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FastroofFastroof
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Add GPS follower with ROS 2 control integration; EKF adjustments needed for improved performance on curve paths and turns (#10)
1 parent da15c39 commit 351b1e5

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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(apricotka-robot-car)
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project(ros_sw)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)

‎README.md‎

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# ROS Setup Instructions
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## Install Required Packages
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```bash
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sudo apt install ros-jazzy-navigation2
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sudo apt install ros-jazzy-nav2-bringup
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sudo apt install ros-jazzy-robot-localization
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sudo apt install ros-jazzy-mapviz
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sudo apt install ros-jazzy-mapviz-plugins
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sudo apt install ros-jazzy-tile-map
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```
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## Setup ROS Environment
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```bash
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source /opt/ros/jazzy/setup.bash
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```
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## Create Workspace and Clone Repositories
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```bash
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mkdir gps_ws
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cd gps_ws
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git clone -b 10-gps-navigation https://github.com/KPI-Rover/ros_sw.git
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git clone -b jazzy https://github.com/ros-navigation/navigation2_tutorials.git
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```
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## Build the Workspace
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```bash
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colcon build --symlink-install
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source install/setup.bash
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```
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## Launch Simulation
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```bash
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ros2 launch ros_sw launch_sim.launch.py use_rviz:=True use_mapviz:=True
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```
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## Run GPS Waypoint Follower Demos
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```bash
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ros2 run nav2_gps_waypoint_follower_demo interactive_waypoint_follower
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ros2 run nav2_gps_waypoint_follower_demo gps_waypoint_logger </path/to/yaml/file.yaml>
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ros2 run nav2_gps_waypoint_follower_demo logged_waypoint_follower </path/to/yaml/file.yaml>
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```
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## Run Teleop Twist Keyboard
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_drive_controller/cmd_vel -p stamped:=True
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```
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## More Information
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For more information, please visit [Navigation2 with GPS](https://docs.nav2.org/tutorials/docs/navigation2_with_gps.html).

‎config/dual_ekf_navsat_params.yaml‎

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# For parameter descriptions, please refer to the template parameter files for each node.
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ekf_filter_node_odom:
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ros__parameters:
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frequency: 50.0 # Increased from 30.0 for better update rate
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two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
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print_diagnostics: true
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debug: false
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publish_tf: true
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map_frame: map
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odom_frame: odom
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base_link_frame: base_link # the frame id used by the turtlebot's diff drive plugin
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world_frame: odom
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odom0: diff_drive_controller/odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, true,
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false, false, true,
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false, false, false]
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odom0_queue_size: 10
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odom0_differential: true # Changed from false to improve accuracy during turns
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odom0_relative: false
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imu0: imu/data
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imu0_config: [false, false, false,
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false, false, true,
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true, true, true, # Added linear acceleration
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false, false, false,
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false, false, false]
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imu0_differential: true # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
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imu0_relative: false
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imu0_queue_size: 10
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imu0_remove_gravitational_acceleration: true
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use_control: false
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process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]
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ekf_filter_node_map:
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ros__parameters:
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frequency: 50.0 # Increased from 30.0 for better update rate
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two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
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print_diagnostics: true
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debug: false
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publish_tf: true
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map_frame: map
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odom_frame: odom
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base_link_frame: base_link # the frame id used by the turtlebot's diff drive plugin
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world_frame: map
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odom0: diff_drive_controller/odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, true,
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false, false, true,
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false, false, false]
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odom0_queue_size: 10
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odom0_differential: true # Changed from false to improve accuracy during turns
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odom0_relative: false
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odom1: odometry/gps
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odom1_config: [true, true, false,
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false, false, false,
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false, false, false,
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false, false, false,
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false, false, false]
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odom1_queue_size: 10
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odom1_differential: false
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odom1_relative: false
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imu0: imu/data
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imu0_config: [false, false, false,
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false, false, true,
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true, true, true, # Added linear acceleration
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false, false, false,
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false, false, false]
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imu0_differential: true # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
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imu0_relative: false
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imu0_queue_size: 10
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imu0_remove_gravitational_acceleration: true
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use_control: false
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process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]
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navsat_transform:
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ros__parameters:
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frequency: 50.0 # Increased from 30.0 for better update rate
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delay: 3.0
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magnetic_declination_radians: 0.0
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yaw_offset: 0.0
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zero_altitude: true
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broadcast_cartesian_transform: true
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publish_filtered_gps: true
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use_odometry_yaw: true
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wait_for_datum: false

‎config/gps_wpf_demo.mvc‎

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capture_directory: "~"
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fixed_frame: map
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target_frame: map
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fix_orientation: false
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rotate_90: false
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enable_antialiasing: true
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show_displays: true
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show_status_bar: true
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show_capture_tools: true
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view_scale: 0.564473748
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offset_x: -55.0469894
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offset_y: -4.65194941
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use_latest_transforms: true
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background: "#a0a0a4"
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image_transport: raw
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displays:
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- type: mapviz_plugins/tile_map
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name: new display
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config:
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visible: true
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collapsed: false
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custom_sources:
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- base_url: https://api.maptiler.com/tiles/satellite-v2/{level}/{x}/{y}.jpg?key=prOIJC29PpyOVqzLxuuJ
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max_zoom: 23
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name: mt
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type: wmts
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- base_url: http://tile.openstreetmap.org/{level}/{x}/{y}.png
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max_zoom: 21
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name: osm
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type: wmts
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bing_api_key: ""
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source: mt
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- type: mapviz_plugins/point_click_publisher
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name: new display
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config:
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visible: true
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collapsed: false
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topic: clicked_point
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output_frame: wgs84
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- type: mapviz_plugins/tf_frame
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name: new display
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config:
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visible: true
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collapsed: false
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frame: base_link
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color: "#00ff00"
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draw_style: arrows
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position_tolerance: 0
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buffer_size: 1
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static_arrow_sizes: true
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arrow_size: 53
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- type: mapviz_plugins/navsat
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name: new display
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config:
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visible: true
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collapsed: false
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topic: /gps/fix
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color: "#55aaff"
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draw_style: points
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position_tolerance: 0
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buffer_size: 1

‎config/my_controllers.yaml‎

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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_base_controller:
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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diff_drive_base_controller:
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diff_drive_controller:
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ros__parameters:
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left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"]
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right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]
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wheel_radius: 0.033
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publish_rate: 50.0
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# odom_frame_id: odom
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odom_frame_id: odom
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base_frame_id: base_link
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use_stamped_vel: false
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tf_frame_prefix_enable: false
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# open_loop: true

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