tiago_social_robot

Packages for social navigation based on TIAGo robot.

Run

Run HuBeRo example with sourced TIAGo packages (to spawn the robot in simulation):

Start Gazebo simulation:

cd ~/ros_workspace/ws_social_navigation
source /usr/share/gazebo-9/setup.sh && source ../ws_tiago/devel/setup.bash && source devel/setup.bash
roslaunch hubero_bringup_gazebo_ros example.launch world:=living_room rviz:=false

Spawn TIAGo robot:

cd ~/ros_workspace/ws_social_navigation
source ../ws_tiago/devel/setup.bash && source devel/setup.bash
roslaunch tiago_social_bringup gazebo_spawn.launch

Run navigation modules for TIAGo:

cd ~/ros_workspace/ws_social_navigation
source ../ws_tiago/devel/setup.bash && source devel/setup.bash

• localization

  • if map_server is already running

    roslaunch tiago_social_navigation gazebo_nav_base.launch state:=localization map:=none

  • if new map should be loaded (map path is just an example)

    roslaunch tiago_social_navigation gazebo_nav_base.launch state:=localization map:=$(rospack find hubero_bringup_gazebo_ros)/maps/living_room.yaml

• mapping (SLAM)

  roslaunch tiago_social_navigation gazebo_nav_base.launch state:=mapping map:=none

Alternatively, navigation modules can be ran using this command (will also open special rviz config provided by PAL):

roslaunch tiago_social_navigation gazebo_nav_tiago.launch map:=none

Custom rviz config:

rviz -d $(rospack find tiago_social_navigation)/rviz/tiago_navigation.rviz

NOTE: tiago_social_navigation/gazebo_nav_tiago.launch can only be used for localization.

Benchmarking

First install dependencies of NKU-MobFly-Robotics/local-planning-benchmark:

sudo apt install libceres-dev

Troubleshooting

Frame names

This package does not fully overhaul PAL's launch ecosystem but only modifies some parts to make it usable with external maps, to allow easier override of parameters. User must beware of frame names as these are hard-coded in multiple places. Generally, frames should not be touched and valid setup consists of such frame names:

• robot base frame -> base_footprint
• odometry frame -> odom
• map frame -> map

Stuck at AMCL launch

If you're stuck on AMCL launched to this stage:

[ INFO] [1646218893.974936024]: Done initializing likelihood field model.

then start with a system reset. At the next startup you'll probably see this kind of output:

[ INFO] [1646219077.821685430, 29.811000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1646219078.428821750, 29.837000000]: Done initializing likelihood field model.
[ERROR] [1646219079.735113000, 30.112000000]: Lookup would require extrapolation into the past.  Requested time 30.095000000 but the earliest data is at time 30.107000000, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1646219079.756207959, 30.117000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1646219079.758755195, 30.117000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1646219079.776424438, 30.121000000]: Requesting the map...
[ INFO] [1646219080.307251280, 30.221000000]: Resizing costmap to 712 X 650 at 0.020000 m/pix
[ INFO] [1646219081.883263635, 30.321000000]: Received a 712 X 650 map at 0.020000 m/pix
[ INFO] [1646219081.892391411, 30.323000000]: global_costmap: Using plugin "obstacle_laser_layer"
[ INFO] [1646219081.903287792, 30.324000000]:     Subscribed to Topics: base_scan

This mostly happens once robot is spawned along with navigation modules and then navigation modules are killed and then started again.

Chaining multiple ROS workspaces

Assuming that you have workspaces designated for:

• robot software and controllers
• perception stuff
• social navigation stuff that is under heavy development

you have to compile workspaces in that order:

• robot software

  cd ~/ros_workspace/ws_tiago
  source /opt/ros/melodic/setup.bash
  catkin build
  source devel/setup.bash

• perception

  cd ~/ros_workspace/ws_perception
  source ../ws_tiago/devel/setup.bash
  catkin build
  source devel/setup.bash

• development stuff

  cd ~/ros_workspace/ws_social_navigation/
  source ../ws_perception/devel/setup.bash
  catkin build
  source devel/setup.bash

That's it. Reference.