ingeniarius.pt:fortis/fortis_ros/fortis_msgs.git
https://github.com/joao-aguizo/flexbe_behavior_engine.git
git@gitlab.ingeniarius.pt:ingeniarius_common/navigation/rrt_exploration_hassan.git
git@gitlab.ingeniarius.pt:stop_2.0/ros_general/stop_teleoperation.git
https://github.com/ZJULiXiaoyang/depth2pointCloud.git
git@gitlab.ingeniarius.pt:ingeniarius_common/navigation/ingeniarius_navigation.git
https://github.com/naturerobots/mbf_recovery_behaviors.git
git@gitlab.ingeniarius.pt:ingeniarius_common/utilities/pypc2map.git
https://github.com/DFKI-NI/rospy_message_converter.git
git@gitlab.ingeniarius.pt:fortis/fortis_ros/fortis_behaviors.git
git@gitlab.ingeniarius.pt:ingeniarius_common/localization/robot_localization.git
https://github.com/magazino/move_base_flex.git
ros_config/nav_move_base_flex/mbf_costmap_nav.yaml
View file @ cff31431
......@@ -2,7 +2,7 @@
### Static Parameters ###
#########################
robot_frame: base_link # the frame of the robot, which will be used to determine its position
map_frame: map # the global frame the robot is controlling in
map_frame: map # the global frame the robot is controlling in
global_frame: map
# force_stop_at_goal: false # force move base flex to stop the robot once the goal is reached
# force_stop_on_cancel: false # force move base flex to stop the robot on navigation cancellation
......@@ -14,7 +14,7 @@ global_frame: map
#################################################
### Dynamically Reconfigurable MBF Parameters ###
#################################################
# Planners
# Planners
planners: # global planner, e.g. navfn/NavfnROS
- name: GlobalPlanner
type: global_planner/GlobalPlanner
......@@ -27,10 +27,10 @@ planner_patience: $(arg planner_patience) # how long the planner will wait in se
controllers: # list of controller, e.g. eband_local_planner/EBandPlannerROS
- name: TebLocalPlannerROS
type: teb_local_planner/TebLocalPlannerROS
# - name: GoToPlanner
# type: teb_local_planner/TebLocalPlannerROS
# - name: UnloadPallet
# type: teb_local_planner/TebLocalPlannerROS
- name: GoToPlanner
type: teb_local_planner/TebLocalPlannerROS
- name: UnloadPallet
type: teb_local_planner/TebLocalPlannerROS
controller_frequency: $(arg controller_frequency) # the rate in Hz at which to run the control loop and send velocity commands to the base
controller_max_retries: $(arg controller_max_retries) # how many times we will recall the controller in an attempt to find a valid command before giving up
......@@ -57,14 +57,14 @@ shutdown_costmaps_delay: 1.0 # how long in seconds to wait after last action bef
# - controller_frequency can be set to a lower value (than the 10.0 as default) to prevent
# an high cmd_vel rate, which caused the robot to some discontinuous movements.
#
# - planner_frequency can be set to 0.0 in order to make the global_planner to run only when
# - planner_frequency can be set to 0.0 in order to make the global_planner to run only when
# a new goal is received(it helps the robot to ignore drift during execution).
#
# - legacy "max_planning_retries" = mbf "planner_max_retries".
#
# - oscillation_timeout set to 0.0 in order to avoid the robot to get stuck when some oscillations are present.
#
# - planner_max_retries, controller_max_retries and recovery_enabled, these parameters were never set explicitly by us
# - planner_max_retries, controller_max_retries and recovery_enabled, these parameters were never set explicitly by us
# (source: https://wiki.ros.org/move_base_flex#Navigation_Servers and https://uos.github.io/mbf_docs/tutorials/beginner/parameters/mbf_parameters/)
#
# - shutdown_costmaps and shutdown_costmaps_delay, never set explecitily set by us before. Allow to shutdown costmaps,
......
ros_config/rviz_config/bobcatupdated.rviz
View file @ cff31431
......@@ -507,6 +507,23 @@ Visualization Manager:
Value: true
Enabled: true
Name: Teb
- Alpha: 1
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /loader/ugv1/move_base_flex/GoToPlanner/teb_poses
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
......@@ -535,7 +552,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 53.84626770019531
Distance: 6.128596782684326
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
......@@ -543,17 +560,17 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -10.916234970092773
Y: -2.295846462249756
Z: 6.740077018737793
X: -9.782155990600586
Y: 0.13599446415901184
Z: 5.189344882965088
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5297971367835999
Pitch: 0.8297969102859497
Target Frame: <Fixed Frame>
Yaw: 3.2815351486206055
Yaw: 2.021530866622925
Saved: ~
Window Geometry:
Displays:
......
tmux/collect_git_urls.py 0 → 100755
View file @ cff31431
import os
import subprocess
def get_git_remote_url(repo_path):
"""Return the 'origin' remote URL of a Git repository."""
try:
url = subprocess.check_output(["git", "-C", repo_path, "config", "--get", "remote.origin.url"],
stderr=subprocess.STDOUT).decode().strip()
return url
except subprocess.CalledProcessError:
return None
if __name__ == "__main__":
src_dir = "./../src" # You can adjust this path if needed
output_file = "git_repos_urls.txt"
# Gather URLs from all git repositories inside src
urls = []
for root, dirs, files in os.walk(src_dir):
if ".git" in dirs:
repo_url = get_git_remote_url(root)
if repo_url:
urls.append(repo_url)
# Write all URLs to a text file
with open(output_file, "w") as f:
for url in urls:
f.write(url + "\n")
print(f"Collected {len(urls)} URLs and saved to {output_file}.")
tmux/execute_sim.sh
View file @ cff31431
......@@ -94,13 +94,21 @@ input=(
roslaunch $ROS_LAUNCH_PATH/nav_pypc2map.launch
'
'MoveBaseFlex' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/nav_move_base_flex.launch
'
'FlexBe' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/dm_flexbe.launch flexbe_mode:=0
'
'GoTo' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/dm_flexbe_as_nav.launch
'
'Load' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/dm_flexbe_as_task.launch
'
'Unload' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/dm_flexbe_as_unload.launch
'
'WPN' 'waitForRos; roslaunch $ROS_LAUNCH_PATH/nav_wpn.launch
'
'HQScene' 'waitForRos; roslaunch unity_hq_scene unity_hqsimulation_scene.launch
'
'EchoTopics' 'waitForRos; rostopic echo /loader/ugv1/imu/wit/imu
'
# 'EchoTopics' 'waitForRos; rostopic echo /loader/ugv1/imu/wit/imu
# '
'HzTopics' 'waitForRos; rostopic hz /loader/ugv1/imu/wit/imu
'
'roscore' 'checkRos || roscore && exit
......
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