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NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/CMakeLists.txt | cmake_minimum_required(VERSION 3.0.2)
project(carter_2dnav)
find_package(catkin REQUIRED COMPONENTS
move_base
)
catkin_package()
include_directories(
${catkin_INCLUDE_DIRS}
)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/package.xml | <?xml version="1.0"?>
<package format="2">
<name>carter_2dnav</name>
<version>0.1.0</version>
<description>The carter_2dnav package</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>navigation</build_depend>
<build_depend>pointcloud_to_laserscan</build_depend>
<build_export_depend>navigation</build_export_depend>
<build_export_depend>pointcloud_to_laserscan</build_export_depend>
<exec_depend>navigation</exec_depend>
<exec_depend>pointcloud_to_laserscan</exec_depend>
<export>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/launch/amcl_robot_individual.launch | <launch>
<arg name="robot_name" default="carter1" />
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="/$(arg robot_name)/scan"/>
<arg name="initial_pose_x" default="-6"/>
<arg name="initial_pose_y" default="-1"/>
<arg name="initial_pose_a" default="3.14"/>
<arg name="odom_frame_id" default="$(arg robot_name)/odom"/>
<arg name="base_frame_id" default="$(arg robot_name)/base_link"/>
<arg name="global_frame_id" default="map"/>
<node pkg="amcl" type="amcl" name="amcl_$(arg robot_name)">
<param name="transform_tolerance" value="0.2"/>
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="global_frame_id" value="$(arg global_frame_id)"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="initialpose" to="/$(arg robot_name)/initialpose"/>
<remap from="amcl_pose" to="/$(arg robot_name)/amcl_pose"/>
<remap from="particlecloud" to="/$(arg robot_name)/particlecloud"/>
</node>
</launch> |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/launch/multiple_robot_carter_navigation.launch | <launch>
<param name="/use_sim_time" value="true"/>
<arg name="robot1" value="carter1" />
<arg name="robot2" value="carter2" />
<arg name="robot3" value="carter3" />
<arg name="env_name" default="hospital" />
<!-- Load Robot Description -->
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
<param name="robot_description" textfile="$(arg model)" />
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find carter_2dnav)/map/carter_$(arg env_name)_navigation.yaml" >
<param name="frame_id" value="map" />
</node>
<!-- AMCL -->
<!-- Hospital Scenario -->
<group if="$(eval arg('env_name') == 'hospital')" >
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot1)" />
<arg name="initial_pose_x" value="0.0"/>
<arg name="initial_pose_y" value="0.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot2)" />
<arg name="initial_pose_x" value="4.0"/>
<arg name="initial_pose_y" value="-1.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot3)" />
<arg name="initial_pose_x" value="7.0"/>
<arg name="initial_pose_y" value="3.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
</group>
<!-- Office Scenario -->
<group if="$(eval arg('env_name') == 'office')" >
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot1)" />
<arg name="initial_pose_x" value="-3.0"/>
<arg name="initial_pose_y" value="-6.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot2)" />
<arg name="initial_pose_x" value="2.5"/>
<arg name="initial_pose_y" value="0.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
<include file="$(find carter_2dnav)/launch/amcl_robot_individual.launch">
<arg name="robot_name" value="$(arg robot3)" />
<arg name="initial_pose_x" value="-0.5"/>
<arg name="initial_pose_y" value="5.0"/>
<arg name="initial_pose_a" value="3.14"/>
</include>
</group>
<!-- MOVE_BASE -->
<include file="$(find carter_2dnav)/launch/move_base_individual.launch" >
<arg name="robot_name" value="$(arg robot1)" />
</include>
<include file="$(find carter_2dnav)/launch/move_base_individual.launch" >
<arg name="robot_name" value="$(arg robot2)" />
</include>
<include file="$(find carter_2dnav)/launch/move_base_individual.launch" >
<arg name="robot_name" value="$(arg robot3)" />
</include>
<!-- Launching Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav_multiple_robot.rviz" />
</launch> |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/launch/carter_navigation_rtx.launch | <launch>
<param name="use_sim_time" value="true" />
<!-- Load Robot Description -->
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
<param name="robot_description" textfile="$(arg model)" />
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find carter_2dnav)/map/carter_warehouse_navigation.yaml" />
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />
<param name="/amcl/initial_pose_x" value="-6.0"/>
<param name="/amcl/initial_pose_y" value="-1.0"/>
<param name="/amcl/initial_pose_a" value="3.14"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
</node>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="/point_cloud"/>
<remap from="scan" to="/scan"/>
<rosparam>
target_frame: carter_lidar # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: -0.1
max_height: 2
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.0087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.15
range_max: 100.0
use_inf: true
inf_epsilon: 1.0
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav_rtx.rviz" />
</launch>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/launch/carter_navigation.launch | <launch>
<param name="use_sim_time" value="true" />
<!-- Load Robot Description -->
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
<param name="robot_description" textfile="$(arg model)" />
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find carter_2dnav)/map/carter_warehouse_navigation.yaml" />
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />
<param name="/amcl/initial_pose_x" value="-6.0"/>
<param name="/amcl/initial_pose_y" value="-1.0"/>
<param name="/amcl/initial_pose_a" value="3.14"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav.rviz" />
</launch>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/launch/move_base_individual.launch | <launch>
<arg name="robot_name" default="carter1" />
<arg name="odom_frame_id" default="$(arg robot_name)/odom"/>
<arg name="base_frame_id" default="$(arg robot_name)/base_link"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="/$(arg robot_name)/odom" />
<arg name="laser_topic" default="/$(arg robot_name)/scan" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base_$(arg robot_name)" output="screen">
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
<!-- reset frame_id parameters using user input data -->
<param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
<param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
<param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="global_costmap/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/carter_lidar" />
<param name="global_costmap/laser_scan_sensor/topic" value="/$(arg robot_name)/scan" />
<param name="local_costmap/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/carter_lidar" />
<param name="local_costmap/laser_scan_sensor/topic" value="/$(arg robot_name)/scan" />
<remap from="cmd_vel" to="/$(arg robot_name)/cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="scan" to="$(arg laser_topic)"/>
<remap from="map" to="/map" />
<remap from="/move_base_simple/goal" to="/$(arg robot_name)/move_base_simple/goal" />
<remap from="/move_base/TrajectoryPlannerROS/global_plan" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/global_plan" />
<remap from="/move_base/TrajectoryPlannerROS/local_plan" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/local_plan" />
<remap from="/move_base/global_costmap/costmap" to="/$(arg robot_name)/move_base/global_costmap/costmap" />
<remap from="/move_base/global_costmap/costmap_updates" to="/$(arg robot_name)/move_base/global_costmap/costmap_updates" />
<remap from="/move_base/local_costmap/costmap" to="/$(arg robot_name)/move_base/local_costmap/costmap" />
<remap from="/move_base/local_costmap/costmap_updates" to="/$(arg robot_name)/move_base/local_costmap/costmap_updates" />
<remap from="/move_base/local_costmap/footprint" to="/$(arg robot_name)/move_base/local_costmap/footprint" />
<remap from="/move_base/TrajectoryPlannerROS/obstacles" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/obstacles" />
<remap from="/move_base/TrajectoryPlannerROS/parameter_descriptions" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/parameter_descriptions" />
<remap from="/move_base/TrajectoryPlannerROS/parameter_updates" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/parameter_updates" />
<remap from="/move_base/cancel" to="/$(arg robot_name)/move_base/cancel" />
<remap from="/move_base/current_goal" to="/$(arg robot_name)/move_base/current_goal" />
<remap from="/move_base/feedback" to="/$(arg robot_name)/move_base/feedback" />
<remap from="/move_base/global_costmap/footprint" to="/$(arg robot_name)/move_base/global_costmap/footprint" />
<remap from="/move_base/global_costmap/inflation_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/global_costmap/inflation_layer/parameter_descriptions" />
<remap from="/move_base/global_costmap/inflation_layer/parameter_updates" to="/$(arg robot_name)/move_base/global_costmap/inflation_layer/parameter_updates" />
<remap from="/move_base/global_costmap/obstacle_layer/clearing_endpoints" to="/$(arg robot_name)/move_base/global_costmap/obstacle_layer/clearing_endpoints" />
<remap from="/move_base/global_costmap/obstacle_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/global_costmap/obstacle_layer/parameter_descriptions" />
<remap from="/move_base/global_costmap/obstacle_layer/parameter_updates" to="/$(arg robot_name)/move_base/global_costmap/obstacle_layer/parameter_updates" />
<remap from="/move_base/global_costmap/parameter_descriptions" to="/$(arg robot_name)/move_base/global_costmap/parameter_descriptions" />
<remap from="/move_base/global_costmap/parameter_updates" to="/$(arg robot_name)/move_base/global_costmap/parameter_updates" />
<remap from="/move_base/global_costmap/static_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/global_costmap/static_layer/parameter_descriptions" />
<remap from="/move_base/global_costmap/static_layer/parameter_updates" to="/$(arg robot_name)/move_base/global_costmap/static_layer/parameter_updates" />
<remap from="/move_base/goal" to="/$(arg robot_name)/move_base/goal" />
<remap from="/move_base/local_costmap/obstacle_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/local_costmap/obstacle_layer/parameter_descriptions" />
<remap from="/move_base/local_costmap/obstacle_layer/parameter_updates" to="/$(arg robot_name)/move_base/local_costmap/obstacle_layer/parameter_updates" />
<remap from="/move_base/local_costmap/parameter_descriptions" to="/$(arg robot_name)/move_base/local_costmap/parameter_descriptions" />
<remap from="/move_base/local_costmap/parameter_updates" to="/$(arg robot_name)/move_base/local_costmap/parameter_updates" />
<remap from="/move_base/local_costmap/static_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/local_costmap/static_layer/parameter_descriptions" />
<remap from="/move_base/local_costmap/static_layer/parameter_updates" to="/$(arg robot_name)/move_base/local_costmap/static_layer/parameter_updates" />
<remap from="/move_base/parameter_descriptions" to="/$(arg robot_name)/move_base/parameter_descriptions" />
<remap from="/move_base/parameter_updates" to="/$(arg robot_name)/move_base/parameter_updates" />
<remap from="/move_base/result" to="/$(arg robot_name)/move_base/result" />
<remap from="/move_base/status" to="/$(arg robot_name)/move_base/status" />
<remap from="/move_base_simple/goal" to="/$(arg robot_name)/move_base_simple/goal" />
<remap from="/move_base/TrajectoryPlannerROS/cost_cloud" to="/$(arg robot_name)/move_base/TrajectoryPlannerROS/cost_cloud" />
<remap from="/move_base/local_costmap/inflation_layer/parameter_descriptions" to="/$(arg robot_name)/move_base/local_costmap/inflation_layer/parameter_descriptions" />
<remap from="/move_base/local_costmap/inflation_layer/parameter_updates" to="/$(arg robot_name)/move_base/local_costmap/inflation_layer/parameter_updates" />
</node>
</launch> |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/rviz/carter_2dnav_multiple_robot.rviz | Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Image1
- /Image2
- /Image3
Splitter Ratio: 0.5
Tree Height: 144
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
carter1/base_link:
Value: true
carter1/carter_camera_stereo_left:
Value: true
carter1/carter_camera_stereo_right:
Value: true
carter1/carter_lidar:
Value: true
carter1/chassis_link:
Value: true
carter1/com_offset:
Value: true
carter1/imu:
Value: true
carter1/left_wheel_link:
Value: true
carter1/odom:
Value: true
carter1/rear_pivot_link:
Value: true
carter1/rear_wheel_link:
Value: true
carter1/right_wheel_link:
Value: true
carter2/base_link:
Value: true
carter2/carter_camera_stereo_left:
Value: true
carter2/carter_camera_stereo_right:
Value: true
carter2/carter_lidar:
Value: true
carter2/chassis_link:
Value: true
carter2/com_offset:
Value: true
carter2/imu:
Value: true
carter2/left_wheel_link:
Value: true
carter2/odom:
Value: true
carter2/rear_pivot_link:
Value: true
carter2/rear_wheel_link:
Value: true
carter2/right_wheel_link:
Value: true
carter3/base_link:
Value: true
carter3/carter_camera_stereo_left:
Value: true
carter3/carter_camera_stereo_right:
Value: true
carter3/carter_lidar:
Value: true
carter3/chassis_link:
Value: true
carter3/com_offset:
Value: true
carter3/imu:
Value: true
carter3/left_wheel_link:
Value: true
carter3/odom:
Value: true
carter3/rear_pivot_link:
Value: true
carter3/rear_wheel_link:
Value: true
carter3/right_wheel_link:
Value: true
map:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
carter1/odom:
carter1/base_link:
carter1/chassis_link:
carter1/carter_camera_stereo_left:
{}
carter1/carter_camera_stereo_right:
{}
carter1/carter_lidar:
{}
carter1/com_offset:
{}
carter1/imu:
{}
carter1/left_wheel_link:
{}
carter1/rear_pivot_link:
carter1/rear_wheel_link:
{}
carter1/right_wheel_link:
{}
carter2/odom:
carter2/base_link:
carter2/chassis_link:
carter2/carter_camera_stereo_left:
{}
carter2/carter_camera_stereo_right:
{}
carter2/carter_lidar:
{}
carter2/com_offset:
{}
carter2/imu:
{}
carter2/left_wheel_link:
{}
carter2/rear_pivot_link:
carter2/rear_wheel_link:
{}
carter2/right_wheel_link:
{}
carter3/odom:
carter3/base_link:
carter3/chassis_link:
carter3/carter_camera_stereo_left:
{}
carter3/carter_camera_stereo_right:
{}
carter3/carter_lidar:
{}
carter3/com_offset:
{}
carter3/imu:
{}
carter3/left_wheel_link:
{}
carter3/rear_pivot_link:
carter3/rear_wheel_link:
{}
carter3/right_wheel_link:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base_carter1/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base_carter2/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base_carter3/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: PoseWithCovariance
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /carter1/amcl_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: PoseWithCovariance
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /carter2/amcl_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: PoseWithCovariance
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /carter3/amcl_pose
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base_carter1/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base_carter2/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base_carter3/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
com_offset:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_pivot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: carter1
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
com_offset:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_pivot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: carter2
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
com_offset:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_pivot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: carter3
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /carter1/rgb_left
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /carter2/rgb_left
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /carter3/rgb_left
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_carter1/current_goal
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_carter2/current_goal
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_carter3/current_goal
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /carter1/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /carter1/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 36.501197814941406
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -10.039958000183105
Y: 15.064005851745605
Z: 0.01884687878191471
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Yaw: 4.713583469390869
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 719
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000001e7fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000cd000000c900fffffffb0000000a0049006d00610067006501000001100000005f0000001600fffffffb0000000a0049006d00610067006501000001750000005b0000001600fffffffb0000000a0049006d00610067006501000001d60000004e0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003f8fc0200000002fb0000000a00560069006500770073000000003d000003f8000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005d900000088fc0100000003fc00000000000005d9000002eb00fffffffa000000000200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000005c00fffffffb0000000800540069006d00650100000206000000870000003900fffffffc00000064000004f30000000000fffffffa000000000200000001fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000047d000001e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1497
X: 72
Y: 27
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/rviz/carter_2dnav.rviz | Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /Map1
- /Path1
- /Map2
- /Image1
Splitter Ratio: 0.5
Tree Height: 489
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
carter_lidar:
Value: true
chassis_link:
Value: true
com_offset:
Value: true
imu:
Value: true
left_wheel_link:
Value: true
map:
Value: true
odom:
Value: true
rear_pivot_link:
Value: true
rear_wheel_link:
Value: true
right_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
chassis_link:
carter_lidar:
{}
com_offset:
{}
imu:
{}
left_wheel_link:
{}
rear_pivot_link:
rear_wheel_link:
{}
right_wheel_link:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: false
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /rgb_left
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
com_offset:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_pivot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 49.630043029785156
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 3
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1023
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000361fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000226000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001a4000000ea0000000000000000fb0000000a0049006d0061006700650100000269000001350000001600fffffffb0000000a0049006d0061006700650000000225000000ee0000000000000000fb0000000a0049006d0061006700650100000254000000bf0000000000000000fb0000000a0049006d0061006700650000000254000000bf0000000000000000fb0000000a0049006d00610067006501000002250000017b0000000000000000000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000361000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002820000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1267
X: 122
Y: 27
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/rviz/carter_2dnav_rtx.rviz | Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /Map1
- /Path1
- /Map2
- /Image1
Splitter Ratio: 0.5
Tree Height: 411
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
carter_camera_stereo_left:
Value: true
carter_camera_stereo_right:
Value: true
carter_lidar:
Value: true
chassis_link:
Value: true
com_offset:
Value: true
imu:
Value: true
left_wheel_link:
Value: true
map:
Value: true
odom:
Value: true
rear_pivot_link:
Value: true
rear_wheel_link:
Value: true
right_wheel_link:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
chassis_link:
carter_camera_stereo_left:
{}
carter_camera_stereo_right:
{}
carter_lidar:
{}
com_offset:
{}
imu:
{}
left_wheel_link:
{}
rear_pivot_link:
rear_wheel_link:
{}
right_wheel_link:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: false
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: /particlecloud
Unreliable: false
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /rgb_left
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
com_offset:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_pivot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 3.693763256072998
Min Value: -0.2574300765991211
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 41.5562629699707
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.7980453372001648
Y: 3.087585926055908
Z: -0.5468370914459229
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.9697966575622559
Target Frame: <Fixed Frame>
Yaw: 6.278185844421387
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 898
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002e8fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001d6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001a4000000ea0000000000000000fb0000000a0049006d00610067006501000002170000010c0000001600fffffffb0000000a0049006d0061006700650000000225000000ee0000000000000000fb0000000a0049006d0061006700650100000254000000bf0000000000000000fb0000000a0049006d0061006700650000000254000000bf0000000000000000fb0000000a0049006d00610067006501000002250000017b0000000000000000000000010000010f00000365fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000365000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005620000003efc0100000002fb0000000800540069006d00650100000000000005620000030700fffffffb0000000800540069006d0065010000000000000450000000000000000000000406000002e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1378
X: 273
Y: 84
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/map/carter_office_navigation.yaml | image: carter_office_navigation.png
resolution: 0.05
origin: [-29.975, -39.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/map/carter_hospital_navigation.yaml | image: carter_hospital_navigation.png
resolution: 0.05
origin: [-49.625, -4.675, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/map/carter_warehouse_navigation.yaml | image: carter_warehouse_navigation.png
resolution: 0.05
origin: [-11.975, -17.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/params/base_local_planner_params.yaml | TrajectoryPlannerROS:
holonomic_robot: false
max_vel_x: 1.2
min_vel_x: 0.1
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_theta: 0.8
min_vel_theta: -0.8
min_in_place_vel_theta: 0.3
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 0.0
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.05
occdist_scale: 0.7
escape_vel: -0.1
meter_scoring: true
path_distance_bias: 0.8
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/params/costmap_common_params.yaml | obstacle_range: 25
raytrace_range: 3
robot_radius: 0.36
cost_scaling_factor: 3.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: carter_lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/params/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 1.25
inflation_radius: 0.85
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/carter_2dnav/params/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 7.0
height: 7.0
resolution: 0.1
transform_tolerance: 1.25
inflation_radius: 0.32
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/setup.py | from setuptools import setup
from catkin_pkg.python_setup import generate_distutils_setup
d = generate_distutils_setup(
packages=["goal_generators", "obstacle_map"], package_dir={"": "isaac_ros_navigation_goal"}
)
setup(**d)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/CMakeLists.txt | cmake_minimum_required(VERSION 3.0.2)
project(isaac_ros_navigation_goal)
find_package(catkin REQUIRED COMPONENTS
actionlib
geometry_msgs
move_base_msgs
rospy
sensor_msgs
std_msgs
)
catkin_python_setup()
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES isaac_ros_navigation_goal
# CATKIN_DEPENDS actionlib geometry_msgs move_base_msgs rospy sensor_msgs std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS isaac_ros_navigation_goal/set_goal.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/package.xml | <?xml version="1.0"?>
<package format="2">
<name>isaac_ros_navigation_goal</name>
<version>0.1.0</version>
<description>Package to set goals for navigation stack.</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<url type="Website">https://developer.nvidia.com/isaac-ros-gems/</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/launch/isaac_ros_navigation_goal.launch | <launch>
<param name="map_yaml_path" value="$(find isaac_ros_navigation_goal)/assets/carter_warehouse_navigation.yaml" />
<param name="iteration_count" type="int" value="3" />
<param name="goal_generator_type" type="str" value="RandomGoalGenerator" />
<param name="action_server_name" type="str" value="move_base" />
<param name="obstacle_search_distance_in_meters" type="double" value="0.2" />
<param name="goal_text_file_path" value="$(find isaac_ros_navigation_goal)/assets/goals.txt" />
<rosparam param="initial_pose">[-6.0, -1.0, 0, 0, 0, 1.0, 0] </rosparam>
<node name="set_navigation_goal" pkg="isaac_ros_navigation_goal" type="set_goal.py" output="screen"/>
</launch> |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/obstacle_map.py | from __future__ import absolute_import
import numpy as np
import yaml
import os
import math
from PIL import Image
class GridMap:
def __init__(self, yaml_file_path):
self.__get_meta_from_yaml(yaml_file_path)
self.__get_raw_map()
self.__add_max_range_to_meta()
def __get_meta_from_yaml(self, yaml_file_path):
"""
Reads map meta from the yaml file.
