Merge pull request #30 from ROBOTIS-GIT/develop

Develop

.travis.yml

@@ -16,6 +16,7 @@ notifications:
     on_failure: always
     recipients:
       - [email protected]
+      - [email protected]
       # - [email protected]
 env:
   matrix:

README.md

@@ -1,14 +1,14 @@
-# OpenManipulator with TurtleBot3
+# TurtleBot3 Manipulation
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/manipulation/tb3_with_opm_logo.png">
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/manipulation/hardware_setup.png">
 
-## ROS Packages for OpenManipulator with TurtleBot3
+## ROS Packages for TurtleBot3 Manipulation
 |Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
 |:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fopen_manipulator_with_tb3.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fopen_manipulator_with_tb3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/open_manipulator_with_tb3)|
+|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fturtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/turtlebot3_manipulation)|
 
-## ROBOTIS e-Manual for OpenManipulator with TurtleBot3
-- [ROBOTIS e-Manual for OpenManipulator with TurtleBot3](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
+## ROBOTIS e-Manual for TurtleBot3 Manipulation
+- [ROBOTIS e-Manual for TurtleBot3 Manipulation](http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation)
 
 ## Wiki for open_manipulator_with_tb3 Packages
 - http://wiki.ros.org/open_manipulator_with_tb3 (metapackage)

turtlebot3_manipulation/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package turtlebot3_manipulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.2 (2020-03-06)
+------------------
+* Package name changed from `open_manipulator_with_tb3` to `turtlebot3_manipulation`
+* added turtlebot3_manipulation_slam
+* added turtlebot3_manipulation_navigation
+
 2.0.1 (2020-02-12)
 ------------------
 * removed namespace

turtlebot3_manipulation/package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>ROS packages for turtlebot3_manipulation</description>
 
   <license>Apache 2.0</license>
-  <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Ryan Shim</author>
-  <maintainer email="[email protected]">Pyo</maintainer>
+  <maintainer email="[email protected]">Ryan Shim</maintainer>
+  <maintainer email="[email protected]">WIll Son</maintainer>
   <!-- <url type="website">http://wiki.ros.org/turtlebot3_manipulation</url> -->
   <url type="emanual">http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>
@@ -18,6 +18,8 @@
   <exec_depend>turtlebot3_manipulation_description</exec_depend>
   <exec_depend>turtlebot3_manipulation_gui</exec_depend>
   <exec_depend>turtlebot3_manipulation_moveit_config</exec_depend>
+  <exec_depend>turtlebot3_manipulation_navigation</exec_depend>
+  <exec_depend>turtlebot3_manipulation_slam</exec_depend>
 
   <export><metapackage/></export>
 </package>

turtlebot3_manipulation_bringup/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_bringup</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>ROS package for turtlebot3_manipulation_bringup</description>
 
   <license>Apache 2.0</license>

turtlebot3_manipulation_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_description</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>ROS package for turtlebot3_manipulation_description</description>
 
   <license>Apache 2.0</license>

turtlebot3_manipulation_gui/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_manipulation_gui</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>ROS package for turtlebot3_manipulation_gui</description>
 
   <license>Apache 2.0</license>

turtlebot3_manipulation_moveit_config/package.xml

@@ -1,7 +1,7 @@
 <package>
 
   <name>turtlebot3_manipulation_moveit_config</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt! Motion Planning Framework
   </description>

turtlebot3_manipulation_navigation/CMakeLists.txt

@@ -0,0 +1,74 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(turtlebot3_manipulation_navigation)
+
+add_compile_options(-std=c++11)
+
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  roscpp
+  std_msgs
+  geometry_msgs
+  nav_msgs
+  moveit_msgs
+  trajectory_msgs
+  open_manipulator_msgs
+  ar_track_alvar_msgs
+  moveit_core
+  moveit_ros_planning
+  moveit_ros_planning_interface
+)
+
+################################################################################
+# Setup for python modules and scripts
+################################################################################
+# catkin_python_setup()
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
+catkin_package(
+#  INCLUDE_DIRS include
+  CATKIN_DEPENDS rospy roscpp std_msgs geometry_msgs nav_msgs moveit_msgs trajectory_msgs open_manipulator_msgs ar_track_alvar_msgs moveit_core moveit_ros_planning moveit_ros_planning_interface
+)
+
+################################################################################
+# Build
+################################################################################
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+################################################################################
+# Install
+################################################################################
+# catkin_install_python(PROGRAMS
+#  nodes/pick_and_place_state_machine
+#  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+install(TARGETS 
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY maps launch rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################

turtlebot3_manipulation_navigation/launch/amcl.launch

@@ -0,0 +1,46 @@
+<launch>
+  <!-- Arguments -->
+  <arg name="scan_topic"     default="scan"/>
+  <arg name="initial_pose_x" default="0.0"/>
+  <arg name="initial_pose_y" default="0.0"/>
+  <arg name="initial_pose_a" default="0.0"/>
+
+  <!-- AMCL -->
+  <node pkg="amcl" type="amcl" name="amcl">
+
+    <param name="min_particles"             value="500"/>
+    <param name="max_particles"             value="3000"/>
+    <param name="kld_err"                   value="0.02"/>
+    <param name="update_min_d"              value="0.20"/>
+    <param name="update_min_a"              value="0.20"/>
+    <param name="resample_interval"         value="1"/>
+    <param name="transform_tolerance"       value="0.5"/>
+    <param name="recovery_alpha_slow"       value="0.00"/>
+    <param name="recovery_alpha_fast"       value="0.00"/>
+    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
+    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
+    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
+    <param name="gui_publish_rate"          value="50.0"/>
+
+    <remap from="scan"                      to="$(arg scan_topic)"/>
+    <param name="laser_max_range"           value="3.5"/>
+    <param name="laser_max_beams"           value="180"/>
+    <param name="laser_z_hit"               value="0.5"/>
+    <param name="laser_z_short"             value="0.05"/>
+    <param name="laser_z_max"               value="0.05"/>
+    <param name="laser_z_rand"              value="0.5"/>
+    <param name="laser_sigma_hit"           value="0.2"/>
+    <param name="laser_lambda_short"        value="0.1"/>
+    <param name="laser_likelihood_max_dist" value="2.0"/>
+    <param name="laser_model_type"          value="likelihood_field"/>
+
+    <param name="odom_model_type"           value="diff"/>
+    <param name="odom_alpha1"               value="0.1"/>
+    <param name="odom_alpha2"               value="0.1"/>
+    <param name="odom_alpha3"               value="0.1"/>
+    <param name="odom_alpha4"               value="0.1"/>
+    <param name="odom_frame_id"             value="odom"/>
+    <param name="base_frame_id"             value="base_footprint"/>
+
+  </node>
+</launch>

turtlebot3_manipulation_navigation/launch/move_base.launch

@@ -0,0 +1,21 @@
+<launch>
+  <!-- Arguments -->
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="cmd_vel_topic" default="/cmd_vel" />
+  <arg name="odom_topic" default="odom" />
+  <arg name="move_forward_only" default="false"/>
+
+  <!-- move_base -->
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
+    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
+    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
+    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
+    <remap from="odom" to="$(arg odom_topic)"/>
+    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
+  </node>
+</launch>

turtlebot3_manipulation_navigation/launch/navigation.launch

@@ -0,0 +1,41 @@
+<launch>
+  <!-- Arguments -->
+  <arg name="model" default="waffle_pi" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="map_file" default="$(find turtlebot3_manipulation_navigation)/maps/map.yaml"/>
+  <arg name="open_rviz" default="true"/>
+  <arg name="move_forward_only" default="false"/>
+
+  <!-- Turtlebot3 -->
+  <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_manipulation_description)/urdf/turtlebot3_manipulation_robot.urdf.xacro'" />
+  <param name="robot_description" command="$(arg urdf_file)" />
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node>
+
+  <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter" output="screen" >
+    <rosparam command="load" file="$(find turtlebot3_manipulation_slam)/config/scan_data_filter.yaml" />
+  </node>  
+
+  <!-- Map server -->
+  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
+
+  <!-- AMCL -->
+  <include file="$(find turtlebot3_manipulation_navigation)/launch/amcl.launch">
+    <arg name="initial_pose_x"  value="0.0" />
+    <arg name="initial_pose_y"  value="0.0" />
+    <arg name="initial_pose_a"  value="1.5708" />
+  </include>
+
+  <!-- move_base -->
+  <include file="$(find turtlebot3_manipulation_navigation)/launch/move_base.launch">
+    <arg name="model" value="$(arg model)" />
+    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
+  </include>
+
+  <!-- rviz -->
+  <group if="$(arg open_rviz)"> 
+    <node pkg="rviz" type="rviz" name="rviz" required="true"
+          args="-d $(find turtlebot3_manipulation_navigation)/rviz/turtlebot3_manipulation_navigation.rviz" output="screen"/>
+  </group>
+</launch>

turtlebot3_manipulation_navigation/maps/map.yaml

@@ -0,0 +1,7 @@
+image: /home/willson/map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

turtlebot3_manipulation_navigation/package.xml

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>turtlebot3_manipulation_navigation</name>
+  <version>2.0.2</version>
+  <description>
+    The turtlebot3_manipulation_navigation package added.
+  </description>
+  <license>Apache 2.0</license>
+  <author email="[email protected]">Will Son</author>
+  <maintainer email="[email protected]">Will Son</maintainer>
+  <!-- <url type="website">http://wiki.ros.org/turtlebot3_manipulation</url> -->
+  <url type="emanual">http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/issues</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>rospy</depend>
+  <depend>roscpp</depend>
+  <depend>roslaunch</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>moveit_msgs</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>open_manipulator_msgs</depend>
+  <depend>ar_track_alvar_msgs</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_planning</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>amcl</exec_depend>
+  <exec_depend>map_server</exec_depend>
+  <exec_depend>move_base</exec_depend>
+</package>