vegmap/commands.sh at main · w3ichen/vegmap · GitHub

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# For linux
source install/setup.bash


export GZ_SIM_RESOURCE_PATH=/home/patrick/vegmap/src/gazebo/gazebo-vegetation:$GZ_SIM_RESOURCE_PATH
export IGN_GAZEBO_RESOURCE_PATH=/home/patrick/vegmap/src/gazebo/gazebo-vegetation:$IGN_GAZEBO_RESOURCE_PATH
export GAZEBO_MODEL_PATH=/home/patrick/vegmap/src/gazebo/gazebo-vegetation/gazebo_vegetation/models:$GAZEBO_MODEL_PATH
ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path world:=~/vegmap/src/planner/worlds/outdoors

ros2 launch planner vegmap_planner.launch.py


# For mac
conda activate ros2
source install/setup.bash


gz sim -v 4 -s src/planner/worlds/outdoors.sdf
gz sim -g -v 4 --gui-config src/clearpath_simulator/clearpath_gz/config/gui.config

ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=src/setup_path


ros2 launch planner vegmap_planner.launch.py


clear && make plan && ros2 launch planner vegmap_planner.launch.py


ros2 run controller_manager ros2_control_node --ros-args -r __ns:=/a200_0000

ros2 run topic_tools relay /a200_0000/robot_description /a200_0000/controller_manager/robot_description
ros2 run topic_tools relay /a200_0000/robot_description /robot_description
ros2 topic echo /a200_0000/robot_description --full-length --once

ros2 launch clearpath_control control.launch.py setup_path:=src/setup_path

ros2 run topic_tools relay  /a200_0000/tf /tf
ros2 run topic_tools relay  /a200_0000/tf_static /tf_static

# View logs
ros2 run rqt_console rqt_console
# View tf frames
ros2 run tf2_tools view_frames

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=~/vegmap/src/planner/maps/warehouse_map.yaml  -p use_sim_time:=true


# Clearpath nav2 tutorial commands
ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path
ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000
ros2 launch clearpath_nav2_demos localization.launch.py setup_path:=src/setup_path/ use_sim_time:=true
ros2 launch clearpath_nav2_demos nav2.launch.py setup_path:=src/setup_path/ use_sim_time:=true


# Test service
ros2 service call /world/get_tf planner_msgs/srv/GetTransforms "{world: 'outdoors'}"


# Updating costmaps
ros2 service call /veg_costmap/update planner_msgs/srv/UpdateCost "{x: 0.0, y: 0.0, obstacle_type: 'grass_1', cost: 255}"


# Full run
ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path world:=~/vegmap/src/planner/worlds/resistance_zone

ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path world:=~/vegmap/src/planner/worlds/resistance_zone x:=9.0 y:=-9.0 yaw:=2.325


ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path world:=~/vegmap/src/planner/worlds/boxed_in_world