Parameters
----------
yaml_file_path: path of the yaml file.
"""
with open(yaml_file_path, "r") as f:
file_content = f.read()
self.__map_meta = yaml.safe_load(file_content)
self.__map_meta["image"] = os.path.join(os.path.dirname(yaml_file_path), self.__map_meta["image"])
def __get_raw_map(self):
"""
Reads the map image and generates the grid map.\n
Grid map is a 2D boolean matrix where True=>occupied space & False=>Free space.
"""
img = Image.open(self.__map_meta.get("image"))
img = np.array(img)
# Anything greater than free_thresh is considered as occupied
if self.__map_meta["negate"]:
res = np.where((img / 255)[:, :, 0] > self.__map_meta["free_thresh"])
else:
res = np.where(((255 - img) / 255)[:, :, 0] > self.__map_meta["free_thresh"])
self.__grid_map = np.zeros(shape=(img.shape[:2]), dtype=bool)
for i in range(res[0].shape[0]):
self.__grid_map[res[0][i], res[1][i]] = 1
def __add_max_range_to_meta(self):
"""
Calculates and adds the max value of pose in x & y direction to the meta.
"""
max_x = self.__grid_map.shape[1] * self.__map_meta["resolution"] + self.__map_meta["origin"][0]
max_y = self.__grid_map.shape[0] * self.__map_meta["resolution"] + self.__map_meta["origin"][1]
self.__map_meta["max_x"] = round(max_x, 2)
self.__map_meta["max_y"] = round(max_y, 2)
def __pad_obstacles(self, distance):
pass
def get_range(self):
"""
Returns the bounds of pose values in x & y direction.\n
Returns
-------
[List]:\n
Where list[0][0]: min value in x direction
list[0][1]: max value in x direction
list[1][0]: min value in y direction
list[1][1]: max value in y direction
"""
return [
[self.__map_meta["origin"][0], self.__map_meta["max_x"]],
[self.__map_meta["origin"][1], self.__map_meta["max_y"]],
]
def __transform_to_image_coordinates(self, point):
"""
Transforms a pose in meters to image pixel coordinates.
Parameters
----------
Point: A point as list. where list[0]=>pose.x and list[1]=pose.y
Returns
-------
[Tuple]: tuple[0]=>pixel value in x direction. i.e column index.
tuple[1]=> pixel vlaue in y direction. i.e row index.
"""
p_x, p_y = point
i_x = math.floor((p_x - self.__map_meta["origin"][0]) / self.__map_meta["resolution"])
i_y = math.floor((p_y - self.__map_meta["origin"][1]) / self.__map_meta["resolution"])
# because origin in yaml is at bottom left of image
i_y = self.__grid_map.shape[0] - i_y
return i_x, i_y
def __transform_distance_to_pixels(self, distance):
"""
Converts the distance in meters to number of pixels based on the resolution.
Parameters
----------
distance: value in meters
Returns
-------
[Integer]: number of pixel which represent the same distance.
"""
return math.ceil(distance / self.__map_meta["resolution"])
def __is_obstacle_in_distance(self, img_point, distance):
"""
Checks if any obstacle is in vicinity of the given image point.
Parameters
----------
img_point: pixel values of the point
distance: distnace in pixels in which there shouldn't be any obstacle.
Returns
-------
[Bool]: True if any obstacle found else False.
"""
# need to make sure that patch xmin & ymin are >=0,
# because of python's negative indexing capability
row_start_idx = 0 if img_point[1] - distance < 0 else img_point[1] - distance
col_start_idx = 0 if img_point[0] - distance < 0 else img_point[0] - distance
# image point acts as the center of the square, where each side of square is of size
# 2xdistance. using int() because in python2.x math.floor() returns float.
patch = self.__grid_map[
int(row_start_idx) : int(img_point[1] + distance), int(col_start_idx) : int(img_point[0] + distance)
]
obstacles = np.where(patch == True)
return len(obstacles[0]) > 0
def is_valid_pose(self, point, distance=0.2):
"""
Checks if a given pose is "distance" away from a obstacle.
Parameters
----------
point: pose in 2D space. where point[0]=pose.x and point[1]=pose.y
distance: distance in meters.
Returns
-------
[Bool]: True if pose is valid else False
"""
assert len(point) == 2
img_point = self.__transform_to_image_coordinates(point)
img_pixel_distance = self.__transform_distance_to_pixels(distance)
return not self.__is_obstacle_in_distance(img_point, img_pixel_distance)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/__init__.py | |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py | #!/usr/bin/env python
from __future__ import absolute_import
import rospy
import actionlib
import sys
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from obstacle_map import GridMap
from goal_generators import RandomGoalGenerator, GoalReader
from geometry_msgs.msg import PoseWithCovarianceStamped
class SetNavigationGoal:
def __init__(self):
self.__goal_generator = self.__create_goal_generator()
action_server_name = rospy.get_param("action_server_name", "move_base")
self._action_client = actionlib.SimpleActionClient(action_server_name, MoveBaseAction)
self.MAX_ITERATION_COUNT = rospy.get_param("iteration_count", 1)
assert self.MAX_ITERATION_COUNT > 0
self.curr_iteration_count = 1
self.__initial_goal_publisher = rospy.Publisher("initialpose", PoseWithCovarianceStamped, queue_size=1)
self.__initial_pose = rospy.get_param("initial_pose", None)
self.__is_initial_pose_sent = True if self.__initial_pose is None else False
def __send_initial_pose(self):
"""
Publishes the initial pose.
This function is only called once that too before sending any goal pose
to the mission server.
"""
goal = PoseWithCovarianceStamped()
goal.header.frame_id = rospy.get_param("frame_id", "map")
goal.header.stamp = rospy.get_rostime()
goal.pose.pose.position.x = self.__initial_pose[0]
goal.pose.pose.position.y = self.__initial_pose[1]
goal.pose.pose.position.z = self.__initial_pose[2]
goal.pose.pose.orientation.x = self.__initial_pose[3]
goal.pose.pose.orientation.y = self.__initial_pose[4]
goal.pose.pose.orientation.z = self.__initial_pose[5]
goal.pose.pose.orientation.w = self.__initial_pose[6]
rospy.sleep(1)
self.__initial_goal_publisher.publish(goal)
def send_goal(self):
"""
Sends the goal to the action server.
"""
if not self.__is_initial_pose_sent:
rospy.loginfo("Sending initial pose")
self.__send_initial_pose()
self.__is_initial_pose_sent = True
# Assumption is that initial pose is set after publishing first time in this duration.
# Can be changed to more sophisticated way. e.g. /particlecloud topic has no msg until
# the initial pose is set.
rospy.sleep(10)
rospy.loginfo("Sending first goal")
self._action_client.wait_for_server()
goal_msg = self.__get_goal()
if goal_msg is None:
rospy.signal_shutdown("Goal message not generated.")
sys.exit(1)
self._action_client.send_goal(goal_msg, feedback_cb=self.__goal_response_callback)
def __goal_response_callback(self, feedback):
"""
Callback function to check the response(goal accpted/rejected) from the server.\n
If the Goal is rejected it stops the execution for now.(We can change to resample the pose if rejected.)
"""
if self.verify_goal_state():
rospy.loginfo("Waiting to reach goal")
wait = self._action_client.wait_for_result()
if self.verify_goal_state():
self.__get_result_callback(True)
def verify_goal_state(self):
print("Action Client State:", self._action_client.get_state(), self._action_client.get_goal_status_text())
if self._action_client.get_state() not in [0, 1, 3]:
rospy.signal_shutdown("Goal Rejected :(")
return False
return True
def __get_goal(self):
goal_msg = MoveBaseGoal()
goal_msg.target_pose.header.frame_id = rospy.get_param("frame_id", "map")
goal_msg.target_pose.header.stamp = rospy.get_rostime()
pose = self.__goal_generator.generate_goal()
# couldn't sample a pose which is not close to obstacles. Rare but might happen in dense maps.
if pose is None:
rospy.logerr("Could not generate next goal. Returning. Possible reasons for this error could be:")
rospy.logerr(
"1. If you are using GoalReader then please make sure iteration count <= no of goals avaiable in file."
)
rospy.logerr(
"2. If RandomGoalGenerator is being used then it was not able to sample a pose which is given distance away from the obstacles."
)
return
rospy.loginfo("Generated goal pose: {0}".format(pose))
goal_msg.target_pose.pose.position.x = pose[0]
goal_msg.target_pose.pose.position.y = pose[1]
goal_msg.target_pose.pose.orientation.x = pose[2]
goal_msg.target_pose.pose.orientation.y = pose[3]
goal_msg.target_pose.pose.orientation.z = pose[4]
goal_msg.target_pose.pose.orientation.w = pose[5]
return goal_msg
def __get_result_callback(self, wait):
if wait and self.curr_iteration_count < self.MAX_ITERATION_COUNT:
self.curr_iteration_count += 1
self.send_goal()
else:
rospy.signal_shutdown("Iteration done or Goal not reached.")
# in this callback func we can compare/compute/log something while the robot is on its way to goal.
def __feedback_callback(self, feedback_msg):
pass
def __create_goal_generator(self):
goal_generator_type = rospy.get_param("goal_generator_type", "RandomGoalGenerator")
goal_generator = None
if goal_generator_type == "RandomGoalGenerator":
if rospy.get_param("map_yaml_path", None) is None:
rospy.loginfo("Yaml file path is not given. Returning..")
sys.exit(1)
yaml_file_path = rospy.get_param("map_yaml_path", None)
grid_map = GridMap(yaml_file_path)
obstacle_search_distance_in_meters = rospy.get_param("obstacle_search_distance_in_meters", 0.2)
assert obstacle_search_distance_in_meters > 0
goal_generator = RandomGoalGenerator(grid_map, obstacle_search_distance_in_meters)
elif goal_generator_type == "GoalReader":
if rospy.get_param("goal_text_file_path", None) is None:
rospy.loginfo("Goal text file path is not given. Returning..")
sys.exit(1)
file_path = rospy.get_param("goal_text_file_path", None)
goal_generator = GoalReader(file_path)
else:
rospy.loginfo("Invalid goal generator specified. Returning...")
sys.exit(1)
return goal_generator
def main():
rospy.init_node("set_goal_py")
set_goal = SetNavigationGoal()
result = set_goal.send_goal()
rospy.spin()
if __name__ == "__main__":
main()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/goal_reader.py | from __future__ import absolute_import
from .goal_generator import GoalGenerator
class GoalReader(GoalGenerator):
def __init__(self, file_path):
self.__file_path = file_path
self.__generator = self.__get_goal()
def generate_goal(self, max_num_of_trials=1000):
try:
return next(self.__generator)
except StopIteration:
return
def __get_goal(self):
for row in open(self.__file_path, "r"):
yield list(map(float, row.strip().split(" ")))
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/random_goal_generator.py | from __future__ import absolute_import
import numpy as np
from .goal_generator import GoalGenerator
class RandomGoalGenerator(GoalGenerator):
"""
Random goal generator.
parameters
----------
grid_map: GridMap Object
distance: distance in meters to check vicinity for obstacles.
"""
def __init__(self, grid_map, distance):
self.__grid_map = grid_map
self.__distance = distance
def generate_goal(self, max_num_of_trials=1000):
"""
Generate the goal.
Parameters
----------
max_num_of_trials: maximum number of pose generations when generated pose keep is not a valid pose.
Returns
-------
[List][Pose]: Pose in format [pose.x,pose.y,orientaion.x,orientaion.y,orientaion.z,orientaion.w]
"""
range_ = self.__grid_map.get_range()
trial_count = 0
while trial_count < max_num_of_trials:
x = np.random.uniform(range_[0][0], range_[0][1])
y = np.random.uniform(range_[1][0], range_[1][1])
orient_x = 0 # not needed because robot is in x,y plane
orient_y = 0 # not needed because robot is in x,y plane
orient_z = np.random.uniform(0, 1)
orient_w = np.random.uniform(0, 1)
if self.__grid_map.is_valid_pose([x, y], self.__distance):
goal = [x, y, orient_x, orient_y, orient_z, orient_w]
return goal
trial_count += 1
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/__init__.py | from .random_goal_generator import RandomGoalGenerator
from .goal_reader import GoalReader
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/goal_generator.py | from __future__ import absolute_import
from abc import ABCMeta, abstractmethod
class GoalGenerator:
__metaclass__ = ABCMeta
"""
Parent class for the Goal generators
"""
def __init__(self):
pass
@abstractmethod
def generate_goal(self, max_num_of_trials=2000):
"""
Generate the goal.
Parameters
----------
max_num_of_trials: maximum number of pose generations when generated pose keep is not a valid pose.
