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(pointer:fine){.thin-scrollbar{scrollbar-width:thin}.thin-scrollbar::-webkit-scrollbar{height:var(--ifm-scrollbar-size);width:var(--ifm-scrollbar-size)}.thin-scrollbar::-webkit-scrollbar-track{background:var(--ifm-scrollbar-track-background-color);border-radius:10px}.thin-scrollbar::-webkit-scrollbar-thumb{background:var(--ifm-scrollbar-thumb-background-color);border-radius:10px}.thin-scrollbar::-webkit-scrollbar-thumb:hover{background:var(--ifm-scrollbar-thumb-hover-background-color)}}@media (prefers-reduced-motion:reduce){:root{--ifm-transition-fast:0ms;--ifm-transition-slow:0ms}}@media screen and (prefers-reduced-motion:reduce){.DocSearch-Reset{animation:none;appearance:none;background:none;border:0;border-radius:50%;color:var(--docsearch-icon-color);cursor:pointer;right:0;stroke-width:var(--docsearch-icon-stroke-width)}.DocSearch-Hit--deleting,.DocSearch-Hit--favoriting{transition:none}.DocSearch-Hit-action-button:focus,.DocSearch-Hit-action-button:hover{background:#0003;transition:none}}@media print{.announcementBar_mb4j,.footer,.menu,.navbar,.pagination-nav,.table-of-contents,.tocMobile_ITEo{display:none}.tabs{page-break-inside:avoid}.codeBlockLines_e6Vv{white-space:pre-wrap}} \ No newline at end of file diff --git a/assets/css/styles.c21cec55.css b/assets/css/styles.c21cec55.css deleted file mode 100644 index f88dace..0000000 --- a/assets/css/styles.c21cec55.css +++ /dev/null @@ -1 +0,0 @@ -@import url(https://fonts.googleapis.com/css2?family=Inter:wght@400;700&display=swap);.col,.container{padding:0 var(--ifm-spacing-horizontal);width:100%}.markdown>h2,.markdown>h3,.markdown>h4,.markdown>h5,.markdown>h6{margin-bottom:calc(var(--ifm-heading-vertical-rhythm-bottom)*var(--ifm-leading))}.markdown li,body{word-wrap:break-word}body,ol ol,ol ul,ul ol,ul ul{margin:0}pre,table{overflow:auto}blockquote,pre{margin:0 0 var(--ifm-spacing-vertical)}.breadcrumbs__link,.button{transition-timing-function:var(--ifm-transition-timing-default)}.menu__link:hover,a{transition:color var(--ifm-transition-fast) var(--ifm-transition-timing-default)}.navbar--dark,:root{--ifm-navbar-link-hover-color:var(--ifm-color-primary)}.menu,.navbar-sidebar{overflow-x:hidden}:root,html[data-theme=dark]{--ifm-color-emphasis-500:var(--ifm-color-gray-500)}.button--outline.button--active,.button--outline.button--primary:focus,.button--outline:active,.button--outline:hover,:root{--ifm-button-color:var(--ifm-font-color-base-inverse)}[data-theme=dark] .DocSearch,[data-theme=light] 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0===t)return Boolean(this.numericRefinements[e]);var n=this.numericRefinements[e]&&void 0!==this.numericRefinements[e][t];if(void 0===r||!n)return n;var s,a,c=o(r),u=void 0!==(s=this.numericRefinements[e][t],a=c,i(s,(function(e){return l(e,a)})));return n&&u},isTagRefined:function(e){return-1!==this.tagRefinements.indexOf(e)},getRefinedDisjunctiveFacets:function(){var e=this,t=s(Object.keys(this.numericRefinements).filter((function(t){return Object.keys(e.numericRefinements[t]).length>0})),this.disjunctiveFacets);return Object.keys(this.disjunctiveFacetsRefinements).filter((function(t){return e.disjunctiveFacetsRefinements[t].length>0})).concat(t).concat(this.getRefinedHierarchicalFacets()).sort()},getRefinedHierarchicalFacets:function(){var e=this;return s(this.hierarchicalFacets.map((function(e){return e.name})),Object.keys(this.hierarchicalFacetsRefinements).filter((function(t){return e.hierarchicalFacetsRefinements[t].length>0}))).sort()},getUnrefinedDisjunctiveFacets:function(){var e=this.getRefinedDisjunctiveFacets();return this.disjunctiveFacets.filter((function(t){return-1===e.indexOf(t)}))},managedParameters:["index","facets","disjunctiveFacets","facetsRefinements","hierarchicalFacets","facetsExcludes","disjunctiveFacetsRefinements","numericRefinements","tagRefinements","hierarchicalFacetsRefinements"],getQueryParams:function(){var e=this.managedParameters,t={},r=this;return Object.keys(this).forEach((function(n){var i=r[n];-1===e.indexOf(n)&&void 0!==i&&(t[n]=i)})),t},setQueryParameter:function(e,t){if(this[e]===t)return this;var r={};return r[e]=t,this.setQueryParameters(r)},setQueryParameters:function(e){if(!e)return this;var t=m.validate(this,e);if(t)throw t;var r=this,n=m._parseNumbers(e),i=Object.keys(this).reduce((function(e,t){return e[t]=r[t],e}),{}),s=Object.keys(n).reduce((function(e,t){var r=void 0!==e[t],i=void 0!==n[t];return r&&!i?u(e,[t]):(i&&(e[t]=n[t]),e)}),i);return new this.constructor(s)},resetPage:function(){return void 0===this.page?this:this.setPage(0)},_getHierarchicalFacetSortBy:function(e){return e.sortBy||["isRefined:desc","name:asc"]},_getHierarchicalFacetSeparator:function(e){return e.separator||" > "},_getHierarchicalRootPath:function(e){return e.rootPath||null},_getHierarchicalShowParentLevel:function(e){return"boolean"!=typeof e.showParentLevel||e.showParentLevel},getHierarchicalFacetByName:function(e){return i(this.hierarchicalFacets,(function(t){return t.name===e}))},getHierarchicalFacetBreadcrumb:function(e){if(!this.isHierarchicalFacet(e))return[];var t=this.getHierarchicalRefinement(e)[0];if(!t)return[];var r=this._getHierarchicalFacetSeparator(this.getHierarchicalFacetByName(e));return t.split(r).map((function(e){return e.trim()}))},toString:function(){return JSON.stringify(this,null,2)}},e.exports=m},6673:(e,t,r)=>{"use strict";e.exports=function(e){return function(t,r){var n=e.hierarchicalFacets[r],o=e.hierarchicalFacetsRefinements[n.name]&&e.hierarchicalFacetsRefinements[n.name][0]||"",h=e._getHierarchicalFacetSeparator(n),f=e._getHierarchicalRootPath(n),l=e._getHierarchicalShowParentLevel(n),m=s(e._getHierarchicalFacetSortBy(n)),d=t.every((function(e){return e.exhaustive})),p=function(e,t,r,n,s){return function(o,h,f){var l=o;if(f>0){var m=0;for(l=o;m{"use strict";var n=r(8965),i=r(9110),s=r(2909),a=r(849),c=r(3917),u=r(7577),o=r(4728),h=r(8601),f=s.escapeFacetValue,l=s.unescapeFacetValue,m=r(6673);function d(e){var t={};return e.forEach((function(e,r){t[e]=r})),t}function p(e,t,r){t&&t[r]&&(e.stats=t[r])}function v(e,t,r){var s=t[0];this._rawResults=t;var u=this;Object.keys(s).forEach((function(e){u[e]=s[e]}));var h=o({persistHierarchicalRootCount:!1},r);Object.keys(h).forEach((function(e){u[e]=h[e]})),this.processingTimeMS=t.reduce((function(e,t){return void 0===t.processingTimeMS?e:e+t.processingTimeMS}),0),this.disjunctiveFacets=[],this.hierarchicalFacets=e.hierarchicalFacets.map((function(){return[]})),this.facets=[];var f=e.getRefinedDisjunctiveFacets(),v=d(e.facets),g=d(e.disjunctiveFacets),y=1,R=s.facets||{};Object.keys(R).forEach((function(t){var r,n,i=R[t],o=(r=e.hierarchicalFacets,n=t,a(r,(function(e){return(e.attributes||[]).indexOf(n)>-1})));if(o){var h=o.attributes.indexOf(t),f=c(e.hierarchicalFacets,(function(e){return e.name===o.name}));u.hierarchicalFacets[f][h]={attribute:t,data:i,exhaustive:s.exhaustiveFacetsCount}}else{var l,m=-1!==e.disjunctiveFacets.indexOf(t),d=-1!==e.facets.indexOf(t);m&&(l=g[t],u.disjunctiveFacets[l]={name:t,data:i,exhaustive:s.exhaustiveFacetsCount},p(u.disjunctiveFacets[l],s.facets_stats,t)),d&&(l=v[t],u.facets[l]={name:t,data:i,exhaustive:s.exhaustiveFacetsCount},p(u.facets[l],s.facets_stats,t))}})),this.hierarchicalFacets=n(this.hierarchicalFacets),f.forEach((function(r){var n=t[y],a=n&&n.facets?n.facets:{},h=e.getHierarchicalFacetByName(r);Object.keys(a).forEach((function(t){var r,f=a[t];if(h){r=c(e.hierarchicalFacets,(function(e){return e.name===h.name}));var m=c(u.hierarchicalFacets[r],(function(e){return e.attribute===t}));if(-1===m)return;u.hierarchicalFacets[r][m].data=o({},u.hierarchicalFacets[r][m].data,f)}else{r=g[t];var d=s.facets&&s.facets[t]||{};u.disjunctiveFacets[r]={name:t,data:i({},f,d),exhaustive:n.exhaustiveFacetsCount},p(u.disjunctiveFacets[r],n.facets_stats,t),e.disjunctiveFacetsRefinements[t]&&e.disjunctiveFacetsRefinements[t].forEach((function(n){!u.disjunctiveFacets[r].data[n]&&e.disjunctiveFacetsRefinements[t].indexOf(l(n))>-1&&(u.disjunctiveFacets[r].data[n]=0)}))}})),y++})),e.getRefinedHierarchicalFacets().forEach((function(r){var n=e.getHierarchicalFacetByName(r),s=e._getHierarchicalFacetSeparator(n),a=e.getHierarchicalRefinement(r);0===a.length||a[0].split(s).length<2||t.slice(y).forEach((function(t){var r=t&&t.facets?t.facets:{};Object.keys(r).forEach((function(t){var o=r[t],h=c(e.hierarchicalFacets,(function(e){return e.name===n.name})),f=c(u.hierarchicalFacets[h],(function(e){return e.attribute===t}));if(-1!