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Added Social Navigation Layers Support #59

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Added Social Navigation Layers Support #59

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79ecbdd
Changes to Layers for testing
jmcjacob Jul 8, 2015
f1481b4
Added layers for testing
jmcjacob Jul 8, 2015
7e50265
Edit for Test 1
jmcjacob Jul 9, 2015
55d69b4
Added Social layer to local costmap.
jmcjacob Jul 13, 2015
5447ec4
Added Passing in conjunction with Proxemic
jmcjacob Jul 13, 2015
25c5dfa
Added new social navigation config file.
jmcjacob Jul 15, 2015
064c182
Modified launch files.
jmcjacob Jul 15, 2015
4b97dce
Edited launch files
jmcjacob Jul 16, 2015
27b9ef9
Added with_social_layer
jmcjacob Jul 16, 2015
79b1883
Updated Global
jmcjacob Jul 21, 2015
a9cfe5b
Chnaged from loacal to global.
jmcjacob Jul 23, 2015
08f8e4e
Added planned to launch and added config with MapGrid.
jmcjacob Jul 27, 2015
c21e2bf
Altered launch file
jmcjacob Aug 5, 2015
15180c4
Added loacl social
jmcjacob Aug 6, 2015
693da6b
Altered Move Base Parameters.
gestom Aug 10, 2015
898437b
Delete plugin_planner_ros.yaml
jmcjacob Aug 10, 2015
4bfe0e4
Delete local_costmap_params_social.yaml
jmcjacob Aug 10, 2015
23910bb
Final Changes and tydying.
jmcjacob Aug 10, 2015
ff7d41b
Removed changes for testing.
jmcjacob Aug 10, 2015
66a29ce
Changes to dependencies and added defaults to social layers parameters.
jmcjacob Aug 18, 2015
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13 changes: 8 additions & 5 deletions launch/move_base.launch
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Original file line number Diff line number Diff line change
@@ -1,29 +1,32 @@
<launch>
<arg name="machine" default="localhost" />
<arg name="user" default="" />
<arg name="with_social_layer" default="false" />
<arg name="with_mux" default="false" />

<machine name="$(arg machine)" address="$(arg machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg user)" default="true" />


<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true" unless="$(arg with_mux)">
<node pkg="move_base" type="move_base" respawn="false" name="move_base" args="with_social_layer" output="screen" clear_params="true" unless="$(arg with_mux)">
<!-- default:20.0. with this value dwa planner fails to find a valid plan a lot more -->
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/move_base_params.yaml" command="load"/>
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params_social.yaml" if="$(arg with_social_layer)" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params.yaml" unless="$(arg with_social_layer)" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/dwa_planner_ros.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/nav_fn_ros.yaml" command="load" />
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true" if="$(arg with_mux)">
<node pkg="move_base" type="move_base" respawn="flase" name="move_base" args="with_social_layer" output="screen" clear_params="true" if="$(arg with_mux)">
<!-- default:20.0. with this value dwa planner fails to find a valid plan a lot more -->
<remap from="/cmd_vel" to="/cmd_vel_mux/input/navigation"/>
<remap from="/cmd_vel" to="/cmd_vel_mux/input/navigation"/>
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/move_base_params.yaml" command="load"/>
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params_social.yaml" if="$(arg with_social_layer)" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params.yaml" unless="$(arg with_social_layer)" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/dwa_planner_ros.yaml" command="load" />
<rosparam file="$(find scitos_2d_navigation)/scitos_move_base_params/nav_fn_ros.yaml" command="load" />
</node>
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4 changes: 3 additions & 1 deletion launch/scitos_2d_nav.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,8 @@
<arg name="user" default="" />
<arg name="map"/>
<arg name="with_no_go_map" default="false"/>
<arg name="with_mux" default="false" />
<arg name="with_mux" default="false" />
<arg name="with_social_layer" default="false" />
<arg name="no_go_map"/>

<machine name="$(arg machine)" address="$(arg machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg user)" default="true"/>
Expand All @@ -30,6 +31,7 @@
<arg name="machine" value="$(arg machine)"/>
<arg name="user" value="$(arg user)"/>
<arg name="with_mux" value="$(arg with_mux)"/>
<arg name="with_social_layer" value="$(arg with_social_layer)"/>
</include>

</launch>
1 change: 1 addition & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
<build_depend>move_base</build_depend>
<run_depend>move_base</run_depend>
<run_depend>amcl</run_depend>
<run_depend>social_navigation_layers</run_depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
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1 change: 0 additions & 1 deletion scitos_move_base_params/costmap_common_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@ no_go_layer:
inflation_layer:
inflation_radius: 0.8
cost_scaling_factor: 5.0


obstacle_layer:
max_obstacle_height: 2.0
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2 changes: 2 additions & 0 deletions scitos_move_base_params/dwa_planner_ros.yaml
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Expand Up @@ -42,3 +42,5 @@ DWAPlannerROS:

holonomic_robot: false



1 change: 0 additions & 1 deletion scitos_move_base_params/global_costmap_params.yaml
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Expand Up @@ -8,4 +8,3 @@ global_costmap:
- {name: no_go_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

18 changes: 18 additions & 0 deletions scitos_move_base_params/global_costmap_params_social.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
global_costmap:
update_frequency: 5.0
publish_frequency: 5.0
static_map: true
rolling_window: false
plugins:
- {name: map_layer, type: "costmap_2d::StaticLayer"}
- {name: no_go_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: proxemic_layer, type: "social_navigation_layers::ProxemicLayer"}
- {name: passing_layer, type: "social_navigation_layers::PassingLayer"}
proxemic_layer:
amplitude: 150.0
covariance: 0.3
factor: 7.0
passing_layer:
enabled: false
1 change: 0 additions & 1 deletion scitos_move_base_params/local_costmap_params.yaml
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Expand Up @@ -8,4 +8,3 @@ local_costmap:
resolution: 0.05
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
#- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
1 change: 0 additions & 1 deletion scitos_move_base_params/move_base_params.yaml
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Expand Up @@ -14,4 +14,3 @@ conservative_reset:
aggressive_reset:
layer_names: ["obstacle_layer"]
reset_distance: 0.0