Returns
-------
[List][Pose]: Pose in format [pose.x,pose.y,orientaion.x,orientaion.y,orientaion.z,orientaion.w]
"""
pass
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/assets/carter_warehouse_navigation.yaml | image: carter_warehouse_navigation.png
resolution: 0.05
origin: [-11.975, -17.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/noetic_ws/src/navigation/isaac_ros_navigation_goal/assets/goals.txt | 1 2 0 0 1 0
2 3 0 0 1 1
3.4 4.5 0 0 0.5 0.5 |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/fastdds.xml | <?xml version="1.0" encoding="UTF-8" ?>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<transport_descriptors>
<transport_descriptor>
<transport_id>UdpTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="udp_transport_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>UdpTransport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles> |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/CMakeLists.txt | cmake_minimum_required(VERSION 3.5)
project(isaac_tutorials)
find_package(ament_cmake REQUIRED)
find_package(rclpy REQUIRED)
install(DIRECTORY
rviz2
scripts
DESTINATION share/${PROJECT_NAME})
# Install Python executables
install(PROGRAMS
scripts/ros2_publisher.py
DESTINATION lib/${PROJECT_NAME}
)
ament_package()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_tutorials</name>
<version>0.1.0</version>
<description>
The isaac_tutorials package
</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/scripts/ros2_publisher.py | #!/usr/bin/env python3
# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
import numpy as np
import time
class TestROS2Bridge(Node):
def __init__(self):
super().__init__("test_ros2bridge")
# Create the publisher. This publisher will publish a JointState message to the /joint_command topic.
self.publisher_ = self.create_publisher(JointState, "joint_command", 10)
# Create a JointState message
self.joint_state = JointState()
self.joint_state.name = [
"panda_joint1",
"panda_joint2",
"panda_joint3",
"panda_joint4",
"panda_joint5",
"panda_joint6",
"panda_joint7",
"panda_finger_joint1",
"panda_finger_joint2",
]
num_joints = len(self.joint_state.name)
# make sure kit's editor is playing for receiving messages
self.joint_state.position = np.array([0.0] * num_joints, dtype=np.float64).tolist()
self.default_joints = [0.0, -1.16, -0.0, -2.3, -0.0, 1.6, 1.1, 0.4, 0.4]
# limiting the movements to a smaller range (this is not the range of the robot, just the range of the movement
self.max_joints = np.array(self.default_joints) + 0.5
self.min_joints = np.array(self.default_joints) - 0.5
# position control the robot to wiggle around each joint
self.time_start = time.time()
timer_period = 0.05 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
def timer_callback(self):
self.joint_state.header.stamp = self.get_clock().now().to_msg()
joint_position = (
np.sin(time.time() - self.time_start) * (self.max_joints - self.min_joints) * 0.5 + self.default_joints
)
self.joint_state.position = joint_position.tolist()
# Publish the message to the topic
self.publisher_.publish(self.joint_state)
def main(args=None):
rclpy.init(args=args)
ros2_publisher = TestROS2Bridge()
rclpy.spin(ros2_publisher)
# Destroy the node explicitly
ros2_publisher.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/rviz2/rtx_lidar.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /PointCloud21
- /LaserScan1
Splitter Ratio: 0.5
Tree Height: 938
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /point_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 28
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: sim_lidar
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 33.790897369384766
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 4.0773420333862305
Y: 8.741633415222168
Z: 1.6276212930679321
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4153982698917389
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.3785688877105713
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1342
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f7000004a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000004a20000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000004a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000004a20000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006a4000004a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2578
X: 1999
Y: 339
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/rviz2/turtle_stereo.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Camera1
- /Camera2
Splitter Ratio: 0.5
Tree Height: 1120
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/Camera
Enabled: true
Image Rendering: background and overlay
Name: Camera
Overlay Alpha: 0.5
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /rgb
Value: true
Visibility:
Camera: true
Grid: true
Value: true
Zoom Factor: 1
- Class: rviz_default_plugins/Camera
Enabled: true
Image Rendering: background and overlay
Name: Camera
Overlay Alpha: 0.5
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /rgb_2
Value: true
Visibility:
Camera: true
Grid: true
Value: true
Zoom Factor: 1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: sim_camera
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -7.855632781982422
Y: -8.80923843383789
Z: 11.783849716186523
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Camera:
collapsed: false
Displays:
collapsed: false
Height: 1658
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001f70000007afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f00000132fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000051a000001320000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000a1500000558fc0100000004fb000000100044006900730070006c0061007900730100000000000001f7000001f700fffffffb0000000c00430061006d006500720061010000020300000404000000a500fffffffb0000000c00430061006d006500720061010000061300000402000000a500fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000a150000007a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2581
X: 8243
Y: 317
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/rviz2/camera_lidar.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Camera1 - RGB1
- /TF1
Splitter Ratio: 0.5
Tree Height: 871
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: Camera1 - Depth
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera_1/depth/image_rect_raw
Value: false
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Camera2 - Depth
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera_2/depth/image_rect_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 34
Min Color: 0; 0; 0
Min Intensity: 1
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /laser_scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Camera2 - RGB
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera_2/rgb/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: Camera1 - RGB
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera_1/rgb/image_raw
Value: false
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Camera_1:
Value: true
Camera_2:
Value: true
base_footprint:
Value: true
base_link:
Value: true
base_scan:
Value: true
caster_back_link:
Value: true
imu_link:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_link:
Value: true
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
world:
Camera_1:
{}
Camera_2:
{}
base_link:
base_footprint:
{}
base_scan:
{}
caster_back_link:
{}
imu_link:
{}
wheel_left_link:
{}
wheel_right_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 8.917070388793945
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.0011783838272095
Y: 1.8463866710662842
Z: 0.4111546277999878
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.329797625541687
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.25040191411972046
Saved: ~
Window Geometry:
Camera1 - Depth:
collapsed: false
Camera1 - RGB:
collapsed: false
Camera2 - Depth:
collapsed: false
Camera2 - RGB:
collapsed: false
Displays:
collapsed: false
Height: 1022
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 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
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2527
X: 1351
Y: 96
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/rviz2/carter_stereo.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
- /Odometry1/Topic1
- /Left Camera - RGB1
- /Right Camera - RGB1
Splitter Ratio: 0.5
Tree Height: 733
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
chassis_link:
Value: true
front_2d_lidar:
Value: true
front_3d_lidar:
Value: true
front_stereo_camera:imu:
Value: true
front_stereo_camera:left_rgb:
Value: true
front_stereo_camera:right_rgb:
Value: true
left_stereo_camera:imu:
Value: true
left_stereo_camera:left_rgb:
Value: true
left_stereo_camera:right_rgb:
Value: true
odom:
Value: true
rear_2d_lidar:
Value: true
rear_stereo_camera:imu:
Value: true
rear_stereo_camera:left_rgb:
Value: true
rear_stereo_camera:right_rgb:
Value: true
right_stereo_camera:imu:
Value: true
right_stereo_camera:left_rgb:
Value: true
right_stereo_camera:right_rgb:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
odom:
base_link:
chassis_link:
{}
front_2d_lidar:
{}
front_3d_lidar:
{}
front_stereo_camera:imu:
{}
front_stereo_camera:left_rgb:
{}
front_stereo_camera:right_rgb:
{}
left_stereo_camera:imu:
{}
left_stereo_camera:left_rgb:
{}
left_stereo_camera:right_rgb:
{}
rear_2d_lidar:
{}
rear_stereo_camera:imu:
{}
rear_stereo_camera:left_rgb:
{}
rear_stereo_camera:right_rgb:
{}
right_stereo_camera:imu:
{}
right_stereo_camera:left_rgb:
{}
right_stereo_camera:right_rgb:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: odom
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Left Camera - RGB
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /front_stereo_camera/left_rgb/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Right Camera - RGB
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /front_stereo_camera/right_rgb/image_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /front_3d_lidar/point_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 7.74399995803833
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.7320740818977356
Y: 0.9904739856719971
Z: 1.7632932662963867
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7803976535797119
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.0203975439071655
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1022
Hide Left Dock: false
Hide Right Dock: true
Left Camera - RGB:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f7000003a4fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002800520069006700680074002000430061006d0065007200610020002d002000440065007000740068020000128b00000218000002390000017ffb00000026004c006500660074002000430061006d0065007200610020002d002000440065007000740068020000102e000002180000023c00000181fb00000022004c006500660074002000430061006d0065007200610020002d002000520047004203000010200000020c000001f30000011efb0000002400520069006700680074002000430061006d0065007200610020002d002000520047004203000012530000020d000001f30000011efb0000000a0049006d006100670065030000236c0000040e0000023e0000017e000000010000015f000003a4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003a4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004e5000003a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Right Camera - RGB:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1762
X: 3585
Y: 352
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_tutorials/rviz2/camera_manual.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 1286
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/Camera
Enabled: true
Image Rendering: background and overlay
Name: Depth
Overlay Alpha: 0.5
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /depth
Value: true
Visibility:
Grid: true
RGB: true
Value: true
Zoom Factor: 1
- Class: rviz_default_plugins/Camera
Enabled: true
Image Rendering: background and overlay
Name: RGB
Overlay Alpha: 0.5
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /rgb
Value: true
Visibility:
Depth: true
Grid: true
Value: true
Zoom Factor: 1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: sim_camera
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Depth:
collapsed: false
Displays:
collapsed: false
Height: 1690
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f7000005fefc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000005fe0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680300001343000008170000030b000001f8fb000000060052004700420300001010000008160000030a000001f5000000010000015f000005fefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000005fe0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006ae000005fe00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RGB:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2588
X: 3535
Y: 1306
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_ros2_messages/CMakeLists.txt | cmake_minimum_required(VERSION 3.5)
project(isaac_ros2_messages)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
IF (WIN32)
find_package(FastRTPS REQUIRED)
ELSE()
find_package(fastrtps REQUIRED)
ENDIF()
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/IsaacPose.srv"
DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
)
ament_package()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/isaac_ros2_messages/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros2_messages</name>
<version>0.1.0</version>
<description>ROS2 messages for isaac ros2 bridge</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<build_depend>rosidl_default_generators</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/custom_message/CMakeLists.txt | cmake_minimum_required(VERSION 3.5)
project(custom_message)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/SampleMsg.msg"
DEPENDENCIES std_msgs
)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/custom_message/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>custom_message</name>
<version>0.0.0</version>
<description>Custom Message Sample Package</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>std_msgs</depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/CMakeLists.txt | cmake_minimum_required(VERSION 3.5)
project(carter_navigation)
find_package(ament_cmake REQUIRED)
install(DIRECTORY
launch
params
maps
rviz2
DESTINATION share/${PROJECT_NAME})
ament_package()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>carter_navigation</name>
<version>0.1.0</version>
<description>
The carter_navigation package
</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>launch</build_depend>
<build_depend>launch_ros</build_depend>
<build_depend>joint_state_publisher</build_depend>
<build_depend>rviz2</build_depend>
<build_depend>navigation2</build_depend>
<build_depend>nav2_amcl</build_depend>
<build_depend>nav2_bringup</build_depend>
<build_depend>nav2_bt_navigator</build_depend>
<build_depend>nav2_costmap_2d</build_depend>
<build_depend>nav2_core</build_depend>
<build_depend>nav2_dwb_controller</build_depend>
<build_depend>nav2_lifecycle_manager</build_depend>
<build_depend>nav2_map_server</build_depend>
<build_depend>nav2_behaviors</build_depend>
<build_depend>nav2_planner</build_depend>
<build_depend>nav2_msgs</build_depend>
<build_depend>nav2_navfn_planner</build_depend>
<build_depend>nav2_rviz_plugins</build_depend>
<build_depend>nav2_behavior_tree</build_depend>
<build_depend>nav2_util</build_depend>
<build_depend>nav2_voxel_grid</build_depend>
<build_depend>nav2_controller</build_depend>
<build_depend>nav2_waypoint_follower</build_depend>
<build_depend>pointcloud_to_laserscan</build_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/launch/carter_navigation.launch.py | ## Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
use_sim_time = LaunchConfiguration("use_sim_time", default="True")
map_dir = LaunchConfiguration(
"map",
default=os.path.join(
get_package_share_directory("carter_navigation"), "maps", "carter_warehouse_navigation.yaml"
),
)
param_dir = LaunchConfiguration(
"params_file",
default=os.path.join(
get_package_share_directory("carter_navigation"), "params", "carter_navigation_params.yaml"
),
)
nav2_bringup_launch_dir = os.path.join(get_package_share_directory("nav2_bringup"), "launch")
rviz_config_dir = os.path.join(get_package_share_directory("carter_navigation"), "rviz2", "carter_navigation.rviz")
return LaunchDescription(
[
DeclareLaunchArgument("map", default_value=map_dir, description="Full path to map file to load"),
DeclareLaunchArgument(
"params_file", default_value=param_dir, description="Full path to param file to load"
),
DeclareLaunchArgument(
"use_sim_time", default_value="true", description="Use simulation (Omniverse Isaac Sim) clock if true"
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),
launch_arguments={"namespace": "", "use_namespace": "False", "rviz_config": rviz_config_dir}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_bringup_launch_dir, "/bringup_launch.py"]),
launch_arguments={"map": map_dir, "use_sim_time": use_sim_time, "params_file": param_dir}.items(),
),
Node(
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
remappings=[('cloud_in', ['/front_3d_lidar/point_cloud']),
('scan', ['/scan'])],
parameters=[{
'target_frame': 'front_3d_lidar',
'transform_tolerance': 0.01,
'min_height': -0.4,
'max_height': 1.5,
'angle_min': -1.5708, # -M_PI/2
'angle_max': 1.5708, # M_PI/2
'angle_increment': 0.0087, # M_PI/360.0
'scan_time': 0.3333,
'range_min': 0.05,
'range_max': 100.0,
'use_inf': True,
'inf_epsilon': 1.0,
# 'concurrency_level': 1,
}],
name='pointcloud_to_laserscan'
)
]
)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/launch/carter_navigation_individual.launch.py | ## Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression, TextSubstitution
from launch_ros.actions import Node
def generate_launch_description():
# Get the launch directory
nav2_launch_dir = os.path.join(get_package_share_directory("nav2_bringup"), "launch")
# Create the launch configuration variables
slam = LaunchConfiguration("slam")
namespace = LaunchConfiguration("namespace")
use_namespace = LaunchConfiguration("use_namespace")
map_yaml_file = LaunchConfiguration("map")
use_sim_time = LaunchConfiguration("use_sim_time")
params_file = LaunchConfiguration("params_file")
default_bt_xml_filename = LaunchConfiguration("default_bt_xml_filename")
autostart = LaunchConfiguration("autostart")
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument("namespace", default_value="", description="Top-level namespace")
declare_use_namespace_cmd = DeclareLaunchArgument(
"use_namespace", default_value="false", description="Whether to apply a namespace to the navigation stack"
)
declare_slam_cmd = DeclareLaunchArgument("slam", default_value="False", description="Whether run a SLAM")
declare_map_yaml_cmd = DeclareLaunchArgument(
"map",
default_value=os.path.join(nav2_launch_dir, "maps", "carter_warehouse_navigation.yaml"),
description="Full path to map file to load",
)
declare_use_sim_time_cmd = DeclareLaunchArgument(
"use_sim_time", default_value="True", description="Use simulation (Isaac Sim) clock if true"
)
declare_params_file_cmd = DeclareLaunchArgument(
"params_file",
default_value=os.path.join(nav2_launch_dir, "params", "nav2_params.yaml"),
description="Full path to the ROS2 parameters file to use for all launched nodes",
)
declare_bt_xml_cmd = DeclareLaunchArgument(
"default_bt_xml_filename",
default_value=os.path.join(
get_package_share_directory("nav2_bt_navigator"), "behavior_trees", "navigate_w_replanning_and_recovery.xml"
),
description="Full path to the behavior tree xml file to use",
)
declare_autostart_cmd = DeclareLaunchArgument(
"autostart", default_value="true", description="Automatically startup the nav2 stack"
)
bringup_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(nav2_launch_dir, "bringup_launch.py")),
launch_arguments={
"namespace": namespace,
"use_namespace": use_namespace,
"slam": slam,
"map": map_yaml_file,
"use_sim_time": use_sim_time,
"params_file": params_file,
"default_bt_xml_filename": default_bt_xml_filename,
"autostart": autostart,
}.items(),
)
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_bt_xml_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(bringup_cmd)
return ld
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py | ## Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
"""
Example for spawing multiple robots in Gazebo.
This is an example on how to create a launch file for spawning multiple robots into Gazebo
and launch multiple instances of the navigation stack, each controlling one robot.
The robots co-exist on a shared environment and are controlled by independent nav stacks
"""
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, GroupAction, IncludeLaunchDescription, LogInfo
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, TextSubstitution
from launch_ros.actions import Node
def generate_launch_description():
# Get the launch and rviz directories
carter_nav2_bringup_dir = get_package_share_directory("carter_navigation")
nav2_bringup_dir = get_package_share_directory("nav2_bringup")
nav2_bringup_launch_dir = os.path.join(nav2_bringup_dir, "launch")
rviz_config_dir = os.path.join(carter_nav2_bringup_dir, "rviz2", "carter_navigation_namespaced.rviz")
# Names and poses of the robots
robots = [{"name": "carter1"}, {"name": "carter2"}, {"name": "carter3"}]
# Common settings
ENV_MAP_FILE = "carter_hospital_navigation.yaml"
use_sim_time = LaunchConfiguration("use_sim_time", default="True")
map_yaml_file = LaunchConfiguration("map")
default_bt_xml_filename = LaunchConfiguration("default_bt_xml_filename")
autostart = LaunchConfiguration("autostart")
rviz_config_file = LaunchConfiguration("rviz_config")
use_rviz = LaunchConfiguration("use_rviz")
log_settings = LaunchConfiguration("log_settings", default="true")
# Declare the launch arguments
declare_map_yaml_cmd = DeclareLaunchArgument(
"map",
default_value=os.path.join(carter_nav2_bringup_dir, "maps", ENV_MAP_FILE),
description="Full path to map file to load",
)
declare_robot1_params_file_cmd = DeclareLaunchArgument(
"carter1_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "hospital", "multi_robot_carter_navigation_params_1.yaml"
),
description="Full path to the ROS2 parameters file to use for robot1 launched nodes",
)
declare_robot2_params_file_cmd = DeclareLaunchArgument(
"carter2_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "hospital", "multi_robot_carter_navigation_params_2.yaml"
),
description="Full path to the ROS2 parameters file to use for robot2 launched nodes",
)
declare_robot3_params_file_cmd = DeclareLaunchArgument(
"carter3_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "hospital", "multi_robot_carter_navigation_params_3.yaml"
),
description="Full path to the ROS2 parameters file to use for robot3 launched nodes",
)
declare_bt_xml_cmd = DeclareLaunchArgument(
"default_bt_xml_filename",
default_value=os.path.join(
get_package_share_directory("nav2_bt_navigator"), "behavior_trees", "navigate_w_replanning_and_recovery.xml"
),
description="Full path to the behavior tree xml file to use",
)
declare_autostart_cmd = DeclareLaunchArgument(
"autostart", default_value="True", description="Automatically startup the stacks"
)
declare_rviz_config_file_cmd = DeclareLaunchArgument(
"rviz_config", default_value=rviz_config_dir, description="Full path to the RVIZ config file to use."
)
declare_use_rviz_cmd = DeclareLaunchArgument("use_rviz", default_value="True", description="Whether to start RVIZ")
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
params_file = LaunchConfiguration(robot["name"] + "_params_file")
group = GroupAction(
[
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),
condition=IfCondition(use_rviz),
launch_arguments={
"namespace": TextSubstitution(text=robot["name"]),
"use_namespace": "True",
"rviz_config": rviz_config_file,
}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(carter_nav2_bringup_dir, "launch", "carter_navigation_individual.launch.py")
),
launch_arguments={
"namespace": robot["name"],
"use_namespace": "True",
"map": map_yaml_file,
"use_sim_time": use_sim_time,
"params_file": params_file,
"default_bt_xml_filename": default_bt_xml_filename,
"autostart": autostart,
"use_rviz": "False",
"use_simulator": "False",
"headless": "False",
}.items(),
),
Node(
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
remappings=[('cloud_in', ['front_3d_lidar/point_cloud']),
('scan', ['scan'])],
parameters=[{
'target_frame': 'front_3d_lidar',
'transform_tolerance': 0.01,
'min_height': -0.4,
'max_height': 1.5,
'angle_min': -1.5708, # -M_PI/2
'angle_max': 1.5708, # M_PI/2
'angle_increment': 0.0087, # M_PI/360.0
'scan_time': 0.3333,
'range_min': 0.05,
'range_max': 100.0,
'use_inf': True,
'inf_epsilon': 1.0,
# 'concurrency_level': 1,
}],
name='pointcloud_to_laserscan',
namespace = robot["name"]
),
LogInfo(condition=IfCondition(log_settings), msg=["Launching ", robot["name"]]),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " map yaml: ", map_yaml_file]),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " params yaml: ", params_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot["name"], " behavior tree xml: ", default_bt_xml_filename],
),
LogInfo(
condition=IfCondition(log_settings), msg=[robot["name"], " rviz config file: ", rviz_config_file]
),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " autostart: ", autostart]),
]
)
nav_instances_cmds.append(group)
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_robot1_params_file_cmd)
ld.add_action(declare_robot2_params_file_cmd)
ld.add_action(declare_robot3_params_file_cmd)
ld.add_action(declare_bt_xml_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_rviz_config_file_cmd)
for simulation_instance_cmd in nav_instances_cmds:
ld.add_action(simulation_instance_cmd)
return ld
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py | ## Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
"""
Example for spawing multiple robots in Gazebo.
This is an example on how to create a launch file for spawning multiple robots into Gazebo
and launch multiple instances of the navigation stack, each controlling one robot.
The robots co-exist on a shared environment and are controlled by independent nav stacks
"""
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, GroupAction, IncludeLaunchDescription, LogInfo
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, TextSubstitution
from launch_ros.actions import Node
def generate_launch_description():
# Get the launch and rviz directories
carter_nav2_bringup_dir = get_package_share_directory("carter_navigation")
nav2_bringup_dir = get_package_share_directory("nav2_bringup")
nav2_bringup_launch_dir = os.path.join(nav2_bringup_dir, "launch")
rviz_config_dir = os.path.join(carter_nav2_bringup_dir, "rviz2", "carter_navigation_namespaced.rviz")
# Names and poses of the robots
robots = [{"name": "carter1"}, {"name": "carter2"}, {"name": "carter3"}]
# Common settings
ENV_MAP_FILE = "carter_office_navigation.yaml"
use_sim_time = LaunchConfiguration("use_sim_time", default="True")
map_yaml_file = LaunchConfiguration("map")
default_bt_xml_filename = LaunchConfiguration("default_bt_xml_filename")
autostart = LaunchConfiguration("autostart")
rviz_config_file = LaunchConfiguration("rviz_config")
use_rviz = LaunchConfiguration("use_rviz")
log_settings = LaunchConfiguration("log_settings", default="true")
# Declare the launch arguments
declare_map_yaml_cmd = DeclareLaunchArgument(
"map",
default_value=os.path.join(carter_nav2_bringup_dir, "maps", ENV_MAP_FILE),
description="Full path to map file to load",
)
declare_robot1_params_file_cmd = DeclareLaunchArgument(
"carter1_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "office", "multi_robot_carter_navigation_params_1.yaml"
),
description="Full path to the ROS2 parameters file to use for robot1 launched nodes",
)
declare_robot2_params_file_cmd = DeclareLaunchArgument(
"carter2_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "office", "multi_robot_carter_navigation_params_2.yaml"
),
description="Full path to the ROS2 parameters file to use for robot2 launched nodes",
)
declare_robot3_params_file_cmd = DeclareLaunchArgument(
"carter3_params_file",
default_value=os.path.join(
carter_nav2_bringup_dir, "params", "office", "multi_robot_carter_navigation_params_3.yaml"
),
description="Full path to the ROS2 parameters file to use for robot3 launched nodes",
)
declare_bt_xml_cmd = DeclareLaunchArgument(
"default_bt_xml_filename",
default_value=os.path.join(
get_package_share_directory("nav2_bt_navigator"), "behavior_trees", "navigate_w_replanning_and_recovery.xml"
),
description="Full path to the behavior tree xml file to use",
)
declare_autostart_cmd = DeclareLaunchArgument(
"autostart", default_value="True", description="Automatically startup the stacks"
)
declare_rviz_config_file_cmd = DeclareLaunchArgument(
"rviz_config", default_value=rviz_config_dir, description="Full path to the RVIZ config file to use."
)
declare_use_rviz_cmd = DeclareLaunchArgument("use_rviz", default_value="True", description="Whether to start RVIZ")
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
params_file = LaunchConfiguration(robot["name"] + "_params_file")
group = GroupAction(
[
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),
condition=IfCondition(use_rviz),
launch_arguments={
"namespace": TextSubstitution(text=robot["name"]),
"use_namespace": "True",
"rviz_config": rviz_config_file,
}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(carter_nav2_bringup_dir, "launch", "carter_navigation_individual.launch.py")
),
launch_arguments={
"namespace": robot["name"],
"use_namespace": "True",
"map": map_yaml_file,
"use_sim_time": use_sim_time,
"params_file": params_file,
"default_bt_xml_filename": default_bt_xml_filename,
"autostart": autostart,
"use_rviz": "False",
"use_simulator": "False",
"headless": "False",
}.items(),
),
Node(
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
remappings=[('cloud_in', ['front_3d_lidar/point_cloud']),
('scan', ['scan'])],
parameters=[{
'target_frame': 'front_3d_lidar',
'transform_tolerance': 0.01,
'min_height': -0.4,
'max_height': 1.5,
'angle_min': -1.5708, # -M_PI/2
'angle_max': 1.5708, # M_PI/2
'angle_increment': 0.0087, # M_PI/360.0
'scan_time': 0.3333,
'range_min': 0.05,
'range_max': 100.0,
'use_inf': True,
'inf_epsilon': 1.0,
# 'concurrency_level': 1,
}],
name='pointcloud_to_laserscan',
namespace = robot["name"]
),
LogInfo(condition=IfCondition(log_settings), msg=["Launching ", robot["name"]]),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " map yaml: ", map_yaml_file]),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " params yaml: ", params_file]),
LogInfo(
condition=IfCondition(log_settings),
msg=[robot["name"], " behavior tree xml: ", default_bt_xml_filename],
),
LogInfo(
condition=IfCondition(log_settings), msg=[robot["name"], " rviz config file: ", rviz_config_file]
),
LogInfo(condition=IfCondition(log_settings), msg=[robot["name"], " autostart: ", autostart]),
]
)
nav_instances_cmds.append(group)
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_map_yaml_cmd)
ld.add_action(declare_robot1_params_file_cmd)
ld.add_action(declare_robot2_params_file_cmd)
ld.add_action(declare_robot3_params_file_cmd)
ld.add_action(declare_bt_xml_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_rviz_config_file_cmd)
for simulation_instance_cmd in nav_instances_cmds:
ld.add_action(simulation_instance_cmd)
return ld
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/maps/carter_office_navigation.yaml | image: carter_office_navigation.png
mode: trinary
resolution: 0.05
origin: [-29.975, -39.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/maps/carter_hospital_navigation.yaml | image: carter_hospital_navigation.png
mode: trinary
resolution: 0.05
origin: [-49.625, -4.675, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/maps/carter_warehouse_navigation.yaml | image: carter_warehouse_navigation.png
mode: trinary
resolution: 0.05
origin: [-11.975, -17.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/rviz2/carter_navigation_namespaced.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 195
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1/Status1
- /TF1/Frames1
- /TF1/Tree1
- /Global Planner1/Global Costmap1
Splitter Ratio: 0.5833333134651184
Tree Height: 464
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: nav2_rviz_plugins/Navigation 2
Name: Navigation 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.07999999821186066
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/map
Use Timestamp: false
Value: true
- Alpha: 1
Arrow Length: 0.019999999552965164
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz_default_plugins/PoseArray
Color: 0; 180; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Amcl Particle Swarm
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/particlecloud
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.30000001192092896
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/global_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.019999999552965164
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.004999999888241291
Shaft Length: 0.019999999552965164
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/plan
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: false
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/global_costmap/published_footprint
Value: false
Enabled: true
Name: Global Planner
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_plan
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/marker
Value: false
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_costmap/published_footprint
Value: true
Enabled: true
Name: Controller
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/initialpose
- Class: nav2_rviz_plugins/GoalTool
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Angle: -1.5700000524520874
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 134.638427734375
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz_default_plugins)
X: -0.032615214586257935
Y: -0.0801941454410553
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 914
Hide Left Dock: false
Hide Right Dock: true
Navigation 2:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000003070000006e0000006200ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1545
X: 186
Y: 117
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/rviz2/carter_navigation.rviz | Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
- /TF1/Frames1
- /TF1/Tree1
- /Controller1
- /Controller1/Local Costmap1
Splitter Ratio: 0.5833333134651184
Tree Height: 203
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: nav2_rviz_plugins/Navigation 2
Name: Navigation 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: File
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: ""
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
back_2d_lidar:
Value: true
base_link:
Value: true
chassis_link:
Value: true
front_2d_lidar:
Value: true
front_3d_lidar:
Value: true
front_stereo_camera:imu:
Value: true
front_stereo_camera:left_rgb:
Value: true
front_stereo_camera:right_rgb:
Value: true
left_stereo_camera:imu:
Value: true
left_stereo_camera:left_rgb:
Value: true
left_stereo_camera:right_rgb:
Value: true
map:
Value: true
odom:
Value: true
rear_stereo_camera:imu:
Value: true
rear_stereo_camera:left_rgb:
Value: true
rear_stereo_camera:right_rgb:
Value: true
right_stereo_camera:imu:
Value: true
right_stereo_camera:left_rgb:
Value: true
right_stereo_camera:right_rgb:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
odom:
base_link:
back_2d_lidar:
{}
chassis_link:
{}
front_2d_lidar:
{}
front_3d_lidar:
{}
front_stereo_camera:imu:
{}
front_stereo_camera:left_rgb:
{}
front_stereo_camera:right_rgb:
{}
left_stereo_camera:imu:
{}
left_stereo_camera:left_rgb:
{}
left_stereo_camera:right_rgb:
{}
rear_stereo_camera:imu:
{}
rear_stereo_camera:left_rgb:
{}
rear_stereo_camera:right_rgb:
{}
right_stereo_camera:imu:
{}
right_stereo_camera:left_rgb:
{}
right_stereo_camera:right_rgb:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.07999999821186066
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: true
- Alpha: 1
Arrow Length: 0.019999999552965164
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz_default_plugins/PoseArray
Color: 0; 180; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Amcl Particle Swarm
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /particlecloud
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.30000001192092896
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 0.30000001192092896
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Downsampled Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /downsampled_costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /downsampled_costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.019999999552965164
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.004999999888241291
Shaft Length: 0.019999999552965164
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud
Color: 125; 125; 125
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: false
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/published_footprint
Value: false
Enabled: true
Name: Global Planner
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker
Value: false
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/published_footprint
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Controller
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: RealsenseCamera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/image_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: RealsenseDepthImage
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Realsense
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /waypoints
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.605445384979248
Min Value: 0.0022323131561279297
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /front_3d_lidar/point_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /front_stereo_camera/left_rgb/image_raw
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
- Class: nav2_rviz_plugins/GoalTool
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 27.449058532714844
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.9582393169403076
Y: 3.2220561504364014
Z: 0.8917599320411682
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.2897965908050537
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 6.277405261993408
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 736
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
Navigation 2:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000028afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003b00000106000000c700fffffffa000000010100000002fb0000000a0049006d0061006700650200000526000002090000016a000000e7fb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001470000017e0000012300fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000028afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000028a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000004ba00000094fc0100000002fb0000000a0049006d006100670065030000037d000002170000016c00000104fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000034a0000028a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RealsenseCamera:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1210
X: 470
Y: 28
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: -6.0
y: -1.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 10
height: 10
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
# rolling_window: True
# width: 200
# height: 200
resolution: 0.05
# origin_x: -100.0
# origin_y: -100.0
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_warehouse_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 4.0
y: -1.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 7
height: 7
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter2/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 7
height: 7
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter1/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 7.0
y: 3.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 7
height: 7
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter3/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_2.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 2.5
y: 0.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 10
height: 10
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter2/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter2/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_1.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: -3.0
y: -6.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 10
height: 10
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter1/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter1/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_3.yaml | amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 3
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: -2.0
y: 5.0
z: 0.0
yaw: 3.14159
amcl_map_client:
ros__parameters:
use_sim_time: True
amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: odom
bt_loop_duration: 20
default_server_timeout: 40
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [1.8, 0.0, 1.2]
min_velocity: [-1.8, 0.0, -1.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "odom"
odom_duration: 0.1
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugin: ["stopped_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 1.2
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint_padding: 0.25
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: True
width: 10
height: 10
resolution: 0.05
transform_tolerance: 0.3
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
plugins: ["hesai_voxel_layer", "front_rplidar_obstacle_layer", "back_rplidar_obstacle_layer", "inflation_layer"]
# plugins: ["hesai_voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
cost_scaling_factor: 0.3
inflation_radius: 1.0
hesai_voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: False
origin_z: 0.0
z_voxels: 16
z_resolution: 0.2
unknown_threshold: 15
observation_sources: pointcloud
pointcloud: # no frame set, uses frame from message
topic: /carter3/front_3d_lidar/point_cloud
max_obstacle_height: 2.0
min_obstacle_height: 0.1
obstacle_max_range: 10.0
obstacle_min_range: 0.0
raytrace_max_range: 10.0
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
front_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/front_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
back_rplidar_obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/back_2d_lidar/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
footprint_padding: 0.25
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /carter3/scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 10.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 0.3
inflation_radius: 1.0
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_hospital_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.2
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/setup.py | from setuptools import setup
from glob import glob
import os
package_name = "isaac_ros_navigation_goal"
setup(
name=package_name,
version="0.0.1",
packages=[package_name, package_name + "/goal_generators"],
data_files=[
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
("share/" + package_name, ["package.xml"]),
(os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
("share/" + package_name + "/assets", glob("assets/*")),
],
install_requires=["setuptools"],
zip_safe=True,
maintainer="isaac sim",
maintainer_email="[email protected]",
description="Package to set goals for navigation stack.",
license="NVIDIA Isaac ROS Software License",
tests_require=["pytest"],
entry_points={"console_scripts": ["SetNavigationGoal = isaac_ros_navigation_goal.set_goal:main"]},
)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/CMakeLists.txt | cmake_minimum_required(VERSION 3.5)
project(isaac_ros_navigation_goal LANGUAGES PYTHON)
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
message( STATUS "Architecture: ${ARCHITECTURE}" )
set(CUDA_MIN_VERSION "10.2")
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclpy REQUIRED)
ament_auto_find_build_dependencies()
# Install Python modules
ament_python_install_package(${PROJECT_NAME})
# Install Python executables
install(PROGRAMS
isaac_ros_navigation_goal/set_goal.py
DESTINATION lib/${PROJECT_NAME}
)
ament_auto_package(INSTALL_TO_SHARE)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_navigation_goal</name>
<version>0.1.0</version>
<description>Package to set goals for navigation stack.</description>
<maintainer email="[email protected]">isaac sim</maintainer>
<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
<url type="Website">https://developer.nvidia.com/isaac-ros-gems/</url>
<build_depend>rclpy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav2_msgs</build_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/test/test_flake8.py | # Copyright 2017 Open Source Robotics Foundation, Inc.