==f){var l={};if(a.length>0&&!u.persistHierarchicalRootCount){var m=a[0].split(s)[0];l[m]=u.hierarchicalFacets[h][f].data[m]}u.hierarchicalFacets[h][f].data=i(l,o,u.hierarchicalFacets[h][f].data)}})),y++}))})),Object.keys(e.facetsExcludes).forEach((function(t){var r=e.facetsExcludes[t],n=v[t];u.facets[n]={name:t,data:R[t],exhaustive:s.exhaustiveFacetsCount},r.forEach((function(e){u.facets[n]=u.facets[n]||{name:t},u.facets[n].data=u.facets[n].data||{},u.facets[n].data[e]=0}))})),this.hierarchicalFacets=this.hierarchicalFacets.map(m(e)),this.facets=n(this.facets),this.disjunctiveFacets=n(this.disjunctiveFacets),this._state=e}function g(e,t){function r(e){return e.name===t}if(e._state.isConjunctiveFacet(t)){var n=a(e.facets,r);return n?Object.keys(n.data).map((function(r){var i=f(r);return{name:r,escapedValue:i,count:n.data[r],isRefined:e._state.isFacetRefined(t,i),isExcluded:e._state.isExcludeRefined(t,r)}})):[]}if(e._state.isDisjunctiveFacet(t)){var i=a(e.disjunctiveFacets,r);return i?Object.keys(i.data).map((function(r){var n=f(r);return{name:r,escapedValue:n,count:i.data[r],isRefined:e._state.isDisjunctiveFacetRefined(t,n)}})):[]}if(e._state.isHierarchicalFacet(t)){var s=a(e.hierarchicalFacets,r);if(!s)return s;var c=e._state.getHierarchicalFacetByName(t),u=e._state._getHierarchicalFacetSeparator(c),o=l(e._state.getHierarchicalRefinement(t)[0]||"");0===o.indexOf(c.rootPath)&&(o=o.replace(c.rootPath+u,""));var h=o.split(u);return h.unshift(t),y(s,h,0),s}}function y(e,t,r){e.isRefined=e.name===t[r],e.data&&e.data.forEach((function(e){y(e,t,r+1)}))}function R(e,t,r,n){if(n=n||0,Array.isArray(t))return e(t,r[n]);if(!t.data||0===t.data.length)return t;var s=t.data.map((function(t){return R(e,t,r,n+1)})),a=e(s,r[n]);return i({data:a},t)}function F(e,t){var r=a(e,(function(e){return e.name===t}));return r&&r.stats}function b(e,t,r,n,i){var s=a(i,(function(e){return e.name===r})),c=s&&s.data&&s.data[n]?s.data[n]:0,u=s&&s.exhaustive||!1;return{type:t,attributeName:r,name:n,count:c,exhaustive:u}}v.prototype.getFacetByName=function(e){function t(t){return t.name===e}return a(this.facets,t)||a(this.disjunctiveFacets,t)||a(this.hierarchicalFacets,t)},v.DEFAULT_SORT=["isRefined:desc","count:desc","name:asc"],v.prototype.getFacetValues=function(e,t){var r=g(this,e);if(r){var n,s=i({},t,{sortBy:v.DEFAULT_SORT,facetOrdering:!(t&&t.sortBy)}),a=this;if(Array.isArray(r))n=[e];else n=a._state.getHierarchicalFacetByName(r.name).attributes;return R((function(e,t){if(s.facetOrdering){var r=function(e,t){return e.renderingContent&&e.renderingContent.facetOrdering&&e.renderingContent.facetOrdering.values&&e.renderingContent.facetOrdering.values[t]}(a,t);if(r)return function(e,t){var r=[],n=[],i=(t.order||[]).reduce((function(e,t,r){return e[t]=r,e}),{});e.forEach((function(e){var t=e.path||e.name;void 0!==i[t]?r[i[t]]=e:n.push(e)})),r=r.filter((function(e){return e}));var s,a=t.sortRemainingBy;return"hidden"===a?r:(s="alpha"===a?[["path","name"],["asc","asc"]]:[["count"],["desc"]],r.concat(h(n,s[0],s[1])))}(e,r)}if(Array.isArray(s.sortBy)){var n=u(s.sortBy,v.DEFAULT_SORT);return h(e,n[0],n[1])}if("function"==typeof s.sortBy)return function(e,t){return t.sort(e)}(s.sortBy,e);throw new Error("options.sortBy is optional but if defined it must be either an array of string (predicates) or a sorting function")}),r,n)}},v.prototype.getFacetStats=function(e){return this._state.isConjunctiveFacet(e)?F(this.facets,e):this._state.isDisjunctiveFacet(e)?F(this.disjunctiveFacets,e):void 0},v.prototype.getRefinements=function(){var e=this._state,t=this,r=[];return Object.keys(e.facetsRefinements).forEach((function(n){e.facetsRefinements[n].forEach((function(i){r.push(b(e,"facet",n,i,t.facets))}))})),Object.keys(e.facetsExcludes).forEach((function(n){e.facetsExcludes[n].forEach((function(i){r.push(b(e,"exclude",n,i,t.facets))}))})),Object.keys(e.disjunctiveFacetsRefinements).forEach((function(n){e.disjunctiveFacetsRefinements[n].forEach((function(i){r.push(b(e,"disjunctive",n,i,t.disjunctiveFacets))}))})),Object.keys(e.hierarchicalFacetsRefinements).forEach((function(n){e.hierarchicalFacetsRefinements[n].forEach((function(i){r.push(function(e,t,r,n){var i=e.getHierarchicalFacetByName(t),s=e._getHierarchicalFacetSeparator(i),c=r.split(s),u=a(n,(function(e){return e.name===t})),o=c.reduce((function(e,t){var r=e&&a(e.data,(function(e){return e.name===t}));return void 0!==r?r:e}),u),h=o&&o.count||0,f=o&&o.exhaustive||!1,l=o&&o.path||"";return{type:"hierarchical",attributeName:t,name:l,count:h,exhaustive:f}}(e,n,i,t.hierarchicalFacets))}))})),Object.keys(e.numericRefinements).forEach((function(t){var n=e.numericRefinements[t];Object.keys(n).forEach((function(e){n[e].forEach((function(n){r.push({type:"numeric",attributeName:t,name:n,numericValue:n,operator:e})}))}))})),e.tagRefinements.forEach((function(e){r.push({type:"tag",attributeName:"_tags",name:e})})),r},e.exports=v},6571:(e,t,r)=>{"use strict";var n=r(2733),i=r(6732),s=r(2909).escapeFacetValue,a=r(3014),c=r(4728),u=r(317),o=r(1383),h=r(9228),f=r(3371),l=r(7691),m=r(6938);function d(e,t,r,n){"function"==typeof e.addAlgoliaAgent&&e.addAlgoliaAgent("JS Helper ("+m+")"),this.setClient(e);var i=r||{};i.index=t,this.state=f.make(i),this.lastResults=null,this._queryId=0,this._lastQueryIdReceived=-1,this.derivedHelpers=[],this._currentNbQueries=0,this._searchResultsOptions=n}function p(e){if(e<0)throw new Error("Page requested below 0.");return this._change({state:this.state.setPage(e),isPageReset:!1}),this}function v(){return this.state.page}a(d,n),d.prototype.search=function(){return this._search({onlyWithDerivedHelpers:!1}),this},d.prototype.searchOnlyWithDerivedHelpers=function(){return this._search({onlyWithDerivedHelpers:!0}),this},d.prototype.getQuery=function(){var e=this.state;return h._getHitsSearchParams(e)},d.prototype.searchOnce=function(e,t){var r=e?this.state.setQueryParameters(e):this.state,n=h._getQueries(r.index,r),i=this;if(this._currentNbQueries++,this.emit("searchOnce",{state:r}),!t)return this.client.search(n).then((function(e){return i._currentNbQueries--,0===i._currentNbQueries&&i.emit("searchQueueEmpty"),{content:new l(r,e.results),state:r,_originalResponse:e}}),(function(e){throw i._currentNbQueries--,0===i._currentNbQueries&&i.emit("searchQueueEmpty"),e}));this.client.search(n).then((function(e){i._currentNbQueries--,0===i._currentNbQueries&&i.emit("searchQueueEmpty"),t(null,new l(r,e.results),r)})).catch((function(e){i._currentNbQueries--,0===i._currentNbQueries&&i.emit("searchQueueEmpty"),t(e,null,r)}))},d.prototype.findAnswers=function(e){console.warn("[algoliasearch-helper] answers is no longer supported");var t=this.state,r=this.derivedHelpers[0];if(!r)return Promise.resolve([]);var n=r.getModifiedState(t),i=c({attributesForPrediction:e.attributesForPrediction,nbHits:e.nbHits},{params:o(h._getHitsSearchParams(n),["attributesToSnippet","hitsPerPage","restrictSearchableAttributes","snippetEllipsisText"])}),s="search for answers was called, but this client does not have a function client.initIndex(index).findAnswers";if("function"!=typeof this.client.initIndex)throw new Error(s);var a=this.client.initIndex(n.index);if("function"!=typeof a.findAnswers)throw new Error(s);return a.findAnswers(n.query,e.queryLanguages,i)},d.prototype.searchForFacetValues=function(e,t,r,n){var i="function"==typeof this.client.searchForFacetValues,a="function"==typeof this.client.initIndex;if(!i&&!a&&"function"!=typeof this.client.search)throw new Error("search for facet values (searchable) was called, but this client does not have a function client.searchForFacetValues or client.initIndex(index).searchForFacetValues");var c=this.state.setQueryParameters(n||{}),u=c.isDisjunctiveFacet(e),o=h.getSearchForFacetQuery(e,t,r,c);this._currentNbQueries++;var f,l=this;return i?f=this.client.searchForFacetValues([{indexName:c.index,params:o}]):a?f=this.client.initIndex(c.index).searchForFacetValues(o):(delete o.facetName,f=this.client.search([{type:"facet",facet:e,indexName:c.index,params:o}]).then((function(e){return e.results[0]}))),this.emit("searchForFacetValues",{state:c,facet:e,query:t}),f.then((function(t){return l._currentNbQueries--,0===l._currentNbQueries&&l.emit("searchQueueEmpty"),(t=Array.isArray(t)?t[0]:t).facetHits.forEach((function(t){t.escapedValue=s(t.value),t.isRefined=u?c.isDisjunctiveFacetRefined(e,t.escapedValue):c.isFacetRefined(e,t.escapedValue)})),t}),(function(e){throw l._currentNbQueries--,0===l._currentNbQueries&&l.emit("searchQueueEmpty"),e}))},d.prototype.setQuery=function(e){return this._change({state:this.state.resetPage().setQuery(e),isPageReset:!0}),this},d.prototype.clearRefinements=function(e){return this._change({state:this.state.resetPage().clearRefinements(e),isPageReset:!0}),this},d.prototype.clearTags=function(){return this._change({state:this.state.resetPage().clearTags(),isPageReset:!0}),this},d.prototype.addDisjunctiveFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addDisjunctiveFacetRefinement(e,t),isPageReset:!0}),this},d.prototype.addDisjunctiveRefine=function(){return