Nav2 with Amcl simulation demo

[mkhansenbot]

This adds and changes the necessary files for a demo using Navigation2 with AMCL.

• Increases the spawn robot timeout from 5 seconds to 60s which is needed for loading larger world files like the bookstore world
• Adds a new launch file which includes AMCL for localization and sets the needed default world and map for the bookstore world
• Adds a Nav2 params file which includes -- AMCL and map_saver params -- changing the planner server to smac_planner -- changing the controller server to regulated pure pursuit
  • Adds an RViz config file for viewing Nav2 topics and using waypoint plugin

[adamkrawczyk]

Hi,

Great job and thank you for the development, but so far I see one problem - aws_robomaker_bookstore_world it's necessary to add this repository to the workspace before launching the simulation.

I'm thinking about how to merge this but quick copy-paste world file fails due to your custom objects.

I'm thinking about switching if aws is present or by default run our model and with arg run aws.

What is your opinion?

[mkhansenbot]

Hi,

Great job and thank you for the development, but so far I see one problem - aws_robomaker_bookstore_world it's necessary to add this repository to the workspace before launching the simulation.

I'm thinking about how to merge this but quick copy-paste world file fails due to your custom objects.

I'm thinking about switching if aws is present or by default run our model and with arg run aws.

What is your opinion?

You're right this currently requires the following steps to run. Please let me know if this works for you or not. Assumes:

• Ubuntu 20.04
• Gazebo11 installed
• Foxy desktop installed

Clone the repos and install dependencies

mkdir -p foxy_ws/src
cd foxy_ws/src
git clone -b amcl_sim_demo https://github.com/mkhansenbot/rosbot_description.git
git clone -b ros2 https://github.com/aws-robotics/aws-robomaker-bookstore-world.git 
sudo apt update
rosdep install -i -r -y --from-paths .

The dependency install may take a few minutes to run. When completed, build the code.

cd ..
source /opt/ros/foxy/setup.bash
colcon build

Run the demo

source /usr/share/gazebo/setup.sh
source ~/foxy_ws/install/setup.bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg prefix aws_robomaker_bookstore_world`/share/aws_robomaker_bookstore_world/models/
ros2 launch rosbot_description nav_amcl_demo_sim.launch.py 

Also, if you would prefer this be merged to another branch, let me know, I can re-submit the PR.

[mkhansenbot]

Merging with foxy seems to have broken navigation, getting a TF circular dependency now: dummy->base_link->dummy

Investigating...

[mkhansenbot]

OK, so this is the error I see now:

[controller_server-15] [ERROR] [1619651443.994733948] [getCurrentPose]: No Transform available Error looking up robot pose: The tf tree is invalid because it contains a loop.
[controller_server-15] Frame range_fl exists with parent base_link.
[controller_server-15] Frame base_link exists with parent dummy.
[controller_server-15] Frame camera_link exists with parent base_link.
[controller_server-15] Frame camera_depth_frame exists with parent camera_link.
[controller_server-15] Frame camera_rgb_frame exists with parent camera_link.
[controller_server-15] Frame dummy exists with parent base_link.
[controller_server-15] Frame range_fr exists with parent base_link.
[controller_server-15] Frame range_rl exists with parent base_link.
[controller_server-15] Frame range_rr exists with parent base_link.
[controller_server-15] Frame laser exists with parent base_link.
[controller_server-15] Frame top exists with parent base_link.
[controller_server-15] Frame odom exists with parent map.
[controller_server-15] Frame front_right_wheel exists with parent base_link.
[controller_server-15] Frame front_left_wheel exists with parent base_link.
[controller_server-15] Frame rear_right_wheel exists with parent base_link.
[controller_server-15] Frame rear_left_wheel exists with parent base_link.

I get the same error if I run the existing nav sim demo:

ros2 launch rosbot_description navigation_demo_sim.launch.py  

Is there a new/different way to start navigation?

[mkhansenbot]

Rebased to fix merge conflict

[mkhansenbot]

With latest commits you made to foxy, I rebased and this works, please test using instructions above.

Let me know if this is OK as-is, which does require cloning the bookstore world. If necessary, I can add an environment variable for that. However, since this is AMCL based, the user will need to provide a map file for any world used (ie. Willow) for this to work.

[adamkrawczyk]

Works great!! Only missing the initial point for amcl, but since official docs don't mention this setting from rviz is fine.

Also the world looks superb!

[mkhansenbot]

Awesome! Thanks!

[mkhansenbot]

@adamkrawczyk - would it be possible to add a tag to the repo at this commit to make it easy for users to check out a working version of this demo? A tag like "amcl-demo" would be ideal.

[adamkrawczyk]

There it is.