#
# 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.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/test/test_pep257.py | # Copyright 2015 Open Source Robotics Foundation, Inc.
#
# 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.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=[".", "test"])
assert rc == 0, "Found code style errors / warnings"
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/launch/isaac_ros_navigation_goal.launch.py | # Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
map_yaml_file = LaunchConfiguration(
"map_yaml_path",
default=os.path.join(
get_package_share_directory("isaac_ros_navigation_goal"), "assets", "carter_warehouse_navigation.yaml"
),
)
goal_text_file = LaunchConfiguration(
"goal_text_file_path",
default=os.path.join(get_package_share_directory("isaac_ros_navigation_goal"), "assets", "goals.txt"),
)
navigation_goal_node = Node(
name="set_navigation_goal",
package="isaac_ros_navigation_goal",
executable="SetNavigationGoal",
parameters=[
{
"map_yaml_path": map_yaml_file,
"iteration_count": 3,
"goal_generator_type": "RandomGoalGenerator",
"action_server_name": "navigate_to_pose",
"obstacle_search_distance_in_meters": 0.2,
"goal_text_file_path": goal_text_file,
"initial_pose": [-6.4, -1.04, 0.0, 0.0, 0.0, 0.99, 0.02],
}
],
output="screen",
)
return LaunchDescription([navigation_goal_node])
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/obstacle_map.py | import numpy as np
import yaml
import os
import math
from PIL import Image
class GridMap:
def __init__(self, yaml_file_path):
self.__get_meta_from_yaml(yaml_file_path)
self.__get_raw_map()
self.__add_max_range_to_meta()
# print(self.__map_meta)
def __get_meta_from_yaml(self, yaml_file_path):
"""
Reads map meta from the yaml file.
Parameters
----------
yaml_file_path: path of the yaml file.
"""
with open(yaml_file_path, "r") as f:
file_content = f.read()
self.__map_meta = yaml.safe_load(file_content)
self.__map_meta["image"] = os.path.join(os.path.dirname(yaml_file_path), self.__map_meta["image"])
def __get_raw_map(self):
"""
Reads the map image and generates the grid map.\n
Grid map is a 2D boolean matrix where True=>occupied space & False=>Free space.
"""
img = Image.open(self.__map_meta.get("image"))
img = np.array(img)
# Anything greater than free_thresh is considered as occupied
if self.__map_meta["negate"]:
res = np.where((img / 255)[:, :, 0] > self.__map_meta["free_thresh"])
else:
res = np.where(((255 - img) / 255)[:, :, 0] > self.__map_meta["free_thresh"])
self.__grid_map = np.zeros(shape=(img.shape[:2]), dtype=bool)
for i in range(res[0].shape[0]):
self.__grid_map[res[0][i], res[1][i]] = 1
def __add_max_range_to_meta(self):
"""
Calculates and adds the max value of pose in x & y direction to the meta.
"""
max_x = self.__grid_map.shape[1] * self.__map_meta["resolution"] + self.__map_meta["origin"][0]
max_y = self.__grid_map.shape[0] * self.__map_meta["resolution"] + self.__map_meta["origin"][1]
self.__map_meta["max_x"] = round(max_x, 2)
self.__map_meta["max_y"] = round(max_y, 2)
def __pad_obstacles(self, distance):
pass
def get_range(self):
"""
Returns the bounds of pose values in x & y direction.\n
Returns
-------
[List]:\n
Where list[0][0]: min value in x direction
list[0][1]: max value in x direction
list[1][0]: min value in y direction
list[1][1]: max value in y direction
"""
return [
[self.__map_meta["origin"][0], self.__map_meta["max_x"]],
[self.__map_meta["origin"][1], self.__map_meta["max_y"]],
]
def __transform_to_image_coordinates(self, point):
"""
Transforms a pose in meters to image pixel coordinates.
Parameters
----------
Point: A point as list. where list[0]=>pose.x and list[1]=pose.y
Returns
-------
[Tuple]: tuple[0]=>pixel value in x direction. i.e column index.
tuple[1]=> pixel vlaue in y direction. i.e row index.
"""
p_x, p_y = point
i_x = math.floor((p_x - self.__map_meta["origin"][0]) / self.__map_meta["resolution"])
i_y = math.floor((p_y - self.__map_meta["origin"][1]) / self.__map_meta["resolution"])
# because origin in yaml is at bottom left of image
i_y = self.__grid_map.shape[0] - i_y
return i_x, i_y
def __transform_distance_to_pixels(self, distance):
"""
Converts the distance in meters to number of pixels based on the resolution.
Parameters
----------
distance: value in meters
Returns
-------
[Integer]: number of pixel which represent the same distance.
"""
return math.ceil(distance / self.__map_meta["resolution"])
def __is_obstacle_in_distance(self, img_point, distance):
"""
Checks if any obstacle is in vicinity of the given image point.
Parameters
----------
img_point: pixel values of the point
distance: distnace in pixels in which there shouldn't be any obstacle.
Returns
-------
[Bool]: True if any obstacle found else False.
"""
# need to make sure that patch xmin & ymin are >=0,
# because of python's negative indexing capability
row_start_idx = 0 if img_point[1] - distance < 0 else img_point[1] - distance
col_start_idx = 0 if img_point[0] - distance < 0 else img_point[0] - distance
# image point acts as the center of the square, where each side of square is of size
# 2xdistance
patch = self.__grid_map[row_start_idx : img_point[1] + distance, col_start_idx : img_point[0] + distance]
obstacles = np.where(patch == True)
return len(obstacles[0]) > 0
def is_valid_pose(self, point, distance=0.2):
"""
Checks if a given pose is "distance" away from a obstacle.
Parameters
----------
point: pose in 2D space. where point[0]=pose.x and point[1]=pose.y
distance: distance in meters.
Returns
-------
[Bool]: True if pose is valid else False
"""
assert len(point) == 2
img_point = self.__transform_to_image_coordinates(point)
img_pixel_distance = self.__transform_distance_to_pixels(distance)
# Pose is not valid if there is obstacle in the vicinity
return not self.__is_obstacle_in_distance(img_point, img_pixel_distance)
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/__init__.py | |
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py | import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node
from nav2_msgs.action import NavigateToPose
from .obstacle_map import GridMap
from .goal_generators import RandomGoalGenerator, GoalReader
import sys
from geometry_msgs.msg import PoseWithCovarianceStamped
import time
class SetNavigationGoal(Node):
def __init__(self):
super().__init__("set_navigation_goal")
self.declare_parameters(
namespace="",
parameters=[
("iteration_count", 1),
("goal_generator_type", "RandomGoalGenerator"),
("action_server_name", "navigate_to_pose"),
("obstacle_search_distance_in_meters", 0.2),
("frame_id", "map"),
("map_yaml_path", rclpy.Parameter.Type.STRING),
("goal_text_file_path", rclpy.Parameter.Type.STRING),
("initial_pose", rclpy.Parameter.Type.DOUBLE_ARRAY),
],
)
self.__goal_generator = self.__create_goal_generator()
action_server_name = self.get_parameter("action_server_name").value
self._action_client = ActionClient(self, NavigateToPose, action_server_name)
self.MAX_ITERATION_COUNT = self.get_parameter("iteration_count").value
assert self.MAX_ITERATION_COUNT > 0
self.curr_iteration_count = 1
self.__initial_goal_publisher = self.create_publisher(PoseWithCovarianceStamped, "/initialpose", 1)
self.__initial_pose = self.get_parameter("initial_pose").value
self.__is_initial_pose_sent = True if self.__initial_pose is None else False
def __send_initial_pose(self):
"""
Publishes the initial pose.
This function is only called once that too before sending any goal pose
to the mission server.
"""
goal = PoseWithCovarianceStamped()
goal.header.frame_id = self.get_parameter("frame_id").value
goal.header.stamp = self.get_clock().now().to_msg()
goal.pose.pose.position.x = self.__initial_pose[0]
goal.pose.pose.position.y = self.__initial_pose[1]
goal.pose.pose.position.z = self.__initial_pose[2]
goal.pose.pose.orientation.x = self.__initial_pose[3]
goal.pose.pose.orientation.y = self.__initial_pose[4]
goal.pose.pose.orientation.z = self.__initial_pose[5]
goal.pose.pose.orientation.w = self.__initial_pose[6]
self.__initial_goal_publisher.publish(goal)
def send_goal(self):
"""
Sends the goal to the action server.
"""
if not self.__is_initial_pose_sent:
self.get_logger().info("Sending initial pose")
self.__send_initial_pose()
self.__is_initial_pose_sent = True
# Assumption is that initial pose is set after publishing first time in this duration.
# Can be changed to more sophisticated way. e.g. /particlecloud topic has no msg until
# the initial pose is set.
time.sleep(10)
self.get_logger().info("Sending first goal")
self._action_client.wait_for_server()
goal_msg = self.__get_goal()
if goal_msg is None:
rclpy.shutdown()
sys.exit(1)
self._send_goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=self.__feedback_callback
)
self._send_goal_future.add_done_callback(self.__goal_response_callback)
def __goal_response_callback(self, future):
"""
Callback function to check the response(goal accpted/rejected) from the server.\n
If the Goal is rejected it stops the execution for now.(We can change to resample the pose if rejected.)
"""
goal_handle = future.result()
if not goal_handle.accepted:
self.get_logger().info("Goal rejected :(")
rclpy.shutdown()
return
self.get_logger().info("Goal accepted :)")
self._get_result_future = goal_handle.get_result_async()
self._get_result_future.add_done_callback(self.__get_result_callback)
def __get_goal(self):
"""
Get the next goal from the goal generator.
Returns
-------
[NavigateToPose][goal] or None if the next goal couldn't be generated.
"""
goal_msg = NavigateToPose.Goal()
goal_msg.pose.header.frame_id = self.get_parameter("frame_id").value
goal_msg.pose.header.stamp = self.get_clock().now().to_msg()
pose = self.__goal_generator.generate_goal()
# couldn't sample a pose which is not close to obstacles. Rare but might happen in dense maps.
if pose is None:
self.get_logger().error(
"Could not generate next goal. Returning. Possible reasons for this error could be:"
)
self.get_logger().error(
"1. If you are using GoalReader then please make sure iteration count <= number of goals avaiable in file."
)
self.get_logger().error(
"2. If RandomGoalGenerator is being used then it was not able to sample a pose which is given distance away from the obstacles."
)
return
self.get_logger().info("Generated goal pose: {0}".format(pose))
goal_msg.pose.pose.position.x = pose[0]
goal_msg.pose.pose.position.y = pose[1]
goal_msg.pose.pose.orientation.x = pose[2]
goal_msg.pose.pose.orientation.y = pose[3]
goal_msg.pose.pose.orientation.z = pose[4]
goal_msg.pose.pose.orientation.w = pose[5]
return goal_msg
def __get_result_callback(self, future):
"""
Callback to check result.\n
It calls the send_goal() function in case current goal sent count < required goals count.
"""
# Nav2 is sending empty message for success as well as for failure.
result = future.result().result
self.get_logger().info("Result: {0}".format(result.result))
if self.curr_iteration_count < self.MAX_ITERATION_COUNT:
self.curr_iteration_count += 1
self.send_goal()
else:
rclpy.shutdown()
def __feedback_callback(self, feedback_msg):
"""
This is feeback callback. We can compare/compute/log while the robot is on its way to goal.
"""
# self.get_logger().info('FEEDBACK: {}\n'.format(feedback_msg))
pass
def __create_goal_generator(self):
"""
Creates the GoalGenerator object based on the specified ros param value.
"""
goal_generator_type = self.get_parameter("goal_generator_type").value
goal_generator = None
if goal_generator_type == "RandomGoalGenerator":
if self.get_parameter("map_yaml_path").value is None:
self.get_logger().info("Yaml file path is not given. Returning..")
sys.exit(1)
yaml_file_path = self.get_parameter("map_yaml_path").value
grid_map = GridMap(yaml_file_path)
obstacle_search_distance_in_meters = self.get_parameter("obstacle_search_distance_in_meters").value
assert obstacle_search_distance_in_meters > 0
goal_generator = RandomGoalGenerator(grid_map, obstacle_search_distance_in_meters)
elif goal_generator_type == "GoalReader":
if self.get_parameter("goal_text_file_path").value is None:
self.get_logger().info("Goal text file path is not given. Returning..")
sys.exit(1)
file_path = self.get_parameter("goal_text_file_path").value
goal_generator = GoalReader(file_path)
else:
self.get_logger().info("Invalid goal generator specified. Returning...")
sys.exit(1)
return goal_generator
def main():
rclpy.init()
set_goal = SetNavigationGoal()
result = set_goal.send_goal()
rclpy.spin(set_goal)
if __name__ == "__main__":
main()
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/goal_reader.py | from .goal_generator import GoalGenerator
class GoalReader(GoalGenerator):
def __init__(self, file_path):
self.__file_path = file_path
self.__generator = self.__get_goal()
def generate_goal(self, max_num_of_trials=1000):
try:
return next(self.__generator)
except StopIteration:
return
def __get_goal(self):
for row in open(self.__file_path, "r"):
yield list(map(float, row.strip().split(" ")))
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/random_goal_generator.py | import numpy as np
from .goal_generator import GoalGenerator
class RandomGoalGenerator(GoalGenerator):
"""
Random goal generator.
parameters
----------
grid_map: GridMap Object
distance: distance in meters to check vicinity for obstacles.
"""
def __init__(self, grid_map, distance):
self.__grid_map = grid_map
self.__distance = distance
def generate_goal(self, max_num_of_trials=1000):
"""
Generate the goal.
Parameters
----------
max_num_of_trials: maximum number of pose generations when generated pose keep is not a valid pose.
Returns
-------
[List][Pose]: Pose in format [pose.x,pose.y,orientaion.x,orientaion.y,orientaion.z,orientaion.w]
"""
range_ = self.__grid_map.get_range()
trial_count = 0
while trial_count < max_num_of_trials:
x = np.random.uniform(range_[0][0], range_[0][1])
y = np.random.uniform(range_[1][0], range_[1][1])
orient_x = np.random.uniform(0, 1)
orient_y = np.random.uniform(0, 1)
orient_z = np.random.uniform(0, 1)
orient_w = np.random.uniform(0, 1)
if self.__grid_map.is_valid_pose([x, y], self.__distance):
goal = [x, y, orient_x, orient_y, orient_z, orient_w]
return goal
trial_count += 1
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/__init__.py | from .random_goal_generator import RandomGoalGenerator
from .goal_reader import GoalReader
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/goal_generators/goal_generator.py | from abc import ABC, abstractmethod
class GoalGenerator(ABC):
"""
Parent class for the Goal generators
"""
def __init__(self):
pass
@abstractmethod
def generate_goal(self, max_num_of_trials=2000):
"""
Generate the goal.
Parameters
----------
max_num_of_trials: maximum number of pose generations when generated pose keep is not a valid pose.
Returns
-------
[List][Pose]: Pose in format [pose.x,pose.y,orientaion.x,orientaion.y,orientaion.z,orientaion.w]
"""
pass
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/assets/carter_warehouse_navigation.yaml | image: carter_warehouse_navigation.png
resolution: 0.05
origin: [-11.975, -17.975, 0.0000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
NVIDIA-Omniverse/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/assets/goals.txt | 1 2 0 0 1 0
2 3 0 0 1 1
3.4 4.5 0.5 0.5 0.5 0.5 |
NVIDIA-Omniverse/RC-Car-CAD/Readme.md | # RC CAR CAD 1.0
This repository contains engineering data for a remote control car design. This data includes CAD, CAE, BOM and any other data used to design the vehicle. Each release in the repo represents a milestone in the design process.
Release 1.0 is the milestone where the car can be exported to NVIDIA omniverse and the vehicle suspension and steering can be rigged using physics joints.
The purpose of this data set is to give anyone working with NVIDIA omniverse production-quality CAD data to work with as they develop Omniverse applications, extensions, and/or microservices. This data may also be used for demonstrations, tutorials, engineering design process research, or however else it is needed.
The data is being released before it is complete intentionally so that it represents not just a finished product, but also an in-process product throughout its design. In this way the data can be used to facilitate in-process design workflows.