this.addDisjunctiveFacetRefinement.apply(this,arguments)},d.prototype.addHierarchicalFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addHierarchicalFacetRefinement(e,t),isPageReset:!0}),this},d.prototype.addNumericRefinement=function(e,t,r){return this._change({state:this.state.resetPage().addNumericRefinement(e,t,r),isPageReset:!0}),this},d.prototype.addFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addFacetRefinement(e,t),isPageReset:!0}),this},d.prototype.addRefine=function(){return this.addFacetRefinement.apply(this,arguments)},d.prototype.addFacetExclusion=function(e,t){return this._change({state:this.state.resetPage().addExcludeRefinement(e,t),isPageReset:!0}),this},d.prototype.addExclude=function(){return this.addFacetExclusion.apply(this,arguments)},d.prototype.addTag=function(e){return this._change({state:this.state.resetPage().addTagRefinement(e),isPageReset:!0}),this},d.prototype.removeNumericRefinement=function(e,t,r){return this._change({state:this.state.resetPage().removeNumericRefinement(e,t,r),isPageReset:!0}),this},d.prototype.removeDisjunctiveFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().removeDisjunctiveFacetRefinement(e,t),isPageReset:!0}),this},d.prototype.removeDisjunctiveRefine=function(){return this.removeDisjunctiveFacetRefinement.apply(this,arguments)},d.prototype.removeHierarchicalFacetRefinement=function(e){return this._change({state:this.state.resetPage().removeHierarchicalFacetRefinement(e),isPageReset:!0}),this},d.prototype.removeFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().removeFacetRefinement(e,t),isPageReset:!0}),this},d.prototype.removeRefine=function(){return this.removeFacetRefinement.apply(this,arguments)},d.prototype.removeFacetExclusion=function(e,t){return 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i===e&&r.op===t}))}):this:this.isNumericRefined(e)?this.setQueryParameters({numericRefinements:this._clearNumericRefinements((function(t,r){return r===e}))}):this},getNumericRefinements:function(e){return this.numericRefinements[e]||{}},getNumericRefinement:function(e,t){return this.numericRefinements[e]&&this.numericRefinements[e][t]},_clearNumericRefinements:function(e){if(void 0===e)return c(this.numericRefinements)?{}:this.numericRefinements;if("string"==typeof e)return o(this.numericRefinements,[e]);if("function"==typeof e){var t=!1,r=this.numericRefinements,i=Object.keys(r).reduce((function(i,n){var s=r[n],a={};return s=s||{},Object.keys(s).forEach((function(r){var i=s[r]||[],c=[];i.forEach((function(t){e({val:t,op:r},n,"numeric")||c.push(t)})),c.length!==i.length&&(t=!0),a[r]=c})),i[n]=a,i}),{});return t?i:this.numericRefinements}},addFacet:function(e){return this.isConjunctiveFacet(e)?this:this.setQueryParameters({facets:this.facets.concat([e])})},addDisjunctiveFacet:function(e){return this.isDisjunctiveFacet(e)?this:this.setQueryParameters({disjunctiveFacets:this.disjunctiveFacets.concat([e])})},addHierarchicalFacet:function(e){if(this.isHierarchicalFacet(e.name))throw new Error("Cannot declare two hierarchical facets with the same name: `"+e.name+"`");return this.setQueryParameters({hierarchicalFacets:this.hierarchicalFacets.concat([e])})},addFacetRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return l.isRefined(this.facetsRefinements,e,t)?this:this.setQueryParameters({facetsRefinements:l.addRefinement(this.facetsRefinements,e,t)})},addExcludeRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return l.isRefined(this.facetsExcludes,e,t)?this:this.setQueryParameters({facetsExcludes:l.addRefinement(this.facetsExcludes,e,t)})},addDisjunctiveFacetRefinement:function(e,t){if(!this.isDisjunctiveFacet(e))throw new Error(e+" is not defined in the disjunctiveFacets attribute of the helper configuration");return l.isRefined(this.disjunctiveFacetsRefinements,e,t)?this:this.setQueryParameters({disjunctiveFacetsRefinements:l.addRefinement(this.disjunctiveFacetsRefinements,e,t)})},addTagRefinement:function(e){if(this.isTagRefined(e))return this;var t={tagRefinements:this.tagRefinements.concat(e)};return this.setQueryParameters(t)},removeFacet:function(e){return this.isConjunctiveFacet(e)?this.clearRefinements(e).setQueryParameters({facets:this.facets.filter((function(t){return t!==e}))}):this},removeDisjunctiveFacet:function(e){return this.isDisjunctiveFacet(e)?this.clearRefinements(e).setQueryParameters({disjunctiveFacets:this.disjunctiveFacets.filter((function(t){return t!==e}))}):this},removeHierarchicalFacet:function(e){return this.isHierarchicalFacet(e)?this.clearRefinements(e).setQueryParameters({hierarchicalFacets:this.hierarchicalFacets.filter((function(t){return t.name!==e}))}):this},removeFacetRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return l.isRefined(this.facetsRefinements,e,t)?this.setQueryParameters({facetsRefinements:l.removeRefinement(this.facetsRefinements,e,t)}):this},removeExcludeRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return l.isRefined(this.facetsExcludes,e,t)?this.setQueryParameters({facetsExcludes:l.removeRefinement(this.facetsExcludes,e,t)}):this},removeDisjunctiveFacetRefinement:function(e,t){if(!this.isDisjunctiveFacet(e))throw new Error(e+" is not defined in the disjunctiveFacets attribute of the helper configuration");return l.isRefined(this.disjunctiveFacetsRefinements,e,t)?this.setQueryParameters({disjunctiveFacetsRefinements:l.removeRefinement(this.disjunctiveFacetsRefinements,e,t)}):this},removeTagRefinement:function(e){if(!this.isTagRefined(e))return this;var t={tagRefinements:this.tagRefinements.filter((function(t){return t!==e}))};return this.setQueryParameters(t)},toggleRefinement:function(e,t){return this.toggleFacetRefinement(e,t)},toggleFacetRefinement:function(e,t){if(this.isHierarchicalFacet(e))return this.toggleHierarchicalFacetRefinement(e,t);if(this.isConjunctiveFacet(e))return this.toggleConjunctiveFacetRefinement(e,t);if(this.isDisjunctiveFacet(e))return this.toggleDisjunctiveFacetRefinement(e,t);throw new Error("Cannot refine the undeclared facet "+e+"; it should be added to the helper options facets, disjunctiveFacets or hierarchicalFacets")},toggleConjunctiveFacetRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return this.setQueryParameters({facetsRefinements:l.toggleRefinement(this.facetsRefinements,e,t)})},toggleExcludeFacetRefinement:function(e,t){if(!this.isConjunctiveFacet(e))throw new Error(e+" is not defined in the facets attribute of the helper configuration");return this.setQueryParameters({facetsExcludes:l.toggleRefinement(this.facetsExcludes,e,t)})},toggleDisjunctiveFacetRefinement:function(e,t){if(!this.isDisjunctiveFacet(e))throw new Error(e+" is not defined in the disjunctiveFacets attribute of the helper configuration");return this.setQueryParameters({disjunctiveFacetsRefinements:l.toggleRefinement(this.disjunctiveFacetsRefinements,e,t)})},toggleHierarchicalFacetRefinement:function(e,t){if(!this.isHierarchicalFacet(e))throw new Error(e+" is not defined in the hierarchicalFacets attribute of the helper configuration");var r=this._getHierarchicalFacetSeparator(this.getHierarchicalFacetByName(e)),n={};return void 0!==this.hierarchicalFacetsRefinements[e]&&this.hierarchicalFacetsRefinements[e].length>0&&(this.hierarchicalFacetsRefinements[e][0]===t||0===this.hierarchicalFacetsRefinements[e][0].indexOf(t+r))?-1===t.indexOf(r)?n[e]=[]:n[e]=[t.slice(0,t.lastIndexOf(r))]:n[e]=[t],this.setQueryParameters({hierarchicalFacetsRefinements:i(n,this.hierarchicalFacetsRefinements)})},addHierarchicalFacetRefinement:function(e,t){if(this.isHierarchicalFacetRefined(e))throw new Error(e+" is already refined.");if(!this.isHierarchicalFacet(e))throw new Error(e+" is not defined in the hierarchicalFacets attribute of the helper configuration.");var r={};return r[e]=[t],this.setQueryParameters({hierarchicalFacetsRefinements:i(r,this.hierarchicalFacetsRefinements)})},removeHierarchicalFacetRefinement:function(e){if(!this.isHierarchicalFacetRefined(e))return this;var t={};return t[e]=[],this.setQueryParameters({hierarchicalFacetsRefinements:i(t,this.hierarchicalFacetsRefinements)})},toggleTagRefinement:function(e){return this.isTagRefined(e)?this.removeTagRefinement(e):this.addTagRefinement(e)},isDisjunctiveFacet:function(e){return this.disjunctiveFacets.indexOf(e)>-1},isHierarchicalFacet:function(e){return void 0!==this.getHierarchicalFacetByName(e)},isConjunctiveFacet:function(e){return this.facets.indexOf(e)>-1},isFacetRefined:function(e,t){return!!this.isConjunctiveFacet(e)&&l.isRefined(this.facetsRefinements,e,t)},isExcludeRefined:function(e,t){return!!this.isConjunctiveFacet(e)&&l.isRefined(this.facetsExcludes,e,t)},isDisjunctiveFacetRefined:function(e,t){return!!this.isDisjunctiveFacet(e)&&l.isRefined(this.disjunctiveFacetsRefinements,e,t)},isHierarchicalFacetRefined:function(e,t){if(!this.isHierarchicalFacet(e))return!1;var r=this.getHierarchicalRefinement(e);return t?