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Merge pull request #3 from nobleo/feature/update_for_tutorial
Feature/update for tutorial
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‎README.md

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# Full Coverage Path Planner (fcpp)
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# Full Coverage Path Planner (FCPP)
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## Overview
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This package provides an implementation of a Full Coverage Path Planner (fcpp) using the Backtracking Spiral Algorithm (BSA), see [1].
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This package provides an implementation of a Full Coverage Path Planner (FCPP) using the Backtracking Spiral Algorithm (BSA), see [1].
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This packages acts as a global planner plugin to the Move Base Flex package (http://wiki.ros.org/move_base_flex).
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All tests can be run using:
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catkin build tracking_pid --catkin-make-args run_tests
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catkin build full_coverage_path_planner --catkin-make-args run_tests
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#### test_common
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Unit test that checks the basic functions used by the repository
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Arguments:
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* **`navigation`**: move_base_flex. Default: `move_base_flex`
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* **`tracking_pid_mode`**: node / plugin. Default: `node`
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* **`map`**: path to a global costmap. Default: `$(find full_coverage_path_planner)/maps/basement.yaml)`
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* **`target_x_vel`**: target x velocity for use in interpolator. Default: `0.2`
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* **`target_yaw_vel`**: target yaw velocity for use in interpolator. Default: `0.2`
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[ROS]: http://www.ros.org
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[rviz]: http://wiki.ros.org/rviz
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[MBF]: http://wiki.ros.org/move_base_flex
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## Acknowledgments
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<!--
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ROSIN acknowledgement from the ROSIN press kit
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@ https://github.com/rosin-project/press_kit
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-->
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<a href="http://rosin-project.eu">
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<img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png"
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alt="rosin_logo" height="60" >
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</a>
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Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
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More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
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<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg"
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alt="eu_flag" height="45" align="left" >
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This project has received funding from the European Union’s Horizon 2020
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research and innovation programme under grant agreement no. 732287.

‎examples/move_base.launch

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‎examples/turtlebot_in_stage.launch

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‎maps/grid.png

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‎maps/grid.yaml

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image: grid.png
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resolution: 0.05
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origin: [-2.5, -2.5, 0.0]
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origin: [-5, -5, 0.0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196

‎test/README.md

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The full coverage path planner consists of several parts that are each tested separately.
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The move_base plugin consists of several parts, each unit-tested separately:
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The move_base_flex plugin consists of several parts, each unit-tested separately:
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- test_common: tests common.h
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- test_spiral_stc: tests static functions of spiral_stc.h
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‎test/full_coverage_path_planner/param/planners.yaml

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planners:
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- name: 'SpiralSTC'
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type: 'full_coverage_path_planner/SpiralSTC'
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planner:
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allow_unknown: true
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default_tolerance: 0.0
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visualize_potential: true

‎test/full_coverage_path_planner/test_full_coverage_path_planner.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="map" default="$(find full_coverage_path_planner)/maps/grid.yaml"/>
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<arg name="coverage_area_offset" default="-2.5 -2.5 0 0 0 0"/>
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<arg name="coverage_area_size_x" default="10"/>
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<arg name="coverage_area_size_y" default="10"/>
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<arg name="target_x_vel" default="0.5"/>
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<arg name="target_yaw_vel" default="0.4"/>
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<arg name="robot_radius" default="0.3"/>
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<arg name="tool_radius" default="0.3"/>
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<arg name="rviz" default="true"/>
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<!--Move base flex, using the full_coverage_path_planner-->
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<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
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<param name="tf_timeout" value="1.5"/>
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
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<param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
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<param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
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<param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
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<remap from="odom" to="/odom"/>
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<remap from="scan" to="/scan"/>
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<remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
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<remap from="/move_base_flex/tracking_pid/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/>
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</node>
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<!-- Move Base backwards compatibility -->
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<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
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<!-- Mobile robot simulator -->
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<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
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<param name="publish_map_transform" value="true"/>
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<param name="publish_rate" value="10.0"/>
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<param name="velocity_topic" value="/move_base/cmd_vel"/>
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<param name="odometry_topic" value="/odom"/>
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</node>
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<!--We need a map to fully cover-->
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<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
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<param name="frame_id" value="/map"/>
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</node>
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<!--Tracking_pid cannot just accept a nav_msgs/Path, it can only go to a PoseStamped,
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so the path_interpolator drags a PoseStamped over a Path at a given speed-->
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<node name="interpolator" pkg="tracking_pid" type="path_interpolator">
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<param name="target_x_vel" value="$(arg target_x_vel)"/>
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<param name="target_yaw_vel" value="$(arg target_yaw_vel)"/>
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<remap from="path" to="/move_base/SpiralSTC/plan"/>
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</node>
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<!--Tracking_pid tries to get the robot as close to it's goal point as possible-->
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<node name="controller" pkg="tracking_pid" type="controller" output="screen">
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<remap from="move_base/cmd_vel" to="/move_base/cmd_vel"/>
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<remap from="local_trajectory" to="trajectory"/>
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<param name="controller_debug_enabled" value="True"/>
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<param name="track_base_link" value="true"/>
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<param name="l" value="0.5"/>
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<param name="Ki_long" value="0.0"/>
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<param name="Kp_long" value="2.0"/>
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<param name="Kd_long" value="0.5"/>
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<param name="Ki_lat" value="0.0"/>
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<param name="Kp_lat" value="4.0"/>
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<param name="Kd_lat" value="0.3"/>
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</node>
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<!-- Launch coverage progress tracking -->
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<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="$(arg coverage_area_offset) map coverage_map 100" />
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<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
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<param name="~target_area/x" value="$(arg coverage_area_size_x)" />
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<param name="~target_area/y" value="$(arg coverage_area_size_y)" />
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<param name="~coverage_radius" value="$(arg tool_radius)" />
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<remap from="reset" to="coverage_progress/reset" />
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<param name="~map_frame" value="/coverage_map"/>
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</node>
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<!-- Trigger planner by publishing a move_base goal -->
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<node name="publish_simple_goal" pkg="rostopic" type="rostopic" launch-prefix="bash -c 'sleep 1.0; $0 $@' "
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args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
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<!-- rviz -->
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<node if="$(eval rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
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</launch>