The assembly is modeled using NX. To open the full assembly "_Class1RC.prt". Subassemblies are in corresponding subfolders. Not all of the assemblies and parts are organized correctly, which is common at the early design phase of a product. As the design matures, older data will become better organized and newly introduced data will be disorganized, as is the way of these things. |
NVIDIA-Omniverse/usd_scene_construction_utils/setup.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from setuptools import setup, find_packages
setup(
name="usd_scene_construction_utils",
version="0.0.1",
description="",
py_modules=["usd_scene_construction_utils"]
) |
NVIDIA-Omniverse/usd_scene_construction_utils/LICENSE.txt | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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. |
NVIDIA-Omniverse/usd_scene_construction_utils/DCO.md | Developer Certificate of Origin
Version 1.1
Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
Everyone is permitted to copy and distribute verbatim copies of this
license document, but changing it is not allowed.
Developer's Certificate of Origin 1.1
By making a contribution to this project, I certify that:
(a) The contribution was created in whole or in part by me and I
have the right to submit it under the open source license
indicated in the file; or
(b) The contribution is based upon previous work that, to the best
of my knowledge, is covered under an appropriate open source
license and I have the right under that license to submit that
work with modifications, whether created in whole or in part
by me, under the same open source license (unless I am
permitted to submit under a different license), as indicated
in the file; or
(c) The contribution was provided directly to me by some other
person who certified (a), (b) or (c) and I have not modified
it.
(d) I understand and agree that this project and the contribution
are public and that a record of the contribution (including all
personal information I submit with it, including my sign-off) is
maintained indefinitely and may be redistributed consistent with
this project or the open source license(s) involved. |
NVIDIA-Omniverse/usd_scene_construction_utils/README.md | # USD Scene Construction Utilities
USD Scene Construction Utilities is an open-source collection of utilities
built on top of the USD Python API that makes it easy for beginners to create
and modify USD scenes.
<img src="examples/hand_truck_w_boxes/landing_graphic.jpg" height="320"/>
If you find that USD Scene Construction Utilities is too limited for your use case, you may find still
find the open-source code a useful reference for working with the USD
Python API.
> Please note, USD Scene Construction Utilities **is not** a comprehensive USD Python API wrapper. That
> said, it may help you with your project, or you might find the open-source code helpful
> as a reference for learning USD. See the full [disclaimer](#disclaimer)
> below for more information. If run into any issues or have any questions please [let us know](../..//issues)!
## Usage
USD Scene Construction Utilities exposes a variety of utility functions that operating on the USD stage
like this:
```python
from usd_scene_construction_utils import (
new_in_memory_stage, add_plane, add_box, stack, export_stage
)
stage = new_in_memory_stage()
floor = add_plane(stage, "/scene/floor", size=(500, 500))
box = add_box(stage, "/scene/box", size=(100, 100, 100))
stack_prims([floor, box], axis=2)
export_stage(stage, "hello_box.usda", default_prim="/scene")
```
If you don't want to use the higher level functions, you can read the [usd_scene_construction_utils.py](usd_scene_construction_utils.py)
file to learn some ways to use the USD Python API directly.
After building a scene with USD Scene Construction Utilities, we recommend using Omniverse Replicator
for generating synthetic data, while performing additional randomizations that
retain the structure of the scene, like camera position, lighting, and materials.
To get started, you may find the [using replicator with a fully developed scene](https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/apis_with_fully_developed_scene.html)
example helpful.
## Installation
### Step 1 - Clone the repo
```bash
git clone https://github.com/NVIDIA-Omniverse/usd_scene_construction_utils
```
### Step 2 - Make it discoverable
If you're outside of omniverse:
```bash
python3 setup.py develop
```
If you're inside omniverse:
```python3
import sys
sys.path.append("/path/to/usd_scene_construction_utils/")
```
## Examples
| Graphic | Example | Description | Omniverse Only |
|---|---|---|---|
| <img src="examples/hello_box/landing_graphic.jpg" width="128"/> | [hello_box](examples/hello_box/) | First example to run. Adds a grid of boxes. Doesn't use any assets. | |
| <img src="examples/bind_mdl_material/landing_graphic.jpg" width="128"/> | [bind_mdl_material](examples/bind_mdl_material/) | Shows how to bind a material to an object. Needs omniverse to access material assets on nucleus server. | :heavy_check_mark: |
| <img src="examples/hand_truck_w_boxes/landing_graphic.jpg" width="128"/>| [hand_truck_w_boxes](examples/hand_truck_w_boxes/) | Create a grid of hand trucks with randomly stacked boxes. Needs omniverse to access cardboard box and hand truck assets. | :heavy_check_mark: |
## Disclaimer
This project **is not** a comprehensive USD Python API wrapper. It currently only exposes
a very limited subset of what USD is capable of and is subject
to change and breaking. The goal of this project is to make it easy to generate
structured scenes using USD and to give you an introduction to USD through
both examples and by reading the usd_scene_construction_utils source code.
If you're developing a larger project using usd_scene_construction_utils as a dependency, you may
want to fork the project, or simply reference the source code you're interested in. We're providing this project because we think the community will
benefit from more open-source code and examples that uses USD.
That said, you may still find usd_scene_construction_utils helpful as-is, and you're welcome to let
us know if you run into any issues, have any questions, or would like to contribute.
## Contributing
- Ask a question, request a feature, file a bug by creating an [issue](#).
- Add new functionality, or fix a bug, by filing a [pull request](#).
## See also
Here are other USD resources we've found helpful.
1. [NVIDIA USD Snippets](https://docs.omniverse.nvidia.com/prod_usd/prod_kit/programmer_ref/usd.html) Super helpful collection of documented USD snippets for getting familiar with directly working with USD Python API.
2. [USD C++ API Docs](https://openusd.org/release/api/index.html). Helpful for learning the full set of USD API functions. Most functions share very similar naming to the Python counterpart.
3. [NVIDIA Omniverse Replicator](https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator.html) - Helpful for taking USD scenes and efficiently generating synthetic data, like segmentation masks, 3D bounding boxes, depth images and more. Also
includes a variety of utilities for domain randomization.
4. [NVIDIA Omniverse](https://www.nvidia.com/en-us/omniverse/) - Large ecosystem of
tools for creating 3D worlds. Omniverse create is needed for executing many of the
examples here. Assets on the Omniverse nucleus servers make it easy to create
high quality scenes with rich geometries and materials. |
NVIDIA-Omniverse/usd_scene_construction_utils/usd_scene_construction_utils.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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
import numpy as np
import math
from typing import Optional, Sequence, Tuple
from typing_extensions import Literal
from pxr import Gf, Sdf, Usd, UsdGeom, UsdLux, UsdShade
def new_in_memory_stage() -> Usd.Stage:
"""Creates a new in memory USD stage.
Returns:
Usd.Stage: The USD stage.
"""
stage = Usd.Stage.CreateInMemory()
UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
return stage
def new_omniverse_stage() -> Usd.Stage:
"""Creates a new Omniverse USD stage.
This method creates a new Omniverse USD stage. This will clear the active
omniverse stage, replacing it with a new one.
Returns:
Usd.Stage: The Omniverse USD stage.
"""
try:
import omni.usd
except ImportError:
raise ImportError("Omniverse not found. This method is unavailable.")
omni.usd.get_context().new_stage()
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
return stage
def get_omniverse_stage() -> Usd.Stage:
"""Returns the current Omniverse USD stage.
Returns:
Usd.Stage: The currently active Omniverse USD stage.
"""
try:
import omni.usd
except ImportError:
raise ImportError("Omniverse not found. This method is unavailable.")
stage = omni.usd.get_context().get_stage()
return stage
def add_usd_ref(stage: Usd.Stage, path: str, usd_path: str) -> Usd.Prim:
"""Adds an external USD reference to a USD stage.
Args:
stage (:class:`Usd.Stage`): The USD stage to modify.
path (str): The path to add the USD reference.
usd_path (str): The filepath or URL of the USD reference (ie: a Nucleus
server URL).
Returns:
Usd.Prim: The created USD prim.
"""
stage.DefinePrim(path, "Xform")
prim_ref = stage.DefinePrim(os.path.join(path, "ref"))
prim_ref.GetReferences().AddReference(usd_path)
return get_prim(stage, path)
def _make_box_mesh(size: Tuple[float, float, float]):
# private utility function used by make_box
numFaces = 6
numVertexPerFace = 4
# Generate vertices on box
vertices = []
for i in [-1, 1]:
for j in [-1, 1]:
for k in [-1, 1]:
vertices.append((i * size[0], j * size[1], k * size[2]))
# Make faces for box (ccw convention)
faceVertexCounts = [numVertexPerFace] * numFaces
faceVertexIndices = [
2, 0, 1, 3,
4, 6, 7, 5,
0, 4, 5, 1,
6, 2, 3, 7,
0, 2, 6, 4,
5, 7, 3, 1,
]
# Make normals for face vertices
_faceVertexNormals = [
(-1, 0, 0),
(1, 0, 0),
(0, -1, 0),
(0, 1, 0),
(0, 0, -1),
(0, 0, 1),
]
faceVertexNormals = []
for n in _faceVertexNormals:
for i in range(numVertexPerFace):
faceVertexNormals.append(n)
# Assign uv-mapping for face vertices
_faceUvMaps = [
(0, 0), (1, 0), (1, 1), (0, 1)
]
faceUvMaps = []
for i in range(numFaces):
for uvm in _faceUvMaps:
faceUvMaps.append(uvm)
return (vertices, faceVertexCounts, faceVertexIndices, faceVertexNormals,
faceUvMaps)
def add_box(stage: Usd.Stage, path: str, size: Tuple[float, float, float]) -> Usd.Prim:
"""Adds a 3D box to a USD stage.
This adds a 3D box to the USD stage. The box is created with it's center
at (x, y, z) = (0, 0, 0).
Args:
stage (:class:`Usd.Stage`): The USD stage to modify.
path (str): The path to add the USD prim.
size (Tuple[float, float, float]): The size of the box (x, y, z sizes).
Returns:
Usd.Prim: The created USD prim.
"""
half_size = (size[0] / 2, size[1] / 2, size[2] / 2)
stage.DefinePrim(path, "Xform")
(vertices, faceVertexCounts, faceVertexIndices, faceVertexNormals,
faceUvMaps) = _make_box_mesh(half_size)
# create mesh at {path}/mesh, but return prim at {path}
prim: UsdGeom.Mesh = UsdGeom.Mesh.Define(stage, os.path.join(path, "mesh"))
prim.CreateExtentAttr().Set([
(-half_size[0], -half_size[1], -half_size[2]),
(half_size[0], half_size[1], half_size[2])
])
prim.CreateFaceVertexCountsAttr().Set(faceVertexCounts)
prim.CreateFaceVertexIndicesAttr().Set(faceVertexIndices)
var = UsdGeom.Primvar(prim.CreateNormalsAttr())
var.Set(faceVertexNormals)
var.SetInterpolation(UsdGeom.Tokens.faceVarying)
var = UsdGeom.PrimvarsAPI(prim).CreatePrimvar("primvars:st", Sdf.ValueTypeNames.Float2Array)
var.Set(faceUvMaps)
var.SetInterpolation(UsdGeom.Tokens.faceVarying)
prim.CreatePointsAttr().Set(vertices)
prim.CreateSubdivisionSchemeAttr().Set(UsdGeom.Tokens.none)
return get_prim(stage, path)
def add_xform(stage: Usd.Stage, path: str):
"""Adds a USD transform (Xform) to a USD stage.
This method adds a USD Xform to the USD stage at a given path. This is
helpful when you want to add hierarchy to a scene. After you create a
transform, any USD prims located under the transform path will be children
of the transform and can be moved as a group.
Args:
stage (:class:`Usd.Stage`): The USD stage to modify.
path (str): The path to add the USD prim.
Returns:
Usd.Prim: The created USD prim.
"""
stage.DefinePrim(path, "Xform")
return get_prim(stage, path)
def add_plane(
stage: Usd.Stage,
path: str,
size: Tuple[float, float],
uv: Tuple[float, float]=(1, 1)):
"""Adds a 2D plane to a USD stage.
Args:
stage (Usd.Stage): The USD stage to modify.
path (str): The path to add the USD prim.
size (Tuple[float, float]): The size of the 2D plane (x, y).
uv (Tuple[float, float]): The UV mapping for textures applied to the
plane. For example, uv=(1, 1), means the texture will be spread
to fit the full size of the plane. uv=(10, 10) means the texture
will repeat 10 times along each dimension. uv=(5, 10) means the
texture will be scaled to repeat 5 times along the x dimension and
10 times along the y direction.
Returns:
Usd.Prim: The created USD prim.
"""
stage.DefinePrim(path, "Xform")
# create mesh at {path}/mesh, but return prim at {path}
prim: UsdGeom.Mesh = UsdGeom.Mesh.Define(stage, os.path.join(path, "mesh"))
prim.CreateExtentAttr().Set([
(-size[0], -size[1], 0),
(size[0], size[1], 0)
])
prim.CreateFaceVertexCountsAttr().Set([4])
prim.CreateFaceVertexIndicesAttr().Set([0, 1, 3, 2])
var = UsdGeom.Primvar(prim.CreateNormalsAttr())
var.Set([(0, 0, 1)] * 4)
var.SetInterpolation(UsdGeom.Tokens.faceVarying)
var = UsdGeom.PrimvarsAPI(prim).CreatePrimvar("primvars:st",
Sdf.ValueTypeNames.Float2Array)
var.Set(
[(0, 0), (uv[0], 0), (uv[0], uv[1]), (0, uv[1])]
)
var.SetInterpolation(UsdGeom.Tokens.faceVarying)
prim.CreatePointsAttr().Set([
(-size[0], -size[1], 0),
(size[0], -size[1], 0),
(-size[0], size[1], 0),
(size[0], size[1], 0),
])
prim.CreateSubdivisionSchemeAttr().Set(UsdGeom.Tokens.none)
return get_prim(stage, path)
def add_dome_light(stage: Usd.Stage, path: str, intensity: float = 1000,
angle: float = 180, exposure: float=0.) -> UsdLux.DomeLight:
"""Adds a dome light to a USD stage.
Args:
stage (Usd.Stage): The USD stage to modify.
path (str): The path to add the USD prim.
intensity (float): The intensity of the dome light (default 1000).
angle (float): The angle of the dome light (default 180)
exposure (float): THe exposure of the dome light (default 0)
Returns:
UsdLux.DomeLight: The created Dome light.
"""
light = UsdLux.DomeLight.Define(stage, path)
# intensity
light.CreateIntensityAttr().Set(intensity)
light.CreateTextureFormatAttr().Set(UsdLux.Tokens.latlong)
light.CreateExposureAttr().Set(exposure)
# cone angle
shaping = UsdLux.ShapingAPI(light)
shaping.Apply(light.GetPrim())
shaping.CreateShapingConeAngleAttr().Set(angle)
shaping.CreateShapingConeSoftnessAttr()
shaping.CreateShapingFocusAttr()
shaping.CreateShapingFocusTintAttr()
shaping.CreateShapingIesFileAttr()
return light
def add_sphere_light(stage: Usd.Stage, path: str, intensity=30000,
radius=50, angle=180, exposure=0.):
"""Adds a sphere light to a USD stage.
Args:
stage (Usd.Stage): The USD stage to modify.
path (str): The path to add the USD prim.
radius (float): The radius of the sphere light
intensity (float): The intensity of the sphere light (default 1000).
angle (float): The angle of the sphere light (default 180)
exposure (float): THe exposure of the sphere light (default 0)
Returns:
UsdLux.SphereLight: The created sphere light.
"""
light = UsdLux.SphereLight.Define(stage, path)
# intensity
light.CreateIntensityAttr().Set(intensity)
light.CreateRadiusAttr().Set(radius)
light.CreateExposureAttr().Set(exposure)
# cone angle
shaping = UsdLux.ShapingAPI(light)
shaping.Apply(light.GetPrim())
shaping.CreateShapingConeAngleAttr().Set(angle)
shaping.CreateShapingConeSoftnessAttr()
shaping.CreateShapingFocusAttr()
shaping.CreateShapingFocusTintAttr()
shaping.CreateShapingIesFileAttr()
return light
def add_mdl_material(stage: Usd.Stage, path: str, material_url: str,
material_name: Optional[str] = None) -> UsdShade.Material:
"""Adds an Omniverse MDL material to a USD stage.
*Omniverse only*
Args:
stage (Usd.Stage): The USD stage to modify.
path (str): The path to add the USD prim.
material_url (str): The URL of the material, such as on a Nucelus server.
material_name (Optional[str]): An optional name to give the material. If
one is not provided, it will default to the filename of the material
URL (excluding the extension).
returns:
UsdShade.Material: The created USD material.
"""
try:
import omni.usd
except ImportError:
raise ImportError("Omniverse not found. This method is unavailable.")
# Set default mtl_name
if material_name is None:
material_name = os.path.basename(material_url).split('.')[0]
# Create material using omniverse kit
if not stage.GetPrimAtPath(path):
success, result = omni.kit.commands.execute(
"CreateMdlMaterialPrimCommand",
mtl_url=material_url,
mtl_name=material_name,
mtl_path=path
)
# Get material from stage
material = UsdShade.Material(stage.GetPrimAtPath(path))
return material
def add_camera(
stage: Usd.Stage,
path: str,
focal_length: float = 35,
horizontal_aperature: float = 20.955,
vertical_aperature: float = 20.955,
clipping_range: Tuple[float, float] = (0.1, 100000)
) -> UsdGeom.Camera:
"""Adds a camera to a USD stage.