-1!==r.indexOf(t):r.length>0},isNumericRefined:function(e,t,r){if(void 0===r&&void 0===t)return Boolean(this.numericRefinements[e]);var i=this.numericRefinements[e]&&void 0!==this.numericRefinements[e][t];if(void 0===r||!i)return i;var s,a,c=u(r),o=void 0!==(s=this.numericRefinements[e][t],a=c,n(s,(function(e){return f(e,a)})));return i&&o},isTagRefined:function(e){return-1!==this.tagRefinements.indexOf(e)},getRefinedDisjunctiveFacets:function(){var e=this,t=s(Object.keys(this.numericRefinements).filter((function(t){return Object.keys(e.numericRefinements[t]).length>0})),this.disjunctiveFacets);return Object.keys(this.disjunctiveFacetsRefinements).filter((function(t){return e.disjunctiveFacetsRefinements[t].length>0})).concat(t).concat(this.getRefinedHierarchicalFacets()).sort()},getRefinedHierarchicalFacets:function(){var e=this;return s(this.hierarchicalFacets.map((function(e){return e.name})),Object.keys(this.hierarchicalFacetsRefinements).filter((function(t){return e.hierarchicalFacetsRefinements[t].length>0}))).sort()},getUnrefinedDisjunctiveFacets:function(){var e=this.getRefinedDisjunctiveFacets();return this.disjunctiveFacets.filter((function(t){return-1===e.indexOf(t)}))},managedParameters:["index","facets","disjunctiveFacets","facetsRefinements","hierarchicalFacets","facetsExcludes","disjunctiveFacetsRefinements","numericRefinements","tagRefinements","hierarchicalFacetsRefinements"],getQueryParams:function(){var e=this.managedParameters,t={},r=this;return Object.keys(this).forEach((function(i){var n=r[i];-1===e.indexOf(i)&&void 0!==n&&(t[i]=n)})),t},setQueryParameter:function(e,t){if(this[e]===t)return this;var r={};return r[e]=t,this.setQueryParameters(r)},setQueryParameters:function(e){if(!e)return this;var t=m.validate(this,e);if(t)throw t;var r=this,i=m._parseNumbers(e),n=Object.keys(this).reduce((function(e,t){return e[t]=r[t],e}),{}),s=Object.keys(i).reduce((function(e,t){var r=void 0!==e[t],n=void 0!==i[t];return r&&!n?o(e,[t]):(n&&(e[t]=i[t]),e)}),n);return new this.constructor(s)},resetPage:function(){return void 0===this.page?this:this.setPage(0)},_getHierarchicalFacetSortBy:function(e){return e.sortBy||["isRefined:desc","name:asc"]},_getHierarchicalFacetSeparator:function(e){return e.separator||" > "},_getHierarchicalRootPath:function(e){return e.rootPath||null},_getHierarchicalShowParentLevel:function(e){return"boolean"!=typeof e.showParentLevel||e.showParentLevel},getHierarchicalFacetByName:function(e){return n(this.hierarchicalFacets,(function(t){return t.name===e}))},getHierarchicalFacetBreadcrumb:function(e){if(!this.isHierarchicalFacet(e))return[];var t=this.getHierarchicalRefinement(e)[0];if(!t)return[];var r=this._getHierarchicalFacetSeparator(this.getHierarchicalFacetByName(e));return t.split(r).map((function(e){return e.trim()}))},toString:function(){return JSON.stringify(this,null,2)}},e.exports=m},6673:(e,t,r)=>{"use strict";e.exports=function(e){return function(t,r){var i=e.hierarchicalFacets[r],u=e.hierarchicalFacetsRefinements[i.name]&&e.hierarchicalFacetsRefinements[i.name][0]||"",h=e._getHierarchicalFacetSeparator(i),l=e._getHierarchicalRootPath(i),f=e._getHierarchicalShowParentLevel(i),m=s(e._getHierarchicalFacetSortBy(i)),d=t.every((function(e){return e.exhaustive})),p=function(e,t,r,i,s){return function(u,h,l){var f=u;if(l>0){var m=0;for(f=u;m{"use strict";var i=r(8965),n=r(9110),s=r(2909),a=r(849),c=r(3917),o=r(7577),u=r(8601),h=s.escapeFacetValue,l=s.unescapeFacetValue,f=r(6673);function m(e){var t={};return e.forEach((function(e,r){t[e]=r})),t}function d(e,t,r){t&&t[r]&&(e.stats=t[r])}function p(e,t,r){var s=t[0]||{};this._rawResults=t;var o=this;Object.keys(s).forEach((function(e){o[e]=s[e]}));var u=n(r,{persistHierarchicalRootCount:!1});Object.keys(u).forEach((function(e){o[e]=u[e]})),this.processingTimeMS=t.reduce((function(e,t){return void 0===t.processingTimeMS?e:e+t.processingTimeMS}),0),this.disjunctiveFacets=[],this.hierarchicalFacets=e.hierarchicalFacets.map((function(){return[]})),this.facets=[];var h=e.getRefinedDisjunctiveFacets(),p=m(e.facets),g=m(e.disjunctiveFacets),v=1,y=s.facets||{};Object.keys(y).forEach((function(t){var r,i,n=y[t],u=(r=e.hierarchicalFacets,i=t,a(r,(function(e){return(e.attributes||[]).indexOf(i)>-1})));if(u){var h=u.attributes.indexOf(t),l=c(e.hierarchicalFacets,(function(e){return e.name===u.name}));o.hierarchicalFacets[l][h]={attribute:t,data:n,exhaustive:s.exhaustiveFacetsCount}}else{var f,m=-1!==e.disjunctiveFacets.indexOf(t),v=-1!==e.facets.indexOf(t);m&&(f=g[t],o.disjunctiveFacets[f]={name:t,data:n,exhaustive:s.exhaustiveFacetsCount},d(o.disjunctiveFacets[f],s.facets_stats,t)),v&&(f=p[t],o.facets[f]={name:t,data:n,exhaustive:s.exhaustiveFacetsCount},d(o.facets[f],s.facets_stats,t))}})),this.hierarchicalFacets=i(this.hierarchicalFacets),h.forEach((function(r){var i=t[v],a=i&&i.facets?i.facets:{},u=e.getHierarchicalFacetByName(r);Object.keys(a).forEach((function(t){var r,h=a[t];if(u){r=c(e.hierarchicalFacets,(function(e){return e.name===u.name}));var f=c(o.hierarchicalFacets[r],(function(e){return e.attribute===t}));if(-1===f)return;o.hierarchicalFacets[r][f].data=o.persistHierarchicalRootCount?n(o.hierarchicalFacets[r][f].data,h):n(h,o.hierarchicalFacets[r][f].data)}else{r=g[t];var m=s.facets&&s.facets[t]||{};o.disjunctiveFacets[r]={name:t,data:n(m,h),exhaustive:i.exhaustiveFacetsCount},d(o.disjunctiveFacets[r],i.facets_stats,t),e.disjunctiveFacetsRefinements[t]&&e.disjunctiveFacetsRefinements[t].forEach((function(i){!o.disjunctiveFacets[r].data[i]&&e.disjunctiveFacetsRefinements[t].indexOf(l(i))>-1&&(o.disjunctiveFacets[r].data[i]=0)}))}})),v++})),e.getRefinedHierarchicalFacets().forEach((function(r){var i=e.getHierarchicalFacetByName(r),s=e._getHierarchicalFacetSeparator(i),a=e.getHierarchicalRefinement(r);0===a.length||a[0].split(s).length<2||t.slice(v).forEach((function(t){var r=t&&t.facets?t.facets:{};Object.keys(r).forEach((function(t){var u=r[t],h=c(e.hierarchicalFacets,(function(e){return e.name===i.name})),l=c(o.hierarchicalFacets[h],(function(e){return e.attribute===t}));if(-1!==l){var f={};if(a.length>0&&!o.persistHierarchicalRootCount){var m=a[0].split(s)[0];f[m]=o.hierarchicalFacets[h][l].data[m]}o.hierarchicalFacets[h][l].data=n(f,u,o.hierarchicalFacets[h][l].data)}})),v++}))})),Object.keys(e.facetsExcludes).forEach((function(t){var r=e.facetsExcludes[t],i=p[t];o.facets[i]={name:t,data:y[t],exhaustive:s.exhaustiveFacetsCount},r.forEach((function(e){o.facets[i]=o.facets[i]||{name:t},o.facets[i].data=o.facets[i].data||{},o.facets[i].data[e]=0}))})),this.hierarchicalFacets=this.hierarchicalFacets.map(f(e)),this.facets=i(this.facets),this.disjunctiveFacets=i(this.disjunctiveFacets),this._state=e}function g(e,t){function r(e){return e.name===t}if(e._state.isConjunctiveFacet(t)){var i=a(e.facets,r);return i?Object.keys(i.data).map((function(r){var n=h(r);return{name:r,escapedValue:n,count:i.data[r],isRefined:e._state.isFacetRefined(t,n),isExcluded:e._state.isExcludeRefined(t,r)}})):[]}if(e._state.isDisjunctiveFacet(t)){var n=a(e.disjunctiveFacets,r);return n?Object.keys(n.data).map((function(r){var i=h(r);return{name:r,escapedValue:i,count:n.data[r],isRefined:e._state.isDisjunctiveFacetRefined(t,i)}})):[]}if(e._state.isHierarchicalFacet(t)){var s=a(e.hierarchicalFacets,r);if(!s)return s;var c=e._state.getHierarchicalFacetByName(t),o=e._state._getHierarchicalFacetSeparator(c),u=l(e._state.getHierarchicalRefinement(t)[0]||"");0===u.indexOf(c.rootPath)&&(u=u.replace(c.rootPath+o,""));var f=u.split(o);return f.unshift(t),v(s,f,0),s}}function v(e,t,r){e.isRefined=e.name===(t[r]&&t[r].trim()),e.data&&e.data.forEach((function(e){v(e,t,r+1)}))}function y(e,t,r,i){if(i=i||0,Array.isArray(t))return e(t,r[i]);if(!t.data||0===t.data.length)return t;var s=t.data.map((function(t){return y(e,t,r,i+1)})),a=e(s,r[i]);return n({data:a},t)}function R(e,t){var r=a(e,(function(e){return e.name===t}));return r&&r.stats}function F(e,t,r,i,n){var s=a(n,(function(e){return e.name===r})),c=s&&s.data&&s.data[i]?s.data[i]:0,o=s&&s.exhaustive||!1;return{type:t,attributeName:r,name:i,count:c,exhaustive:o}}p.prototype.getFacetByName=function(e){function t(t){return t.name===e}return a(this.facets,t)||a(this.disjunctiveFacets,t)||a(this.hierarchicalFacets,t)},p.DEFAULT_SORT=["isRefined:desc","count:desc","name:asc"],p.prototype.getFacetValues=function(e,t){var r=g(this,e);if(r){var i,s=n(t,{sortBy:p.DEFAULT_SORT,facetOrdering:!(t&&t.sortBy)}),a=this;if(Array.isArray(r))i=[e];else i=a._state.getHierarchicalFacetByName(r.name).attributes;return y((function(e,t){if(s.facetOrdering){var r=function(e,t){return e.renderingContent&&e.renderingContent.facetOrdering&&e.renderingContent.facetOrdering.values&&e.renderingContent.facetOrdering.values[t]}(a,t);if(r)return function(e,t){var r=[],i=[],n=t.hide||[],s=(t.order||[]).reduce((function(e,t,r){return e[t]=r,e}),{});e.forEach((function(e){var t=e.path||e.name,a=n.indexOf(t)>-1;a||void 0===s[t]?a||i.push(e):r[s[t]]=e})),r=r.filter((function(e){return e}));var a,c=t.sortRemainingBy;return"hidden"===c?r:(a="alpha"===c?[["path","name"],["asc","asc"]]:[["count"],["desc"]],r.concat(u(i,a[0],a[1])))}(e,r)}if(Array.isArray(s.sortBy)){var i=o(s.sortBy,p.DEFAULT_SORT);return u(e,i[0],i[1])}if("function"==typeof s.sortBy)return function(e,t){return t.sort(e)}(s.sortBy,e);throw new Error("options.sortBy is optional but if defined it must be either an array of string (predicates) or a sorting function")}),r,i)}},p.prototype.getFacetStats=function(e){return this._state.isConjunctiveFacet(e)?R(this.facets,e):this._state.isDisjunctiveFacet(e)?R(this.disjunctiveFacets,e):void 0},p.prototype.getRefinements=function(){var e=this._state,t=this,r=[];return Object.keys(e.facetsRefinements).forEach((function(i){e.facetsRefinements[i].forEach((function(n){r.push(F(e,"facet",i,n,t.facets))}))})),Object.keys(e.facetsExcludes).forEach((function(i){e.facetsExcludes[i].forEach((function(n){r.push(F(e,"exclude",i,n,t.facets))}))})),Object.keys(e.disjunctiveFacetsRefinements).forEach((function(i){e.disjunctiveFacetsRefinements[i].forEach((function(n){r.push(F(e,"disjunctive",i,n,t.disjunctiveFacets))}))})),Object.keys(e.hierarchicalFacetsRefinements).forEach((function(i){e.hierarchicalFacetsRefinements[i].forEach((function(n){r.push(function(e,t,r,i){var n=e.getHierarchicalFacetByName(t),s=e._getHierarchicalFacetSeparator(n),c=r.split(s),o=a(i,(function(e){return e.name===t})),u=c.reduce((function(e,t){var r=e&&a(e.data,(function(e){return e.name===t}));return void 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h({params:n.recommendState}),this.lastResults=null,this.lastRecommendResults=null,this._queryId=0,this._recommendQueryId=0,this._lastQueryIdReceived=-1,this._lastRecommendQueryIdReceived=-1,this.derivedHelpers=[],this._currentNbQueries=0,this._currentNbRecommendQueries=0,this._searchResultsOptions=i,this._recommendCache={}}function y(e){if(e<0)throw new Error("Page requested below 0.");return this._change({state:this.state.setPage(e),isPageReset:!1}),this}function R(){return this.state.page}a(v,i),v.prototype.search=function(){return this._search({onlyWithDerivedHelpers:!1}),this},v.prototype.searchOnlyWithDerivedHelpers=function(){return this._search({onlyWithDerivedHelpers:!0}),this},v.prototype.recommend=function(){return this._recommend(),this},v.prototype.getQuery=function(){var e=this.state;return f._getHitsSearchParams(e)},v.prototype.searchOnce=function(e,t){var r=e?this.state.setQueryParameters(e):this.state,i=f._getQueries(r.index,r),n=this;if(this._currentNbQueries++,this.emit("searchOnce",{state:r}),!t)return this.client.search(i).then((function(e){return n._currentNbQueries--,0===n._currentNbQueries&&n.emit("searchQueueEmpty"),{content:new d(r,e.results),state:r,_originalResponse:e}}),(function(e){throw n._currentNbQueries--,0===n._currentNbQueries&&n.emit("searchQueueEmpty"),e}));this.client.search(i).then((function(e){n._currentNbQueries--,0===n._currentNbQueries&&n.emit("searchQueueEmpty"),t(null,new d(r,e.results),r)})).catch((function(e){n._currentNbQueries--,0===n._currentNbQueries&&n.emit("searchQueueEmpty"),t(e,null,r)}))},v.prototype.findAnswers=function(e){console.warn("[algoliasearch-helper] answers is no longer supported");var t=this.state,r=this.derivedHelpers[0];if(!r)return Promise.resolve([]);var i=r.getModifiedState(t),n=c({attributesForPrediction:e.attributesForPrediction,nbHits:e.nbHits},{params:u(f._getHitsSearchParams(i),["attributesToSnippet","hitsPerPage","restrictSearchableAttributes","snippetEllipsisText"])}),s="search for answers was called, but this client does not have a function client.initIndex(index).findAnswers";if("function"!=typeof this.client.initIndex)throw new Error(s);var a=this.client.initIndex(i.index);if("function"!=typeof a.findAnswers)throw new Error(s);return a.findAnswers(i.query,e.queryLanguages,n)},v.prototype.searchForFacetValues=function(e,t,r,i){var n="function"==typeof this.client.searchForFacetValues&&"function"!=typeof this.client.searchForFacets,a="function"==typeof this.client.initIndex;if(!n&&!a&&"function"!=typeof this.client.search)throw new Error("search for facet values (searchable) was called, but this client does not have a function client.searchForFacetValues or client.initIndex(index).searchForFacetValues");var c=this.state.setQueryParameters(i||{}),o=c.isDisjunctiveFacet(e),u=f.getSearchForFacetQuery(e,t,r,c);this._currentNbQueries++;var h,l=this;return n?h=this.client.searchForFacetValues([{indexName:c.index,params:u}]):a?h=this.client.initIndex(c.index).searchForFacetValues(u):(delete u.facetName,h=this.client.search([{type:"facet",facet:e,indexName:c.index,params:u}]).then((function(e){return e.results[0]}))),this.emit("searchForFacetValues",{state:c,facet:e,query:t}),h.then((function(t){return l._currentNbQueries--,0===l._currentNbQueries&&l.emit("searchQueueEmpty"),(t=Array.isArray(t)?t[0]:t).facetHits.forEach((function(t){t.escapedValue=s(t.value),t.isRefined=o?c.isDisjunctiveFacetRefined(e,t.escapedValue):c.isFacetRefined(e,t.escapedValue)})),t}),(function(e){throw l._currentNbQueries--,0===l._currentNbQueries&&l.emit("searchQueueEmpty"),e}))},v.prototype.setQuery=function(e){return this._change({state:this.state.resetPage().setQuery(e),isPageReset:!0}),this},v.prototype.clearRefinements=function(e){return this._change({state:this.state.resetPage().clearRefinements(e),isPageReset:!0}),this},v.prototype.clearTags=function(){return this._change({state:this.state.resetPage().clearTags(),isPageReset:!0}),this},v.prototype.addDisjunctiveFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addDisjunctiveFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.addDisjunctiveRefine=function(){return this.addDisjunctiveFacetRefinement.apply(this,arguments)},v.prototype.addHierarchicalFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addHierarchicalFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.addNumericRefinement=function(e,t,r){return this._change({state:this.state.resetPage().addNumericRefinement(e,t,r),isPageReset:!0}),this},v.prototype.addFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().addFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.addRefine=function(){return this.addFacetRefinement.apply(this,arguments)},v.prototype.addFacetExclusion=function(e,t){return this._change({state:this.state.resetPage().addExcludeRefinement(e,t),isPageReset:!0}),this},v.prototype.addExclude=function(){return this.addFacetExclusion.apply(this,arguments)},v.prototype.addTag=function(e){return this._change({state:this.state.resetPage().addTagRefinement(e),isPageReset:!0}),this},v.prototype.addFrequentlyBoughtTogether=function(e){return this._recommendChange({state:this.recommendState.addFrequentlyBoughtTogether(e)}),this},v.prototype.addRelatedProducts=function(e){return this._recommendChange({state:this.recommendState.addRelatedProducts(e)}),this},v.prototype.addTrendingItems=function(e){return this._recommendChange({state:this.recommendState.addTrendingItems(e)}),this},v.prototype.addTrendingFacets=function(e){return this._recommendChange({state:this.recommendState.addTrendingFacets(e)}),this},v.prototype.addLookingSimilar=function(e){return this._recommendChange({state:this.recommendState.addLookingSimilar(e)}),this},v.prototype.removeNumericRefinement=function(e,t,r){return this._change({state:this.state.resetPage().removeNumericRefinement(e,t,r),isPageReset:!0}),this},v.prototype.removeDisjunctiveFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().removeDisjunctiveFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.removeDisjunctiveRefine=function(){return this.removeDisjunctiveFacetRefinement.apply(this,arguments)},v.prototype.removeHierarchicalFacetRefinement=function(e){return this._change({state:this.state.resetPage().removeHierarchicalFacetRefinement(e),isPageReset:!0}),this},v.prototype.removeFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().removeFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.removeRefine=function(){return this.removeFacetRefinement.apply(this,arguments)},v.prototype.removeFacetExclusion=function(e,t){return this._change({state:this.state.resetPage().removeExcludeRefinement(e,t),isPageReset:!0}),this},v.prototype.removeExclude=function(){return this.removeFacetExclusion.apply(this,arguments)},v.prototype.removeTag=function(e){return this._change({state:this.state.resetPage().removeTagRefinement(e),isPageReset:!0}),this},v.prototype.removeFrequentlyBoughtTogether=function(e){return this._recommendChange({state:this.recommendState.removeParams(e)}),this},v.prototype.removeRelatedProducts=function(e){return this._recommendChange({state:this.recommendState.removeParams(e)}),this},v.prototype.removeTrendingItems=function(e){return this._recommendChange({state:this.recommendState.removeParams(e)}),this},v.prototype.removeTrendingFacets=function(e){return this._recommendChange({state:this.recommendState.removeParams(e)}),this},v.prototype.removeLookingSimilar=function(e){return this._recommendChange({state:this.recommendState.removeParams(e)}),this},v.prototype.toggleFacetExclusion=function(e,t){return this._change({state:this.state.resetPage().toggleExcludeFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.toggleExclude=function(){return this.toggleFacetExclusion.apply(this,arguments)},v.prototype.toggleRefinement=function(e,t){return this.toggleFacetRefinement(e,t)},v.prototype.toggleFacetRefinement=function(e,t){return this._change({state:this.state.resetPage().toggleFacetRefinement(e,t),isPageReset:!0}),this},v.prototype.toggleRefine=function(){return this.toggleFacetRefinement.apply(this,arguments)},v.prototype.toggleTag=function(e){return this._change({state:this.state.resetPage().toggleTagRefinement(e),isPageReset:!0}),this},v.prototype.nextPage=function(){var e=this.state.page||0;return this.setPage(e+1)},v.prototype.previousPage=function(){var e=this.state.page||0;return this.setPage(e-1)},v.prototype.setCurrentPage=y,v.prototype.setPage=y,v.prototype.setIndex=function(e){return this._change({state:this.state.resetPage().setIndex(e),isPageReset:!0}),this},v.prototype.setQueryParameter=function(e,t){return this._change({state:this.state.resetPage().setQueryParameter(e,t),isPageReset:!0}),this},v.prototype.setState=function(e){return this._change({state:m.make(e),isPageReset:!1}),this},v.prototype.overrideStateWithoutTriggeringChangeEvent=function(e){return this.state=new m(e),this},v.prototype.hasRefinements=function(e){return!!o(this.state.getNumericRefinements(e))||(this.state.isConjunctiveFacet(e)?this.state.isFacetRefined(e):this.state.isDisjunctiveFacet(e)?this.state.isDisjunctiveFacetRefined(e):!!this.state.isHierarchicalFacet(e)&&this.state.isHierarchicalFacetRefined(e))},v.prototype.isExcluded=function(e,t){return this.state.isExcludeRefined(e,t)},v.prototype.isDisjunctiveRefined=function(e,t){return this.state.isDisjunctiveFacetRefined(e,t)},v.prototype.hasTag=function(e){return this.state.isTagRefined(e)},v.prototype.isTagRefined=function(){return this.hasTagRefinements.apply(this,arguments)},v.prototype.getIndex=function(){return this.state.index},v.prototype.getCurrentPage=R,v.prototype.getPage=R,v.prototype.getTags=function(){return this.state.tagRefinements},v.prototype.getRefinements=function(e){var t=[];if(this.state.isConjunctiveFacet(e))this.state.getConjunctiveRefinements(e).forEach((function(e){t.push({value:e,type:"conjunctive"})})),this.state.getExcludeRefinements(e).forEach((function(e){t.push({value:e,type:"exclude"})}));else if(this.state.isDisjunctiveFacet(e)){this.state.getDisjunctiveRefinements(e).forEach((function(e){t.push({value:e,type:"disjunctive"})}))}var r=this.state.getNumericRefinements(e);return Object.keys(r).forEach((function(e){var 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Promise.resolve({results:[]}).then(this._dispatchAlgoliaResponse.bind(this,r,a));try{this.client.search(s).then(this._dispatchAlgoliaResponse.bind(this,r,a)).catch(this._dispatchAlgoliaError.bind(this,a))}catch(c){this.emit("error",{error:c})}},v.prototype._recommend=function(){var e=this.state,t=this.recommendState,r=this.getIndex(),i=[{state:t,index:r,helper:this}],n=t.params.map((function(e){return e.$$id}));this.emit("fetch",{recommend:{state:t,results:this.lastRecommendResults}});var s=this._recommendCache,a=this.derivedHelpers.map((function(t){var r=t.getModifiedState(e).index;if(!r)return[];var a=t.getModifiedRecommendState(new h);return i.push({state:a,index:r,helper:t}),n=Array.prototype.concat.apply(n,a.params.map((function(e){return e.$$id}))),t.emit("fetch",{recommend:{state:a,results:t.lastRecommendResults}}),a._buildQueries(r,s)})),c=Array.prototype.concat.apply(this.recommendState._buildQueries(r,s),a);if(0!==c.length)if(c.length>0&&void 0===this.client.getRecommendations)console.warn("Please update algoliasearch/lite to the latest version in order to use recommend widgets.");else{var o=this._recommendQueryId++;this._currentNbRecommendQueries++;try{this.client.getRecommendations(c).then(this._dispatchRecommendResponse.bind(this,o,i,n)).catch(this._dispatchRecommendError.bind(this,o))}catch(u){this.emit("error",{error:u})}}},v.prototype._dispatchAlgoliaResponse=function(e,t,r){var i=this;if(!(t0},v.prototype._change=function(e){var t=e.state,r=e.isPageReset;t!==this.state&&(this.state=t,this.emit("change",{state:this.state,results:this.lastResults,isPageReset:r}))},v.prototype._recommendChange=function(e){var t=e.state;t!==this.recommendState&&(this.recommendState=t,this.emit("recommend:change",{search:{results:this.lastResults,state:this.state},recommend:{results:this.lastRecommendResults,state:this.recommendState}}))},v.prototype.clearCache=function(){return 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It contains all of the source code written in C++/Python, configuration, compilation, launch, and parameter files. It allows easier as well sharing as everything is packaged. In ROS2, you can make CMake packages and Python packages."}),"\n",(0,s.jsx)(n.p,{children:"All CMake packages must have the following folders and files:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"launch"})," folder: Contains all of the launch files"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"src"})," folder: Contains all of the source code (C++/Python)"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"CMakeLists.txt"}),": Contains the rules for compiling the C++ source code"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"package.xml"}),": Contains all of the package metadata and dependencies needed by the package at runtime and compiletime"]}),"\n"]}),"\n",(0,s.jsx)(n.h3,{id:"creating-a-package",children:"Creating a Package"}),"\n",(0,s.jsx)(n.p,{children:"We can create packages by running the command below:"}),"\n",(0,s.jsx)(n.admonition,{type:"tip",children:(0,s.jsxs)(n.p,{children:["Always create packages inside of the src folder within your ROS2 workspace.\nGenerally, that path is ",(0,s.jsx)(n.code,{children:"~/ros2_ws/src"}),"."]})}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg create <package_name> --build-type ament_cmake --dependencies rclcpp <package_dependencies>\n# rclcpp is the ros core library for cpp\n"})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg create <package_name> --build-type ament_python --dependencies rclpy <package_dependencies>\n# rclpy is the ros core library for python\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsx)(n.p,{children:"You can then compile it to ensure there are no dependency conflicts using the command:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"colcon build # Compiles all packages within your workspace\ncolcon build --packages-select <package_name> # Compiling one package\n"})}),"\n",(0,s.jsxs)(n.p,{children:["Source the workspace script ",(0,s.jsx)(n.code,{children:"setup.bash"})," within ",(0,s.jsx)(n.code,{children:"~/ros2_ws/install"})," to update environment variables. This ensures ROS2 has the newly created package.\nAnytime you make a change within the package, you ",(0,s.jsx)(n.strong,{children:"must"})," recompile the package and re-source the script."]}),"\n",(0,s.jsx)(n.p,{children:"You can run the command below to see your new package:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg list\nros2 pkg list | grep <package_name> # Filters the list using <package_name>\n"})}),"\n",(0,s.jsx)(n.h3,{id:"launch-files",children:"Launch Files"}),"\n",(0,s.jsxs)(n.p,{children:["On a basic level, launch files allow you to start up multiple nodes without having start up multiple terminals. The launch file follows the general structure below and must be stored inside of ",(0,s.jsx)(n.code,{children:"<my_package>/launch"}),":"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"## File name conventionally follows the format of *.launch.py\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\n## Function name must be generate_launch_description\n## Everything else within body is up to user\ndef generate_launch_description():\n return LaunchDescription([\n Node(\n package='teleop_twist_keyboard', # Specifies which package the binary is in\n executable='teleop_twist_keyboard', # Specifies the binary\n output='screen', # Specifies what channel to output the results of the binary\n emulate_tty=True), # Outputs colored logging messages\n ])\n"})}),"\n",(0,s.jsxs)(n.p,{children:["We then have to modify our ",(0,s.jsx)(n.code,{children:"setup.py"})," file so that the ROS2 environment can find and access the ",(0,s.jsx)(n.code,{children:".launch.py"})," files. All we do is add and modify these 3 lines of code."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"import os\nfrom glob import glob\n\ndata_files=[\n ('share/ament_index/resource_index/packages',\n ['resource/' + package_name]),\n ('share/' + package_name, ['package.xml']),\n (os.path.join('share', package_name), glob('launch/*.launch.py'))\n ],\n"})}),"\n",(0,s.jsx)(n.p,{children:"You can then run the launch files by first giving it execution permissions and then launching it:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"chmod +x <launch_file>.launch.py\nros2 launch <package_name> <launch_file>.launch.py\n"})}),"\n",(0,s.jsx)(n.h3,{id:"source-files",children:"Source Files"}),"\n",(0,s.jsxs)(n.p,{children:["We can create source files within ",(0,s.jsx)(n.code,{children:"<my_package>/src"}),'. The way you structure your source code is dependent on you and can follow object oriented programming, functional, procedural, or whatever coding paradigm you want to use. Generally though, the best practice is to modularize one "node" per source file.']}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:'#include "rclcpp/rclcpp.hpp"\n\nint main(int argc, char \\* argv[])\n{\n// Initialize the ROS2 communication\nrclcpp::init(argc, argv);\n\n// Create a ROS2 node\nauto theNode = rclcpp::Node::make_shared("beginner");\n\n// Print a message to the terminal\nRCLCPP_INFO(theNode->get_logger(), "I\'m writing to the terminal!");\n\n// Shutdown the ROS2 communication\nrclcpp::shutdown();\nreturn 0;\n}\n\n'})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"#!/usr/bin/env python\nimport rclpy\n\ndef main(args=None):\n rclpy.init(args=args)\n print(\"Hey, this node is printing!\")\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsx)(n.h3,{id:"cmakelists-and-setup-file",children:"CMakeLists and setup file"}),"\n",(0,s.jsx)(n.p,{children:"Since we created a source file, we need to tell the build system (colcon) how to compile our files. We can do so by modifying our CMakeLists.txt and setup.py found within the root of our package folder."}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-txt",children:"add_executable(simple_node src/simple.cpp) # Generate a binary executable with name simple_node from src/simple.cpp\nament_target_dependencies(simple_node rclcpp) # Specify which dependencies the binary requires for compiling and usage\n\n# Store the binaries within the path lib/${PROJECT_NAME}\n\ninstall(TARGETS\nsimple_node\nDESTINATION lib/${PROJECT_NAME}\n)\n\n# Store the launch files within the path share/${PROJECT_NAME}\n\ninstall(DIRECTORY\nlaunch\nDESTINATION share/${PROJECT_NAME}/\n)\n\n"})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:" entry_points={\n 'console_scripts': [\n '<executable_name> = <package_name>.<file_name>:<function_name>'\n ],\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsxs)(n.p,{children:["Once we compile our package, we can see our new node using ",(0,s.jsx)(n.code,{children:"ros2 node list"})," For more information about a node, we can use ",(0,s.jsx)(n.code,{children:"ros2 node info /<package_name>"}),"."]}),"\n",(0,s.jsx)(n.h2,{id:"topics",children:"Topics"}),"\n",(0,s.jsxs)(n.p,{children:["Topics are communication channels that nodes use to exchange messages. To see available topics, we can use ",(0,s.jsx)(n.code,{children:"ros2 topic list"}),". For more information about a topic, we can use ",(0,s.jsx)(n.code,{children:"ros2 topic info <topic_name>"}),"."]}),"\n",(0,s.jsx)(n.h3,{id:"publishers",children:"Publishers"}),"\n",(0,s.jsx)(n.p,{children:"Publishers are nodes that continuously send out messages to a topic channel at a specific frequency. We can create a very trivial publisher below that counts at rate of 10 Hz."}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:'// Import all the necessary ROS libraries and import the Int32 message from the std_msgs package\n#include "rclcpp/rclcpp.hpp"\n#include "std_msgs/msg/int32.hpp"\n\nint main(int argc, char \\* argv[])\n{\nrclcpp::init(argc, argv);\n\nauto theNode = rclcpp::Node::make_shared("counter_publisher");\n\n// We tell the node to create a publisher at the topic /counter using the type Int32\n// Specify the queue (buffer) to only be of size 10.\nauto thePublisher = node->create_publisher<std_msgs::msg::Int32>("counter", 10);\n// We create the message we want to send to the channel.\nauto theMessage = std::make_shared<std_msgs::msg::Int32>();\ntheMessage->data = 0;\n// Publish at 10 Hz\nrclcpp::WallRate loop_rate(std::chrono::milliseconds(100));\n\n// Continuously execute until program stops or exits via user command\nwhile (rclcpp::ok()) {\nthePublisher->publish(\\*message);\ntheMessage->data++;\n// Execute the node and process the messages in the queue until there\'s nothing left in original queue.\nrclcpp::spin_some(node);\n// We ensure the publish rate stays at 10 Hz by sleeping here.\nloop_rate.sleep();\n}\n\nrclcpp::shutdown();\nreturn 0;\n}\n\n'})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom std_msgs.msg import Int32\nfrom time import sleep\n\ndef main():\n rclpy.init()\n theNode = rclpy.create_node('counter_publisher')\n thePublisher = node.create_publisher(Int32, 'counter', 10)\n count = 0\n\n while rclpy.ok():\n theMessage = Int32()\n theMessage.data = count\n thePublisher.publish(theMessage)\n count += 1\n sleep(0.1)\n\n node.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsxs)(n.p,{children:["We can launch and compile the package and run ",(0,s.jsx)(n.code,{children:"ros2 topic echo /counter"})," to see that it is indeed counting."]}),"\n",(0,s.jsx)(n.h3,{id:"object-oriented-programming",children:"Object Oriented Programming"}),"\n",(0,s.jsx)(n.p,{children:"We've made all of our source code using basic logic and control flow. A better way, however, is to use OOP principles to ensure cleaner and modular code. We can take the publisher code and create an object below. I won't be going into OOP here since this is primarily a ROS2 note."}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:'#include "rclcpp/rclcpp.hpp"\n#include "std_msgs/msg/int32.hpp"\n#include <chrono>\n\nclass SimplePublisher : public rclcpp::Node\n{\npublic:\nSimplePublisher() : Node("simple_publisher"), count(0){\nthePublisher = this->create_publisher<std_msgs::msg::Int32>("counter", 10);\ntheTimer = this->create_wall_timer(std::chrono_milliseconds(500), std::bind(&SimplePublisher::timer_callback, this));\n}\n\nprotected:\nvoid timer_callback(){\nauto theMessage = std_msgs::msg::Int32();\ntheMessage.data = count;\ncount++;\nthePublisher->publish(theMessage);\n}\n\nprivate:\nrclcpp::TimerBase::SharedPtr theTimer;\nrclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr thePublisher;\nsize_t count;\n};\n\nint main(int argc, char \\* argv[])\n{\nrclcpp::init(argc, argv);\nrclcpp::spin(std::make_shared<SimplePublisher>());\nrclcpp::shutdown();\nreturn 0;\n}\n\n'})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"#!/usr/bin/env python\n\nimport rclpy\nfrom rclpy.node import Node\nfrom std_msgs.msg import Int32\n\nclass CounterNode(Node):\n def __init__(self):\n super().__init__('counter_publisher')\n count = 0\n\n self.publisher = self.create_publisher(Int32, 'counter', 10)\n timer_period = 0.1\n self.timer = self.create_timer(timer_period, self.timer_callback)\n\n def timer_callback(self):\n theMessage = Int32()\n theMessage.data = count\n count++;\n thePublisher->publish(theMessage)\n\ndef main(args=None):\n rclpy.init(args=args)\n thePublisher = CounterNode()\n rclpy.spin(thePublisher)\n thePublisher.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]})]})}function p(e={}){const{wrapper:n}={...(0,r.R)(),...e.components};return n?(0,s.jsx)(n,{...e,children:(0,s.jsx)(h,{...e})}):h(e)}},7227:(e,n,t)=>{t.d(n,{A:()=>i});t(6540);var a=t(4164);const s={tabItem:"tabItem_Ymn6"};var r=t(4848);function i(e){let{children:n,hidden:t,className:i}=e;return(0,r.jsx)("div",{role:"tabpanel",className:(0,a.A)(s.tabItem,i),hidden:t,children:n})}},9489:(e,n,t)=>{t.d(n,{A:()=>v});var a=t(6540),s=t(4164),r=t(4245),i=t(6347),l=t(6494),o=t(2814),c=t(5167),u=t(9900);function d(e){return a.