‎test/full_coverage_path_planner/test_full_coverage_path_planner.test

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<?xml version="1.0"?>
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<launch>
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<arg name="map" default="$(find full_coverage_path_planner)/maps/basement.yaml"/>
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<arg name="target_x_vel" default="0.5"/>
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<arg name="target_yaw_vel" default="0.4"/>
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<arg name="robot_radius" default="0.5"/>
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<arg name="tool_radius" default="0.5"/>
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<arg name="launch_rviz" default="false"/>
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<!--Move base flex, using the full_coverage_path_planner-->
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<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
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<param name="tf_timeout" value="1.5"/>
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<param name="planner_max_retries" value="3"/>
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
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<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
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<param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
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<param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
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<param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
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<remap from="odom" to="/odom"/>
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<remap from="scan" to="/scan"/>
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<remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
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<remap from="/move_base_flex/tracking_pid/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/>
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</node>
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<!-- Move Base backwards compatibility -->
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<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
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<!--Rather than running Gazebo to simulate a robot, just use cmd_vel to calculate odom and TF-->
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<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
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<param name="publish_map_transform" value="true"/>
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<param name="publish_rate" value="10.0"/>
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<param name="velocity_topic" value="/move_base/cmd_vel"/>
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<param name="odometry_topic" value="/odom"/>
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</node>
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<!--We need a map to fully cover-->
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<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
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<param name="frame_id" value="/map"/>
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</node>
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<!--Tracking_pid cannot just accept a nav_msgs/Path, it can only go to a PoseStamped,
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so the path_interpolator drags a PoseStamped over a Path at a given speed-->
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<node name="interpolator" pkg="tracking_pid" type="path_interpolator">
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<param name="target_x_vel" value="$(arg target_x_vel)"/>
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<param name="target_yaw_vel" value="$(arg target_yaw_vel)"/>
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<remap from="path" to="/move_base/SpiralSTC/plan"/>
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</node>
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<!--Tracking_pid tries to get the robot as close to it's goal point as possible-->
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<node name="controller" pkg="tracking_pid" type="controller" output="screen">
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<remap from="move_base/cmd_vel" to="/move_base/cmd_vel"/>
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<remap from="local_trajectory" to="trajectory"/>
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<param name="controller_debug_enabled" value="True"/>
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<param name="track_base_link" value="true"/>
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<param name="l" value="0.5"/>
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<param name="Ki_long" value="0.0"/>
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<param name="Kp_long" value="2.0"/>
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<param name="Kd_long" value="0.5"/>
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<param name="Ki_lat" value="0.0"/>
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<param name="Kp_lat" value="4.0"/>
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<param name="Kd_lat" value="0.3"/>
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</node>
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<!-- Launch coverage progress tracking -->
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<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="3 -0.25 0 1.57 0 0 map coverage_map 100" />
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<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
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<param name="~target_area/x" value="3.0" /> <!--20-->
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<param name="~target_area/y" value="5" /> <!--30-->
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<param name="~coverage_radius" value="$(arg tool_radius)" />
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<remap from="reset" to="coverage_progress/reset" />
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<param name="~map_frame" value="/coverage_map"/>
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</node>
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<!--Tracking_pid can be paused and it must be actively unpaused-->
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<node name="publish_enable" pkg="rostopic" type="rostopic" args="pub --latch /enable_control std_msgs/Bool 'data: true'"/>
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<node name="publish_simple_goal" pkg="rostopic" type="rostopic" launch-prefix="bash -c 'sleep 1.0; $0 $@' "
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args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
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<arg name="rviz" default="false"/>
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<include file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/test_full_coverage_path_planner.launch" >
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<arg name="map" value="$(find full_coverage_path_planner)/maps/basement.yaml"/>
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<arg name="coverage_area_offset" value="3 -0.25 0 1.57 0 0"/>
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<arg name="coverage_area_size_x" value="3.0"/>
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<arg name="coverage_area_size_y" value="5.0"/>
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<arg name="target_x_vel" value="0.5"/>
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<arg name="target_yaw_vel" value="0.4"/>
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<arg name="robot_radius" value="0.5"/>
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<arg name="tool_radius" value="0.5"/>
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<arg name="rviz" value="$(eval rviz)"/>
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</include>
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<test test-name="rostest_full_coverage_path_planner_node" pkg="full_coverage_path_planner" type="test_full_coverage_path_planner_system.py" time-limit="300.0" />
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<node if="$(eval launch_rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
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</launch>

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