Args:
stage (Usd.Stage): The USD stage to modify.
path (str): The path to add the USD prim.
focal_length (float): The focal length of the camera (default 35).
horizontal_aperature (float): The horizontal aperature of the camera
(default 20.955).
vertical_aperature (float): The vertical aperature of the camera
(default 20.955).
clipping_range (Tuple[float, float]): The clipping range of the camera.
returns:
UsdGeom.Camera: The created USD camera.
"""
camera = UsdGeom.Camera.Define(stage, path)
camera.CreateFocalLengthAttr().Set(focal_length)
camera.CreateHorizontalApertureAttr().Set(horizontal_aperature)
camera.CreateVerticalApertureAttr().Set(vertical_aperature)
camera.CreateClippingRangeAttr().Set(clipping_range)
return camera
def get_prim(stage: Usd.Stage, path: str) -> Usd.Prim:
"""Returns a prim at the specified path in a USD stage.
Args:
stage (Usd.Stage): The USD stage to query.
path (str): The path of the prim.
Returns:
Usd.Prim: The USD prim at the specified path.
"""
return stage.GetPrimAtPath(path)
def get_material(stage: Usd.Stage, path: str) -> UsdShade.Material:
"""Returns a material at the specified path in a USD stage.
Args:
stage (Usd.Stage): The USD stage to query.
path (str): The path of the material.
Returns:
UsdShade.Material: The USD material at the specified path.
"""
prim = get_prim(stage, path)
return UsdShade.Material(prim)
def export_stage(stage: Usd.Stage, filepath: str, default_prim=None):
"""Exports a USD stage to a given filepath.
Args:
stage (Usd.Stage): The USD stage to export.
path (str): The filepath to export the USD stage to.
default_prim (Optional[str]): The path of the USD prim in the
stage to set as the default prim. This is useful when you
want to use the exported USD as a reference, or when you want
to place the USD in Omniverse.
"""
if default_prim is not None:
stage.SetDefaultPrim(get_prim(stage, default_prim))
stage.Export(filepath)
def add_semantics(prim: Usd.Prim, type: str, name: str):
"""Adds semantics to a USD prim.
This function adds semantics to a USD prim. This is useful for assigning
classes to objects when generating synthetic data with Omniverse Replicator.
For example:
add_semantics(dog_prim, "class", "dog")
add_semantics(cat_prim, "class", "cat")
Args:
prim (Usd.Prim): The USD prim to modify.
type (str): The semantics type. This depends on how the data is ingested.
Typically, when using Omniverse replicator you will set this to "class".
name (str): The value of the semantic type. Typically, this would
correspond to the class label.
Returns:
Usd.Prim: The USD prim with added semantics.
"""
prim.AddAppliedSchema(f"SemanticsAPI:{type}_{name}")
prim.CreateAttribute(f"semantic:{type}_{name}:params:semanticType",
Sdf.ValueTypeNames.String).Set(type)
prim.CreateAttribute(f"semantic:{type}_{name}:params:semanticData",
Sdf.ValueTypeNames.String).Set(name)
return prim
def bind_material(prim: Usd.Prim, material: UsdShade.Material):
"""Binds a USD material to a USD prim.
Args:
prim (Usd.Prim): The USD prim to modify.
material (UsdShade.Material): The USD material to bind to the USD prim.
Returns:
Usd.Prim: The modified USD prim with the specified material bound to it.
"""
prim.ApplyAPI(UsdShade.MaterialBindingAPI)
UsdShade.MaterialBindingAPI(prim).Bind(material,
UsdShade.Tokens.strongerThanDescendants)
return prim
def collapse_xform(prim: Usd.Prim):
"""Collapses all xforms on a given USD prim.
This method collapses all Xforms on a given prim. For example,
a series of rotations, translations would be combined into a single matrix
operation.
Args:
prim (Usd.Prim): The Usd.Prim to collapse the transforms of.
Returns:
Usd.Prim: The Usd.Prim.
"""
x = UsdGeom.Xformable(prim)
local = x.GetLocalTransformation()
prim.RemoveProperty("xformOp:translate")
prim.RemoveProperty("xformOp:transform")
prim.RemoveProperty("xformOp:rotateX")
prim.RemoveProperty("xformOp:rotateY")
prim.RemoveProperty("xformOp:rotateZ")
var = x.MakeMatrixXform()
var.Set(local)
return prim
def get_xform_op_order(prim: Usd.Prim):
"""Returns the order of Xform ops on a given prim."""
x = UsdGeom.Xformable(prim)
op_order = x.GetXformOpOrderAttr().Get()
if op_order is not None:
op_order = list(op_order)
return op_order
else:
return []
def set_xform_op_order(prim: Usd.Prim, op_order: Sequence[str]):
"""Sets the order of Xform ops on a given prim"""
x = UsdGeom.Xformable(prim)
x.GetXformOpOrderAttr().Set(op_order)
return prim
def xform_op_move_end_to_front(prim: Usd.Prim):
"""Pops the last xform op on a given prim and adds it to the front."""
order = get_xform_op_order(prim)
end = order.pop(-1)
order.insert(0, end)
set_xform_op_order(prim, order)
return prim
def get_num_xform_ops(prim: Usd.Prim) -> int:
"""Returns the number of xform ops on a given prim."""
return len(get_xform_op_order(prim))
def apply_xform_matrix(prim: Usd.Prim, transform: np.ndarray):
"""Applies a homogeneous transformation matrix to the current prim's xform list.
Args:
prim (Usd.Prim): The USD prim to transform.
transform (np.ndarray): The 4x4 homogeneous transform matrix to apply.
Returns:
Usd.Prim: The modified USD prim with the provided transform applied after current transforms.
"""
x = UsdGeom.Xformable(prim)
x.AddTransformOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(
Gf.Matrix4d(transform)
)
xform_op_move_end_to_front(prim)
return prim
def scale(prim: Usd.Prim, scale: Tuple[float, float, float]):
"""Scales a prim along the (x, y, z) dimensions.
Args:
prim (Usd.Prim): The USD prim to scale.
scale (Tuple[float, float, float]): The scaling factors for the (x, y, z) dimensions.
Returns:
Usd.Prim: The scaled prim.
"""
x = UsdGeom.Xformable(prim)
x.AddScaleOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(scale)
xform_op_move_end_to_front(prim)
return prim
def translate(prim: Usd.Prim, offset: Tuple[float, float, float]):
"""Translates a prim along the (x, y, z) dimensions.
Args:
prim (Usd.Prim): The USD prim to translate.
offset (Tuple[float, float, float]): The offsets for the (x, y, z) dimensions.
Returns:
Usd.Prim: The translated prim.
"""
x = UsdGeom.Xformable(prim)
x.AddTranslateOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(offset)
xform_op_move_end_to_front(prim)
return prim
def rotate_x(prim: Usd.Prim, angle: float):
"""Rotates a prim around the X axis.
Args:
prim (Usd.Prim): The USD prim to rotate.
angle (float): The rotation angle in degrees.
Returns:
Usd.Prim: The rotated prim.
"""
x = UsdGeom.Xformable(prim)
x.AddRotateXOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(angle)
xform_op_move_end_to_front(prim)
return prim
def rotate_y(prim: Usd.Prim, angle: float):
"""Rotates a prim around the Y axis.
Args:
prim (Usd.Prim): The USD prim to rotate.
angle (float): The rotation angle in degrees.
Returns:
Usd.Prim: The rotated prim.
"""
x = UsdGeom.Xformable(prim)
x.AddRotateYOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(angle)
xform_op_move_end_to_front(prim)
return prim
def rotate_z(prim: Usd.Prim, angle: float):
"""Rotates a prim around the Z axis.
Args:
prim (Usd.Prim): The USD prim to rotate.
angle (float): The rotation angle in degrees.
Returns:
Usd.Prim: The rotated prim.
"""
x = UsdGeom.Xformable(prim)
x.AddRotateZOp(opSuffix=f"num_{get_num_xform_ops(prim)}").Set(angle)
xform_op_move_end_to_front(prim)
return prim
def stack_prims(prims: Sequence[Usd.Prim], axis: int = 2, gap: float = 0, align_center=False):
"""Stacks prims on top of each other (or side-by-side).
This function stacks prims by placing them so their bounding boxes
are adjacent along a given axis.
Args:
prim (Usd.Prim): The USD prims to stack.
axis (int): The axis along which to stack the prims. x=0, y=1, z=2. Default 2.
gap (float): The spacing to add between stacked elements.
Returns:
Sequence[Usd.Prim]: The stacked prims.
"""
for i in range(1, len(prims)):
prev = prims[i - 1]
cur = prims[i]
bb_cur_min, bb_cur_max = compute_bbox(cur)
bb_prev_min, bb_prev_max = compute_bbox(prev)
if align_center:
offset = [
(bb_cur_max[0] + bb_cur_min[0]) / 2. - (bb_prev_max[0] + bb_prev_min[0]) / 2.,
(bb_cur_max[1] + bb_cur_min[1]) / 2. - (bb_prev_max[1] + bb_prev_min[1]) / 2.,
(bb_cur_max[2] + bb_cur_min[2]) / 2. - (bb_prev_max[2] + bb_prev_min[2]) / 2.
]
else:
offset = [0, 0, 0]
offset[axis] = bb_prev_max[axis] - bb_cur_min[axis]
if isinstance(gap, list):
offset[axis] = offset[axis] + gap[i]
else:
offset[axis] = offset[axis] + gap
translate(cur, tuple(offset))
return prims
def compute_bbox(prim: Usd.Prim) -> \
Tuple[Tuple[float, float, float], Tuple[float, float, float]]:
"""Computes the axis-aligned bounding box for a USD prim.
Args:
prim (Usd.Prim): The USD prim to compute the bounding box of.
Returns:
Tuple[Tuple[float, float, float], Tuple[float, float, float]] The ((min_x, min_y, min_z), (max_x, max_y, max_z)) values of the bounding box.
"""
bbox_cache: UsdGeom.BBoxCache = UsdGeom.BBoxCache(
time=Usd.TimeCode.Default(),
includedPurposes=[UsdGeom.Tokens.default_],
useExtentsHint=True
)
total_bounds = Gf.BBox3d()
for p in Usd.PrimRange(prim):
total_bounds = Gf.BBox3d.Combine(
total_bounds, Gf.BBox3d(bbox_cache.ComputeWorldBound(p).ComputeAlignedRange())
)
box = total_bounds.ComputeAlignedBox()
return (box.GetMin(), box.GetMax())
def compute_bbox_size(prim: Usd.Prim) -> Tuple[float, float, float]:
"""Computes the (x, y, z) size of the axis-aligned bounding box for a prim."""
bbox_min, bbox_max = compute_bbox(prim)
size = (
bbox_max[0] - bbox_min[0],
bbox_max[1] - bbox_min[1],
bbox_max[2] - bbox_min[2]
)
return size
def compute_bbox_center(prim: Usd.Prim) -> Tuple[float, float, float]:
"""Computes the (x, y, z) center of the axis-aligned bounding box for a prim."""
bbox_min, bbox_max = compute_bbox(prim)
center = (
(bbox_max[0] + bbox_min[0]) / 2,
(bbox_max[1] + bbox_min[1]) / 2,
(bbox_max[2] + bbox_min[2]) / 2
)
return center
def set_visibility(prim: Usd.Prim,
visibility: Literal["inherited", "invisible"] = "inherited"):
"""Sets the visibility of a prim.
Args:
prim (Usd.Prim): The prim to control the visibility of.
visibility (str): The visibility of the prim. "inherited" if the
prim is visibile as long as it's parent is visible, or invisible if
it's parent is invisible. Otherwise, "invisible" if the prim is
invisible regardless of it's parent's visibility.
Returns:
Usd.Prim: The USD prim.
"""
attr = prim.GetAttribute("visibility")
if attr is None:
prim.CreateAttribute("visibility")
attr.Set(visibility)
return prim
def get_visibility(prim: Usd.Prim):
"""Returns the visibility of a given prim.
See set_visibility for details.
"""
return prim.GetAttribute("visibility").Get()
def rad2deg(x):
"""Convert radians to degrees."""
return 180. * x / math.pi
def deg2rad(x):
"""Convert degrees to radians."""
return math.pi * x / 180.
def compute_sphere_point(
elevation: float,
azimuth: float,
distance: float
) -> Tuple[float, float, float]:
"""Compute a sphere point given an elevation, azimuth and distance.
Args:
elevation (float): The elevation in degrees.
azimuth (float): The azimuth in degrees.
distance (float): The distance.
Returns:
Tuple[float, float, float]: The sphere coordinate.
"""
elevation = rad2deg(elevation)
azimuth = rad2deg(azimuth)
elevation = elevation
camera_xy_distance = math.cos(elevation) * distance
camera_x = math.cos(azimuth) * camera_xy_distance
camera_y = math.sin(azimuth) * camera_xy_distance
camera_z = math.sin(elevation) * distance
eye = (
float(camera_x),
float(camera_y),
float(camera_z)
)
return eye
def compute_look_at_matrix(
at: Tuple[float, float, float],
up: Tuple[float, float, float],
eye: Tuple[float, float, float]
) -> np.ndarray:
"""Computes a 4x4 homogeneous "look at" transformation matrix.
Args:
at (Tuple[float, float, float]): The (x, y, z) location that the transform
should be facing. For example (0, 0, 0) if the transformation should
face the origin.
up (Tuple[float, float, float]): The up axis fot the transform. ie:
(0, 0, 1) for the up-axis to correspond to the z-axis.
eye (Tuple[float, float]): The (x, y, z) location of the transform.
For example, (100, 100, 100) if we want to place a camera at
(x=100,y=100,z=100)
Returns:
np.ndarray: The 4x4 homogeneous transformation matrix.
"""
at = np.array(at)
up = np.array(up)
up = up / np.linalg.norm(up)
eye = np.array(eye)
# forward axis (z)
z_axis = np.array(eye) - np.array(at)
z_axis = z_axis / np.linalg.norm(z_axis)
# right axis (x)
x_axis = np.cross(up, z_axis)
x_axis = x_axis / np.linalg.norm(x_axis)
# up axis
y_axis = np.cross(z_axis, x_axis)
y_axis = y_axis / np.linalg.norm(y_axis)
matrix = np.array([
[x_axis[0], x_axis[1], x_axis[2], 0.0],
[y_axis[0], y_axis[1], y_axis[2], 0.0],
[z_axis[0], z_axis[1], z_axis[2], 0.0],
[eye[0], eye[1], eye[2], 1.0]
])
return matrix
|
NVIDIA-Omniverse/usd_scene_construction_utils/examples/bind_mdl_material/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
import os
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
from usd_scene_construction_utils import (
add_mdl_material,
new_omniverse_stage,
add_plane,
add_box,
stack_prims,
bind_material,
add_dome_light
)
stage = new_omniverse_stage()
# Add cardboard material
cardboard = add_mdl_material(
stage,
"/scene/cardboard",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Wall_Board/Cardboard.mdl"
)
# Add concrete material
concrete = add_mdl_material(
stage,
"/scene/concrete",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Masonry/Concrete_Smooth.mdl"
)
# Add floor plane
floor = add_plane(stage, "/scene/floor", size=(500, 500))
# Add box
box = add_box(stage, "/scene/box", size=(100, 100, 100))
# Stack box on floor
stack_prims([floor, box], axis=2)
# Bind materials to objects
bind_material(floor, concrete)
bind_material(box, cardboard)
# Add dome light
light = add_dome_light(stage, "/scene/dome_light") |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/bind_mdl_material/README.md | # Example - Bind MDL Material
This example demonstrates binding materials to objects. It must be run inside
omniverse to pull from the rich set of available MDL materials.
<img src="landing_graphic.jpg" height="320"/>
The example should display a box with a cardboard texture and a floor with
a concrete texture.
