RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Navigation changes #230

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

This PR adds several changes:

Add nodelet_manager for both real robot and simulation
Increase rates of drive and IMU to 40 Hz
~~Use original cartographer (breaks exploration node)~~
Fix cartographer localization with odom --> odom_combined
Decrease rates of EKF for localization and move_base
Remove remapping of set_pose in EKF
Set transform_tolerance in LaMa
Use move_base_flex by default

Type of change

[X] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[X] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[X] This change requires a documentation update --> Create documentation with rates

How Has This Been Tested?

# Gazebo
RVIZ=true LOCALIZATION=amcl GUI=false roslaunch ca_gazebo create_house.launch
# Real robot (without Nvidia Jetson Nano) -- Need to keep debugging it better
## Mapping
IMU=false RVIZ=true LOCALIZATION=slam roslaunch ca_bringup complete.launch
## Navigation
IMU=false RVIZ=true LOCALIZATION=amcl roslaunch ca_bringup complete.launch env:=my_table

Test Configuration:

[ ] Real robot
[x] Gazebo simulation

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes