[CARLA] CARLA Simulator Localization

[김위제]

sudo apt update
sudo apt install ros-jazzy-navigation2
sudo apt install ros-jazzy-nav2-bringup

1.

ros2 run pointcloud_to_laserscan pointcloud_to_laserscan_node   --ros-args -p use_sim_time:=True   -p target_frame:=hero   -p min_height:=0.5   -p max_height:=1.5   -p range_min:=1.0   -p range_max:=80.0   -r cloud_in:=/carla/hero/lidar -r scan:=/scan

2.

ros2 launch nav2_bringup localization_launch.py   map:=./map_1769883126.yaml   use_sim_time:=True   params_file:=./nav2_prams1.yaml

map:=./map_1769883126.yaml map 경로

 params_file:=./nav2_prams1.yaml

amcl:
ros__parameters:
alpha1: 0.05
alpha2: 0.05
alpha3: 0.05
alpha4: 0.05
alpha5: 0.05
base_frame_id: "hero"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan

bt_navigator:
ros__parameters:
global_frame: map
robot_base_frame: hero
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.

# plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
# Built-in plugins are added automatically
# plugin_lib_names: []

error_code_names:
- compute_path_error_code
- follow_path_error_code

controller_server:
ros__parameters:
controller_frequency: 20.0
costmap_update_timeout: 0.30
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugins: ["progress_checker"]
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
use_realtime_priority: false

# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25
# stateful: True
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
ax_max: 3.0
ax_min: -3.0
ay_max: 3.0
ay_min: -3.0
az_max: 3.5
vx_std: 0.2
vy_std: 0.2
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
prune_distance: 1.7
transform_tolerance: 0.1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
visualize: true
regenerate_noises: true
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.2
critics: [
"ConstraintCritic", "CostCritic", "GoalCritic",
"GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
"PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
near_collision_cost: 253
critical_cost: 300.0
consider_footprint: false
collision_cost: 1000000.0
near_goal_distance: 1.0
trajectory_point_step: 2
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
max_path_occupancy_ratio: 0.05
trajectory_point_step: 4
threshold_to_consider: 0.5
offset_from_furthest: 20
use_path_orientations: false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
offset_from_furthest: 5
threshold_to_consider: 1.4
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
# twirling_cost_weight: 10.0

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: hero
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.70
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: hero
robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.7
always_send_full_costmap: True

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
# ros__parameters:
# yaml_filename: ""

map_saver:
ros__parameters:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ["GridBased"]
costmap_update_timeout: 1.0
GridBased:
plugin: "nav2_navfn_planner::NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

smoother_server:
ros__parameters:
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: hero
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

waypoint_follower:
ros__parameters:
loop_rate: 20
stop_on_failure: false
action_server_result_timeout: 900.0
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

route_server:
ros__parameters:
# The graph_filepath does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s).
# file & provide full path to map below. If graph config or launch default is provided, it is used
# graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson
boundary_radius_to_achieve_node: 1.0
radius_to_achieve_node: 2.0
smooth_corners: true
operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]
ReroutingService:
plugin: "nav2_route::ReroutingService"
AdjustSpeedLimit:
plugin: "nav2_route::AdjustSpeedLimit"
CollisionMonitor:
plugin: "nav2_route::CollisionMonitor"
max_collision_dist: 3.0
edge_cost_functions: ["DistanceScorer", "CostmapScorer"]
DistanceScorer:
plugin: "nav2_route::DistanceScorer"
CostmapScorer:
plugin: "nav2_route::CostmapScorer"

velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.5, 0.0, 2.0]
min_velocity: [-0.5, 0.0, -2.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0

collision_monitor:
ros__parameters:
base_frame_id: "hero"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel"
state_topic: "collision_monitor_state"
transform_tolerance: 0.2
source_timeout: 1.0
base_shift_correction: True
stop_pub_timeout: 2.0
# Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
# and robot footprint for "approach" action type.
polygons: ["FootprintApproach"]
FootprintApproach:
type: "polygon"
action_type: "approach"
footprint_topic: "/local_costmap/published_footprint"
time_before_collision: 1.2
simulation_time_step: 0.1
min_points: 6
visualize: False
enabled: True
observation_sources: ["scan"]
scan:
type: "scan"
topic: "scan"
min_height: 0.15
max_height: 2.0
enabled: True

docking_server:
ros__parameters:
controller_frequency: 50.0
initial_perception_timeout: 5.0
wait_charge_timeout: 5.0
dock_approach_timeout: 30.0
undock_linear_tolerance: 0.05
undock_angular_tolerance: 0.1
max_retries: 3
base_frame: "hero"
fixed_frame: "odom"
dock_backwards: false
dock_prestaging_tolerance: 0.5

# Types of docks
dock_plugins: ['simple_charging_dock']
simple_charging_dock:
plugin: 'opennav_docking::SimpleChargingDock'
docking_threshold: 0.05
staging_x_offset: -0.7
use_external_detection_pose: true
use_battery_status: false # true
use_stall_detection: false # true

external_detection_timeout: 1.0
external_detection_translation_x: -0.18
external_detection_translation_y: 0.0
external_detection_rotation_roll: -1.57
external_detection_rotation_pitch: -1.57
external_detection_rotation_yaw: 0.0
filter_coef: 0.1

# Dock instances
# The following example illustrates configuring dock instances.
# docks: ['home_dock'] # Input your docks here
# home_dock:
# type: 'simple_charging_dock'
# frame: map
# pose: [0.0, 0.0, 0.0]

controller:
k_phi: 3.0
k_delta: 2.0
v_linear_min: 0.15
v_linear_max: 0.15
use_collision_detection: true
costmap_topic: "local_costmap/costmap_raw"
footprint_topic: "local_costmap/published_footprint"
transform_tolerance: 0.1
projection_time: 5.0
simulation_step: 0.1
dock_collision_threshold: 0.3

loopback_simulator:
ros__parameters:
base_frame_id: "hero"
odom_frame_id: "odom"
map_frame_id: "map"
scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
update_duration: 0.02
scan_range_min: 0.05
scan_range_max: 30.0
scan_angle_min: -3.1415
scan_angle_max: 3.1415
scan_angle_increment: 0.02617
scan_use_inf: true

수정한 부분

1.

alpha1:0.05

alpha2:0.05

alpha3:0.05

alpha4:0.05

기본은 0.2

0.2로 했을때 회전시 자기 위치를 잘찾지 못하는 문제가 발생 

문제점 영상

파라미터

의미

실제 현상

2.

base_frame_id: "hero"

odom_frame_id: "odom"

frame_id를 수정

설정파일 깃허브

https://github.com/ros-navigation/navigation2/tree/main/nav2_bringup/params

navigation2/nav2_bringup/params at main · ros-navigation/navigation2

3.

rviz2 --ros-args -p use_sim_time:=True

2D Pose Estimate로 로봇의 원점을 잡아준다.

4. 예제 실행

python3 ros2_waypoint_test.py -f stack.json 

이 경로를 주행

ParticleCloud

nav2_rviz_plugins에 있는ParticleCloud를 추가
-> topic : /particle_cloud

->Reliability Policy : Best Effort 로 설정

실행 영상

[Sungryul Lee]

사용한 localization알고리즘은?
carla에서 발행한 자동차의 정확한 자세와 같이 그려서 추정성능을 비교해줄것
오도메트리, 정답, 추정치 3가지를 동시에 비교할것
carla맵과 rviz화면을 동시에 저장하여 비교할수 있게 동영상 만들것