robbiefish / leo_navigation_tutorial

leo_navigation

This package was created as part of the Autonomous Navigation tutorial for Leo Rover. It provides configuration for SLAM and autonomous navigation for Leo Rover equipped with IMU and LiDAR sensors.

Nodes

• message_filter

  Republishes wheel odometry and IMU data published by leo_firmware on message types accepted by the robot_localization package.

  Published topics:

  • wheel_odom_with_covariance (type: geometry_msgs/TwistWithCovarianceStamped)

  • imu/data_raw (type: sensor_msgs/Imu)

  Subscribed topics:

  • wheel_odom (type: geometry_msgs/TwistStamped)

  • imu/gyro (type: geometry_msgs/Vector3Stamped)

  • imu/accel (type: geometry_msgs/Vector3Stamped)

  Parameters

  • ~wheel_odom_covariance_diagonal (double[])

    Diagonal of the covariance matrix for wheel odometry.

  • ~imu_angular_velocity_covariance_diagonal (double[])

    Diagonal of the covariance matrix for IMU angular velocity.

  • ~imu_linear_acceleration_covariance_diagonal (double[])

    Diagonal of the covariance matrix for IMU acceleration.

Launch files

• odometry.launch

  Starts the message_filter and ekf_localization_node from robot_localization which publishes the odometry based on Wheel encoders and IMU readings.

  Arguments:

  • three_d (default: false)

    If set to true, also starts imu_filter_madgwick to fuse data from IMU sensor into an orientation and uses it in the ekf_localization_node to provide a 3D odometry.

• gmapping.launch

  Starts the slam_gmapping node from gmapping package which provides a laser-based SLAM.

• amcl.launch

  Starts map_server which publishes static map from a file on a ROS topic and amcl which uses odometry and data from the LiDAR sensor to estimate the localization of the robot on the map.

  Arguments:

  • map_file (required)

    An absolute path to the map file in the format supported by map_server.

• twist_mux.launch

  Starts twist_mux node which multiplexes several sources of velocity commands for the robot, giving priority to manual control over autonomous.

  Arguments:

  • cmd_vel_out (default: cmd_vel)

    The topic name the multiplexer should publish velocity commands on.

• move_base.launch

  Starts move_base node which, given the robot's localization, a map of obstacles, laser scans and a navigation goal, plans a safe path to the goal and tries to execute it, by sending velocity commands to the robot.

• navigation.launch

  Starts twist_mux.launch and move_base.launch.