urdf update

src/agv_description/urdf/agv.urdf.xacro

@@ -3,7 +3,7 @@
 <robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
     
     <!-- Robot Core -->
-    <xacro:include filename="$(find agv_description)/urdf/agv_core2.xacro"/>
+    <xacro:include filename="$(find agv_description)/urdf/agv_core.xacro"/>
 
     <!-- Robot LIDAR -->
     <xacro:include filename="$(find agv_description)/urdf/lidar.xacro"/>

src/agv_description/urdf/agv_core.xacro

@@ -51,14 +51,14 @@
         <visual>
             <origin xyz="0.15 0 0.075"/>
             <geometry>
-                <box size="0.3 0.3 0.15"/>
+                <box size="0.266 0.266 0.094"/>
             </geometry>
             <material name="white"/>
         </visual>
         <collision>
             <origin xyz="0.15 0 0.075"/>
             <geometry>
-                <box size="0.3 0.3 0.15"/>
+                <box size="0.266 0.266 0.094"/>
             </geometry>
         </collision>
         <xacro:inertial_box mass="0.5" x="0.3" y="0.3" z="0.15">
@@ -82,13 +82,13 @@
     <link name="left_wheel">
         <visual>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.033" length="0.018"/>
             </geometry>
             <material name="blue"/>
         </visual>
         <collision>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.033" length="0.018"/>
             </geometry>
         </collision>
         <xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
@@ -115,13 +115,13 @@
     <link name="right_wheel">
         <visual>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.033" length="0.018"/>
             </geometry>
             <material name="blue"/>
         </visual>
         <collision>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.033" length="0.018"/>
             </geometry>
         </collision>
         <xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
@@ -166,4 +166,4 @@
         <mu2 value="0.001"/>
     </gazebo>
 
-</robot>
+</robot>

src/agv_slam/config/mapping_demo.rviz

@@ -0,0 +1,137 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Path1
+        - /Pose1
+      Splitter Ratio: 0.5
+    Tree Height: 540
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        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: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Path
+      Topic: /trajectory
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Axes
+      Topic: /slam_out_pose
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    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
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 44.388
+      Focal Point:
+        X: 9.50434
+        Y: -0.685607
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.56976
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz)
+      Yaw: -0.7846
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002ab000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 53
+  Y: 60

src/agv_slam/launch/mapping_default.launch

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
+  <arg name="base_frame" default="base_footprint"/>
+  <arg name="odom_frame" default="odom"/>
+  <arg name="pub_map_odom_transform" default="true"/>
+  <arg name="scan_subscriber_queue_size" default="5"/>
+  <arg name="scan_topic" default="scan"/>
+  <arg name="map_size" default="2048"/>
+  
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+    
+    <!-- Frame names -->
+    <param name="map_frame" value="map" />
+    <param name="base_frame" value="$(arg base_frame)" />
+    <param name="odom_frame" value="$(arg odom_frame)" />
+    
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
+    
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="$(arg map_size)"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+    <param name="map_multi_res_levels" value="2" />
+    
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />    
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+    <param name="laser_z_min_value" value = "-1.0" />
+    <param name="laser_z_max_value" value = "1.0" />
+    
+    <!-- Advertising config --> 
+    <param name="advertise_map_service" value="true"/>
+    
+    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
+    <param name="scan_topic" value="$(arg scan_topic)"/>
+    
+    <!-- Debug parameters -->
+    <!--
+      <param name="output_timing" value="false"/>
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
+  </node>
+    
+  <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
+</launch>
+  
+  

src/agv_slam/launch/test.launch

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+    <param name="/use_sim_time" value="true"/>
+
+    <node pkg="rviz" type="rviz" name="rviz"
+    args="-d $(find agv_slame)/config/mapping_demo.rviz"/>
+
+    <include file="$(find hector_mapping)/launch/mapping_default.launch"/>
+
+    <include file="$(find hector_geotiff_launch)/launch/geotiff_mapper.launch">
+        <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
+        <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
+    </include>
+
+</launch>