## Instructions
1. Modify the path on line 3 of ``main.py`` to the path you cloned usd_scene_construction_utils
2. Launch [Omniverse Code](https://developer.nvidia.com/omniverse/code-app)
3. Open the script editor
4. Copy the code from ``main.py`` into the script editor
5. Run the script editor.
|
NVIDIA-Omniverse/usd_scene_construction_utils/examples/hand_truck_w_boxes/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
import os
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
from usd_scene_construction_utils import (
add_usd_ref,
rotate_x,
rotate_y,
rotate_z,
scale,
compute_bbox,
add_xform,
compute_bbox_center,
translate,
set_visibility,
new_omniverse_stage,
add_dome_light,
add_plane,
add_mdl_material,
bind_material
)
import random
from typing import Tuple
box_asset_url = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Flat_A/FlatBox_A02_15x21x8cm_PR_NVD_01.usd"
hand_truck_asset_url = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Hand_Trucks/Convertible_Aluminum_A/ConvertableAlumHandTruck_A02_PR_NVD_01.usd"
def add_box_of_size(
stage,
path: str,
size: Tuple[float, float, float]
):
"""Adds a box and re-scales it to match the specified dimensions
"""
# Add USD box
prim = add_usd_ref(stage, path, usd_path=box_asset_url)
rotate_x(prim, random.choice([-90, 0, 90, 180]))
rotate_y(prim, random.choice([-90, 0, 90, 180]))
# Scale USD box to fit dimensions
usd_min, usd_max = compute_bbox(prim)
usd_size = (
usd_max[0] - usd_min[0],
usd_max[1] - usd_min[1],
usd_max[2] - usd_min[2]
)
required_scale = (
size[0] / usd_size[0],
size[1] / usd_size[1],
size[2] / usd_size[2]
)
scale(prim, required_scale)
return prim
def add_random_box_stack(
stage,
path: str,
count_range=(1, 5),
size_range=((30, 30, 10), (50, 50, 25)),
angle_range=(-5, 5),
jitter_range=(-3,3)
):
container = add_xform(stage, path)
count = random.randint(*count_range)
# get sizes and sort
sizes = [
(
random.uniform(size_range[0][0], size_range[1][0]),
random.uniform(size_range[0][1], size_range[1][1]),
random.uniform(size_range[0][2], size_range[1][2])
)
for i in range(count)
]
sizes = sorted(sizes, key=lambda x: x[0]**2 + x[1]**2, reverse=True)
boxes = []
for i in range(count):
box_i = add_box_of_size(stage, os.path.join(path, f"box_{i}"), sizes[i])
boxes.append(box_i)
if count > 0:
center = compute_bbox_center(boxes[0])
for i in range(1, count):
prev_box, cur_box = boxes[i - 1], boxes[i]
cur_bbox = compute_bbox(cur_box)
cur_center = compute_bbox_center(cur_box)
prev_bbox = compute_bbox(prev_box)
offset = (
center[0] - cur_center[0],
center[1] - cur_center[1],
prev_bbox[1][2] - cur_bbox[0][2]
)
translate(cur_box, offset)
# add some noise
for i in range(count):
rotate_z(boxes[i], random.uniform(*angle_range))
translate(boxes[i], (
random.uniform(*jitter_range),
random.uniform(*jitter_range),
0
))
return container, boxes
def add_random_box_stacks(
stage,
path: str,
count_range=(0, 3),
):
container = add_xform(stage, path)
stacks = []
count = random.randint(*count_range)
for i in range(count):
stack, items = add_random_box_stack(stage, os.path.join(path, f"stack_{i}"))
stacks.append(stack)
for i in range(count):
cur_stack = stacks[i]
cur_bbox = compute_bbox(cur_stack)
cur_center = compute_bbox_center(cur_stack)
translate(cur_stack, (0, -cur_center[1], -cur_bbox[0][2]))
if i > 0:
prev_bbox = compute_bbox(stacks[i - 1])
translate(cur_stack, (prev_bbox[1][0] - cur_bbox[0][0], 0, 0))
return container, stacks
def add_hand_truck_with_boxes(stage, path: str):
container = add_xform(stage, path)
hand_truck_path = f"{path}/truck"
box_stacks_path = f"{path}/box_stacks"
add_usd_ref(
stage,
hand_truck_path,
hand_truck_asset_url
)
box_stacks_container, box_stacks = add_random_box_stacks(stage, box_stacks_path, count_range=(1,4))
rotate_z(box_stacks_container, 90)
translate(
box_stacks_container,
offset=(0, random.uniform(8, 12), 28)
)
# remove out of bounds stacks
last_visible = box_stacks[0]
for i in range(len(box_stacks)):
_, stack_bbox_max = compute_bbox(box_stacks[i])
print(stack_bbox_max)
if stack_bbox_max[1] > 74:
set_visibility(box_stacks[i], "invisible")
else:
last_visible = box_stacks[i]
# wiggle inide bounds
boxes_bbox = compute_bbox(last_visible)
wiggle = (82 - boxes_bbox[1][1])
translate(box_stacks_container, (0, random.uniform(0, wiggle), 1))
return container
stage = new_omniverse_stage()
light = add_dome_light(stage, "/scene/dome_light")
floor = add_plane(stage, "/scene/floor", size=(1000, 1000))
concrete = add_mdl_material(
stage,
"/scene/materials/concrete",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Masonry/Concrete_Polished.mdl"
)
bind_material(floor, concrete)
all_objects_container = add_xform(stage, "/scene/objects")
for i in range(5):
for j in range(5):
path = f"/scene/objects/hand_truck_{i}_{j}"
current_object = add_hand_truck_with_boxes(stage, path)
rotate_z(current_object, random.uniform(-15, 15))
translate(current_object, (100*i, 150*j, 0))
objects_center = compute_bbox_center(all_objects_container)
translate(all_objects_container, (-objects_center[0], -objects_center[1], 0)) |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/hand_truck_w_boxes/README.md | # Example - Hand Truck with Boxes
This example demonstrates creating a scene with structured randomization.
It creates a grid of hand trucks with boxes scattered on top.
<img src="landing_graphic.jpg" height="320"/>
e
## Instructions
1. Modify the path on line 3 of ``main.py`` to the path you cloned usd_scene_construction_utils
2. Launch [Omniverse Code](https://developer.nvidia.com/omniverse/code-app)
3. Open the script editor
4. Copy the code from ``main.py`` into the script editor
5. Run the script editor.
## Notes
This example defines a few functions. Here are their descriptions.
| Function | Description |
|---|---|
| add_box_of_size | Adds a cardboard box of a given size, with randomly oriented labeling and tape. |
| add_random_box_stack | Adds a stack of cardboard boxes, sorted by cross-section size. Also adds some translation and angle jitter |
| add_random_box_stacks | Adds multiple random box stacks, aligned and stack on x-axis |
| add_hand_truck_with_boxes | Adds a hand truck, places the box stack at an offset so it appears as placed on the truck. Makes any out-of-bounds boxes invisible. Wiggles the visible boxes in the area remaining on the hand truck. |
When developing this example, we started with just a simple function, and added complexity
iteratively by trying rendering, viewing, tweaking, repeat.
|
NVIDIA-Omniverse/usd_scene_construction_utils/examples/pallet_with_boxes/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
import os
import random
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils/examples/pallet_with_boxes") # use your install path
from usd_scene_construction_utils import *
PALLET_URIS = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Block_A/BlockPallet_A01_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Block_B/BlockPallet_B01_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Wing_A/WingPallet_A01_PR_NVD_01.usd"
]
CARDBOARD_BOX_URIS = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Cube_A/CubeBox_A02_16cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Flat_A/FlatBox_A05_26x26x11cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Printer_A/PrintersBox_A05_23x28x25cm_PR_NVD_01.usd"
]
def add_pallet(stage, path: str):
prim = add_usd_ref(stage, path, random.choice(PALLET_URIS))
add_semantics(prim, "class", "pallet")
return prim
def add_cardboard_box(stage, path: str):
prim = add_usd_ref(stage, path, random.choice(CARDBOARD_BOX_URIS))
add_semantics(prim, "class", "box")
return prim
def add_pallet_with_box(stage, path: str):
container = add_xform(stage, path)
pallet = add_pallet(stage, os.path.join(path, "pallet"))
box = add_cardboard_box(stage, os.path.join(path, "box"))
pallet_bbox = compute_bbox(pallet)
box_bbox = compute_bbox(box)
translate(box,(0, 0, pallet_bbox[1][2] - box_bbox[0][2]))
rotate_z(pallet, random.uniform(-25, 25))
return container
def add_tree(stage, path: str):
url = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Vegetation/Trees/American_Beech.usd"
return add_usd_ref(stage, path, url)
stage = new_omniverse_stage()
brick = add_mdl_material(stage, "/scene/brick", "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Masonry/Brick_Pavers.mdl")
pallet_box = add_pallet_with_box(stage, "/scene/pallet")
floor = add_plane(stage, "/scene/floor", size=(1000, 1000), uv=(20., 20.))
tree = add_tree(stage, "/scene/tree")
translate(tree, (100, -150, 0))
bind_material(floor, brick)
light = add_dome_light(stage, "/scene/dome_light") |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/add_camera/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
from usd_scene_construction_utils import (
new_in_memory_stage,
add_box,
add_camera,
compute_look_at_matrix,
apply_xform_matrix,
export_stage
)
stage = new_in_memory_stage()
box = add_box(stage, "/scene/box", size=(100, 100, 100))
camera = add_camera(stage, "/scene/camera")
matrix = compute_look_at_matrix(
at=(0, 0, 0),
up=(0, 0, 1),
eye=(500, 500, 500)
)
apply_xform_matrix(camera, matrix)
export_stage(stage, "add_camera.usda", default_prim="/scene")
|
NVIDIA-Omniverse/usd_scene_construction_utils/examples/add_camera/README.md | # Example - Add Camera
> !UNDER CONSTRUCTION |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/render_with_replicator/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
import os
import random
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
from usd_scene_construction_utils import *
# set to your output dir
OUTPUT_DIR = f"{Path.home()}/usd_scene_construction_utils/examples/render_with_replicator/output"
def add_box_stack(stage, path: str, box_material):
container = add_xform(stage, path)
boxes = []
for i in range(3):
box_path = f"{path}/box_{i}"
box = add_box(stage, box_path, (random.uniform(20, 30), random.uniform(20, 30), 10))
add_semantics(box, "class", "box_stack")
bind_material(box, box_material)
rotate_z(box, random.uniform(-10, 10))
boxes.append(box)
stack_prims(boxes, axis=2)
return container
def build_scene(stage):
# Add cardboard material
cardboard = add_mdl_material(
stage,
"/scene/cardboard",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Wall_Board/Cardboard.mdl"
)
# Add concrete material
concrete = add_mdl_material(
stage,
"/scene/concrete",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base/Masonry/Concrete_Smooth.mdl"
)
# Add floor plane
floor = add_plane(stage, "/scene/floor", size=(500, 500))
bind_material(floor, concrete)
# Add box
box_stack = add_box_stack(stage, "/scene/box_stack", box_material=cardboard)
# Stack box on floor
stack_prims([floor, box_stack], axis=2)
# Add dome light
add_dome_light(stage, "/scene/dome_light")
import omni.replicator.core as rep
with rep.new_layer():
stage = new_omniverse_stage()
build_scene(stage)
camera = rep.create.camera()
render_product = rep.create.render_product(camera, (1024, 1024))
box_stack = rep.get.prims(path_pattern="^/scene/box_stack$")
# Setup randomization
with rep.trigger.on_frame(num_frames=100):
with box_stack:
rep.modify.pose(position=rep.distribution.uniform((-100, -100, 0), (100, 100, 0)))
with camera:
rep.modify.pose(position=rep.distribution.uniform((0, 0, 0), (400, 400, 400)), look_at=(0, 0, 0))
writer = rep.WriterRegistry.get("BasicWriter")
writer.initialize(
output_dir=OUTPUT_DIR,
rgb=True,
bounding_box_2d_tight=True,
distance_to_camera=True,
bounding_box_3d=True,
camera_params=True,
instance_id_segmentation=True,
colorize_instance_id_segmentation=False
)
writer.attach([render_product]) |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/render_with_replicator/README.md | # Example - Render with Omniverse Replicator
This example demonstrates how to render a scene constructed with usd_scene_construction_utils
using Omniverse replicator. |
NVIDIA-Omniverse/usd_scene_construction_utils/examples/hello_box/main.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 sys
from pathlib import Path
sys.path.append(f"{Path.home()}/usd_scene_construction_utils") # use your install path
import random
from usd_scene_construction_utils import *
stage = new_omniverse_stage()
# Create floor
floor = add_plane(stage, "/scene/floor", (1000, 1000))
# Add a dome light
light = add_dome_light(stage, "/scene/dome_light")
# Create a grid of boxes
all_boxes = add_xform(stage, "/scene/boxes")
for i in range(5):
for j in range(5):
path = f"/scene/boxes/box_{i}_{j}"
# Add box of random size
size = (
random.uniform(20, 50),
random.uniform(20, 50),
random.uniform(20, 50),
)
box = add_box(stage, path, size=size)
# Set position in xy grid
translate(box, (100*i, 100*j, 0))
# Align z with floor
box_min, _ = compute_bbox(box)
translate(box, (0, 0, -box_min[2]))
# Translate all boxes to have xy center at (0, 0)
boxes_center = compute_bbox_center(all_boxes)
translate("/scene/boxes", (-boxes_center[0], -boxes_center[1], 0))
|
NVIDIA-Omniverse/usd_scene_construction_utils/examples/hello_box/README.md | # Example - Hello Box
This example demonstrates creating a simply box shape and adding a dome light
to a scene.
<img src="landing_graphic.jpg" height="320"/>
It doesn't include any assets, so should load very quickly. This is simply
so you can get quick results and make sure usd_scene_construction_utils is working. Once you're
set up and working, you'll want to use omniverse with a nucleus server so you
can pull from a rich set of assets, like in the [hand truck example](../hand_truck_w_boxes/).
## Instructions
1. Modify the path on line 3 of ``main.py`` to the path you cloned usd_scene_construction_utils
2. Launch [Omniverse Code](https://developer.nvidia.com/omniverse/code-app)
3. Open the script editor
4. Copy the code from ``main.py`` into the script editor
5. Run the script editor.
|
NVIDIA-Omniverse/usd_scene_construction_utils/docs/usd_scene_construction_utils.rst | USD Scene Construction Utilities
================================
.. automodule:: usd_scene_construction_utils
:members: |
NVIDIA-Omniverse/usd_scene_construction_utils/docs/make.bat | @ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.https://www.sphinx-doc.org/
exit /b 1
)
if "%1" == "" goto help
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
:end
popd
|
NVIDIA-Omniverse/usd_scene_construction_utils/docs/index.rst | .. USD Scene Construction Utils documentation master file, created by
sphinx-quickstart on Thu Apr 13 09:20:03 2023.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Welcome to USD Scene Construction Utilities's documentation!
============================================================
.. toctree::
:maxdepth: 3
:caption: usd_scene_construction_utils:
usd_scene_construction_utils
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`
|
NVIDIA-Omniverse/usd_scene_construction_utils/docs/conf.py | # Configuration file for the Sphinx documentation builder.
#
# For the full list of built-in configuration values, see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Project information -----------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
project = 'USD Scene Construction Utilities'
copyright = '2023, NVIDIA'
author = 'NVIDIA'
# -- General configuration ---------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
extensions = [
'sphinx.ext.autodoc',
'sphinx.ext.autosummary',
'sphinx.ext.doctest',
'sphinx.ext.intersphinx',
'sphinx.ext.todo',
'sphinx.ext.coverage',
'sphinx.ext.napoleon',
'sphinx.ext.viewcode',
'sphinxcontrib.katex',
'sphinx.ext.autosectionlabel',
'sphinx_copybutton',
'sphinx_panels',
'myst_parser',
]
templates_path = ['_templates']
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# -- Options for HTML output -------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
html_theme = 'sphinx_rtd_theme'
html_static_path = ['_static']
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/link_app.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/scripts/link_app.py $@
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/link_app.bat | @echo off
call "%~dp0tools\packman\python.bat" %~dp0tools\scripts\link_app.py %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/README.md | # Spawn Primitives Extension Sample
## [Spawn Primitives (omni.example.spawn_prims)](exts/omni.example.spawn_prims)
### About
This repo shows how to build an extension in less than 10 minutes. The focus of this sample extension is to show how to create an extension and use omni.kit commands.
#### [README](exts/omni.example.spawn_prims/)
See the [README for this extension](exts/omni.example.spawn_prims/) to learn more about it including how to use it.
#### [Tutorial](exts/omni.example.spawn_prims/tutorial/tutorial.md)
Follow a [step-by-step tutorial](exts/omni.example.spawn_prims/tutorial/tutorial.md) that walks you through how to use omni.ui.scene to build this extension.
## Adding This Extension
To add this extension to your Omniverse app:
1. Go into: `Extension Manager` -> `Hamburger Icon` -> `Settings` -> `Extension Search Path`
2. Add this as a search path: `git://github.com/NVIDIA-Omniverse/kit-extension-sample-spawn-prims.git?branch=main&dir=exts`
Alternatively:
1. Download or Clone the extension, unzip the file if downloaded
2. Copy the `exts` folder path within the extension folder
- i.e. `/home/.../kit-extension-sample-spawn-prims/exts` (Linux) or `C:/.../kit-extension-sample-spawn-prims/ext` (Windows)
3. Go into: `Extension Manager` -> `Hamburger Icon` -> `Settings` -> `Extension Search Path`
4. Add the `exts` folder path as a search path
Make sure no filter is enabled and in both cases you should be able to find the new extension in the `Third Party` tab list.
## Linking with an Omniverse app
For a better developer experience, it is recommended to create a folder link named `app` to the *Omniverse Kit* app installed from *Omniverse Launcher*. A convenience script to use is included.
Run:
```bash
# Windows
> link_app.bat
```
```shell
# Linux
~$ ./link_app.sh
```
If successful you should see `app` folder link in the root of this repo.
If multiple Omniverse apps are installed the script will select the recommended one. Or you can explicitly pass an app:
```bash
# Windows
> link_app.bat --app code
```
```shell
# Linux
~$ ./link_app.sh --app code
```
You can also pass a path that leads to the Omniverse package folder to create the link:
```bash
# Windows
> link_app.bat --path "C:/Users/bob/AppData/Local/ov/pkg/create-2022.1.3"
```
```shell
# Linux
~$ ./link_app.sh --path "home/bob/.local/share/ov/pkg/create-2022.1.3"
```
## Contributing
The source code for this repository is provided as-is and we are not accepting outside contributions. |
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