Merge pull request #42 from igonzf/deploy

Updated for inspection

bt_nodes/motion/include/motion/navigation/utils.hpp

@@ -52,7 +52,8 @@ std::string nav_to_pose_truncated_xml =
             <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
           </Sequence>
           <Spin spin_dist="1.57"/>
-          <Wait wait_duration="5"/>
+          <Spin spin_dist="-1.57"/>
+          <Wait wait_duration="3"/>
           <BackUp backup_dist="0.30" backup_speed="0.05"/>
         </RoundRobin>
       </ReactiveFallback>

robocup_bringup/bt_xml/robot_inspection.xml

@@ -5,9 +5,12 @@
         <Sequence>
             <Action ID="SetWp"/>
             <Action ID="Speak" param="" say_text="Hi, this is Gentlebots, im ready to be inspected"/>
+            <Action ID="Speak" param="" say_text="Can you please open the door?"/>
             <RetryUntilSuccessful num_attempts="-1">
                 <Condition ID="IsDoorOpen" door_thfloatreshold="1.5"/>
             </RetryUntilSuccessful>
+            <Action ID="MoveAlongAxis" speed="0.25" distance="1.8" axis="x"/>
+
             <Action ID="MoveTo" is_truncated="false" distance_tolerance="0" tf_frame="inspection_zone"/>
             <Action ID="Speak" param="" say_text="Please say ready when you finish the inspection"/>
             <RetryUntilSuccessful num_attempts="-1">

robocup_bringup/bt_xml/setwp_moveto_test.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Sequence>
+            <Action ID="SetWp"/>
+            <Action ID="MoveTo" distance_tolerance="0" tf_frame="party"/>
+        </Sequence>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Action ID="MoveTo">
+            <input_port default="0" name="distance_tolerance"/>
+            <input_port default="entrance" name="tf_frame"/>
+        </Action>
+        <Action ID="SetWp"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>

robocup_bringup/config/inspection/inspection_params.yaml

@@ -9,8 +9,9 @@
     waypoints_names: ["inspection_zone", "exit"]
     # allow_duplicate_names: false
     waypoints:
-      inspection_zone: [-1.382, -5.781, -0.253]
-      exit: [2.441, -2.499, 1.206]
+      inspection_zone: [14.001, -8.264, -0.044] # REAL ONE
+      # inspection_zone: [11.499, -7.174, -1.299]
+      exit: [11.541, -4.412, 1.775]
 
 behaviors_main:
   ros__parameters:
@@ -23,3 +24,4 @@ behaviors_main:
     - listen_bt_node
     - clean_string_bt_node
     - is_door_open_bt_node
+    - move_along_axis_bt_node

robocup_bringup/config/inspection/tiago_nav_params.yaml

@@ -219,11 +219,11 @@ local_costmap:
       height: 3
       resolution: 0.05
       robot_radius: 0.29
-      plugins: ["obstacle_layer", "inflation_layer"]
+      plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.40
+        inflation_radius: 0.35
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -278,7 +278,7 @@ global_costmap:
       robot_radius: 0.29
       resolution: 0.05
       track_unknown_space: true
-      plugins: ["static_layer", "inflation_layer"]
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
@@ -299,7 +299,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.40
+        inflation_radius: 0.35
       clear_people_layer:
         plugin: "nav2_costmap_2d::ClearPeopleLayer"
         person_radious: 1.0
@@ -330,7 +330,27 @@ planner_server:
       plugin: "nav2_navfn_planner/NavfnPlanner"
       tolerance: 0.5
       use_astar: false
-      allow_unknown: true
+      # allow_unknown: false
+      # plugin: "nav2_smac_planner/SmacPlanner2D" # In Iron and older versions, "/" was used instead of "::"
+      # tolerance: 0.125                      # tolerance for planning if unable to reach exact pose, in meters
+      # downsample_costmap: false             # whether or not to downsample the map
+      # downsampling_factor: 1                # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
+      # allow_unknown: true                   # allow traveling in unknown space
+      # max_iterations: 1000000               # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      # max_on_approach_iterations: 1000      # maximum number of iterations to attempt to reach goal once in tolerance
+      # max_planning_time: 2.0                # max time in s for planner to plan, smooth
+      # cost_travel_multiplier: 10.0          # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
+      # use_final_approach_orientation: false # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
+      # smoother:
+      #   max_iterations: 1000
+      #   w_smooth: 0.3
+      #   w_data: 0.2
+      #   tolerance: 1.0e-10
+      # plugin: "nav2_theta_star_planner/ThetaStarPlanner" # In Iron and older versions, "/" was used instead of "::"
+      # how_many_corners: 8
+      # w_euc_cost: 1.0
+      # w_traversal_cost: 2.5
+      # w_heuristic_cost: 1.0
 
 smoother_server:
   ros__parameters:

robocup_bringup/launch/gpsr_dependencies.launch.py

@@ -88,7 +88,7 @@ def generate_launch_description():
             'map': os.path.join(
                                 package_dir,
                                 'maps',
-                                'ir_lab.yaml'),
+                                'robocup_arena_1.yaml'),
         }.items()
     )
 

robocup_bringup/launch/inspection_dependencies.launch.py

@@ -83,9 +83,9 @@ def generate_launch_description():
 
     ld = LaunchDescription()
     ld.add_action(navigation)
-    # # ld.add_action(whisper_cmd)
-    # ld.add_action(audio_common_player_node)
-    # ld.add_action(audio_common_tts_node)
+    ld.add_action(whisper_cmd)
+    ld.add_action(audio_common_player_node)
+    ld.add_action(audio_common_tts_node)
     ld.add_action(real_time)
 
     return ld

robocup_bringup/launch/move_to.launch.py

@@ -0,0 +1,44 @@
+# Copyright 2024 Intelligent Robotics Lab - Gentlebots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    package_dir = get_package_share_directory('robocup_bringup')
+
+    config = os.path.join(
+        package_dir,
+        'config',
+        'tests',
+        'test_params.yaml'
+        )
+
+    moveto_test = Node(
+        package='robocup_bringup',
+        executable='behaviors_main',
+        parameters=[config],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(moveto_test)
+
+    return ld

robocup_bringup/launch/storing_dependencies.launch.py

@@ -100,13 +100,14 @@ def generate_launch_description():
             stopping_words=["\n\n\n\n"],
     )
 
+    yolo_model = package_dir + "/config/storing_groceries/yolo_groceries.pt"
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
-            'model': 'yolov8m-seg.pt',  # change to pretrained
+            'model': yolo_model,  # change to pretrained
             'input_image_topic': '/head_front_camera/rgb/image_raw',
             'input_depth_topic': '/head_front_camera/depth/image_raw',
             'input_depth_info_topic': '/head_front_camera/depth/camera_info',

robocup_bringup/maps/robocup_arena_1.yaml

@@ -1,7 +1,7 @@
-image: robocup_arena_1.pgm
+image: robocup_arena_1_modified.pgm
 mode: trinary
 resolution: 0.05
 origin: [1.19, -13.4, 0]
 negate: 0
 occupied_thresh: 0.65
-free_thresh: 0.25
+free_thresh: 0.25