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,a.isValidElement)(e)&&function(e){const{props:n}=e;return!!n&&"object"==typeof n&&"value"in n}(e))return e;throw new Error(`Docusaurus error: Bad <Tabs> child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the <Tabs> component should be <TabItem>, and every <TabItem> should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function h(e){const{values:n,children:t}=e;return(0,a.useMemo)((()=>{const e=n??function(e){return d(e).map((e=>{let{props:{value:n,label:t,attributes:a,default:s}}=e;return{value:n,label:t,attributes:a,default:s}}))}(t);return function(e){const n=(0,c.XI)(e,((e,n)=>e.value===n.value));if(n.length>0)throw new Error(`Docusaurus error: Duplicate values "${n.map((e=>e.value)).join(", ")}" found in <Tabs>. 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\ No newline at end of file +"use strict";(self.webpackChunkkevshin2002=self.webpackChunkkevshin2002||[]).push([[9397],{3946:(e,n,t)=>{t.r(n),t.d(n,{assets:()=>u,contentTitle:()=>c,default:()=>p,frontMatter:()=>o,metadata:()=>a,toc:()=>d});const a=JSON.parse('{"id":"Robotics/ROS2/ros2","title":"ROS2","description":"This has not been proof-read or modified for simpler reading yet.","source":"@site/docs/Robotics/ROS2/index.mdx","sourceDirName":"Robotics/ROS2","slug":"/Robotics/ROS2/","permalink":"/docs/Robotics/ROS2/","draft":false,"unlisted":false,"tags":[{"inline":false,"label":"C++","permalink":"/docs/tags/cpp","description":"C++"},{"inline":false,"label":"Python","permalink":"/docs/tags/python","description":"Python"},{"inline":false,"label":"Rust","permalink":"/docs/tags/rust","description":"Rust"},{"inline":false,"label":"Robotics","permalink":"/docs/tags/robotics","description":"All things related to robotics and automation"}],"version":"current","lastUpdatedAt":1734508800000,"sidebarPosition":1,"frontMatter":{"id":"ros2","title":"ROS2","hide_title":true,"sidebar_position":1,"tags":["cpp","python","rust","robotics"],"last_update":{"date":"12/18/2024","author":"Kevin Shin"}},"sidebar":"noteSidebar","previous":{"title":"Machine Learning","permalink":"/docs/Machine-Learning/"},"next":{"title":"Nav2","permalink":"/docs/Robotics/ROS2/nav2"}}');var s=t(4848),r=t(8453),i=t(1470),l=t(9365);const o={id:"ros2",title:"ROS2",hide_title:!0,sidebar_position:1,tags:["cpp","python","rust","robotics"],last_update:{date:"12/18/2024",author:"Kevin Shin"}},c=void 0,u={},d=[{value:"Packages",id:"packages",level:2},{value:"Creating a Package",id:"creating-a-package",level:3},{value:"Launch Files",id:"launch-files",level:3},{value:"Source Files",id:"source-files",level:3},{value:"CMakeLists and setup file",id:"cmakelists-and-setup-file",level:3},{value:"Topics",id:"topics",level:2},{value:"Publishers",id:"publishers",level:3},{value:"Object Oriented Programming",id:"object-oriented-programming",level:3}];function h(e){const n={admonition:"admonition",code:"code",h2:"h2",h3:"h3",li:"li",p:"p",pre:"pre",strong:"strong",ul:"ul",...(0,r.R)(),...e.components};return(0,s.jsxs)(s.Fragment,{children:[(0,s.jsxs)(n.admonition,{type:"danger",children:[(0,s.jsx)(n.p,{children:"This has not been proof-read or modified for simpler reading yet."}),(0,s.jsx)(n.p,{children:"12/23/24"})]}),"\n",(0,s.jsx)(n.h2,{id:"packages",children:"Packages"}),"\n",(0,s.jsx)(n.p,{children:"Packages are how ROS2 organizes programs. It contains all of the source code written in C++/Python, configuration, compilation, launch, and parameter files. It allows easier as well sharing as everything is packaged. In ROS2, you can make CMake packages and Python packages."}),"\n",(0,s.jsx)(n.p,{children:"All CMake packages must have the following folders and files:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"launch"})," folder: Contains all of the launch files"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"src"})," folder: Contains all of the source code (C++/Python)"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"CMakeLists.txt"}),": Contains the rules for compiling the C++ source code"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"package.xml"}),": Contains all of the package metadata and dependencies needed by the package at runtime and compiletime"]}),"\n"]}),"\n",(0,s.jsx)(n.h3,{id:"creating-a-package",children:"Creating a Package"}),"\n",(0,s.jsx)(n.p,{children:"We can create packages by running the command below:"}),"\n",(0,s.jsx)(n.admonition,{type:"tip",children:(0,s.jsxs)(n.p,{children:["Always create packages inside of the src folder within your ROS2 workspace.\nGenerally, that path is ",(0,s.jsx)(n.code,{children:"~/ros2_ws/src"}),"."]})}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg create <package_name> --build-type ament_cmake --dependencies rclcpp <package_dependencies>\n# rclcpp is the ros core library for cpp\n"})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg create <package_name> --build-type ament_python --dependencies rclpy <package_dependencies>\n# rclpy is the ros core library for python\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsx)(n.p,{children:"You can then compile it to ensure there are no dependency conflicts using the command:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"colcon build # Compiles all packages within your workspace\ncolcon build --packages-select <package_name> # Compiling one package\n"})}),"\n",(0,s.jsxs)(n.p,{children:["Source the workspace script ",(0,s.jsx)(n.code,{children:"setup.bash"})," within ",(0,s.jsx)(n.code,{children:"~/ros2_ws/install"})," to update environment variables. This ensures ROS2 has the newly created package.\nAnytime you make a change within the package, you ",(0,s.jsx)(n.strong,{children:"must"})," recompile the package and re-source the script."]}),"\n",(0,s.jsx)(n.p,{children:"You can run the command below to see your new package:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 pkg list\nros2 pkg list | grep <package_name> # Filters the list using <package_name>\n"})}),"\n",(0,s.jsx)(n.h3,{id:"launch-files",children:"Launch Files"}),"\n",(0,s.jsxs)(n.p,{children:["On a basic level, launch files allow you to start up multiple nodes without having start up multiple terminals. The launch file follows the general structure below and must be stored inside of ",(0,s.jsx)(n.code,{children:"<my_package>/launch"}),":"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"## File name conventionally follows the format of *.launch.py\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\n## Function name must be generate_launch_description\n## Everything else within body is up to user\ndef generate_launch_description():\n return LaunchDescription([\n Node(\n package='teleop_twist_keyboard', # Specifies which package the binary is in\n executable='teleop_twist_keyboard', # Specifies the binary\n output='screen', # Specifies what channel to output the results of the binary\n emulate_tty=True), # Outputs colored logging messages\n ])\n"})}),"\n",(0,s.jsxs)(n.p,{children:["We then have to modify our ",(0,s.jsx)(n.code,{children:"setup.py"})," file so that the ROS2 environment can find and access the ",(0,s.jsx)(n.code,{children:".launch.py"})," files. All we do is add and modify these 3 lines of code."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"import os\nfrom glob import glob\n\ndata_files=[\n ('share/ament_index/resource_index/packages',\n ['resource/' + package_name]),\n ('share/' + package_name, ['package.xml']),\n (os.path.join('share', package_name), glob('launch/*.launch.py'))\n ],\n"})}),"\n",(0,s.jsx)(n.p,{children:"You can then run the launch files by first giving it execution permissions and then launching it:"}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"chmod +x <launch_file>.launch.py\nros2 launch <package_name> <launch_file>.launch.py\n"})}),"\n",(0,s.jsx)(n.h3,{id:"source-files",children:"Source Files"}),"\n",(0,s.jsxs)(n.p,{children:["We can create source files within ",(0,s.jsx)(n.code,{children:"<my_package>/src"}),'. The way you structure your source code is dependent on you and can follow object oriented programming, functional, procedural, or whatever coding paradigm you want to use. Generally though, the best practice is to modularize one "node" per source file.']}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:'#include "rclcpp/rclcpp.hpp"\n\nint main(int argc, char \\* argv[])\n{\n// Initialize the ROS2 communication\nrclcpp::init(argc, argv);\n\n// Create a ROS2 node\nauto theNode = rclcpp::Node::make_shared("beginner");\n\n// Print a message to the terminal\nRCLCPP_INFO(theNode->get_logger(), "I\'m writing to the terminal!");\n\n// Shutdown the ROS2 communication\nrclcpp::shutdown();\nreturn 0;\n}\n\n'})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:"#!/usr/bin/env python\nimport rclpy\n\ndef main(args=None):\n rclpy.init(args=args)\n print(\"Hey, this node is printing!\")\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsx)(n.h3,{id:"cmakelists-and-setup-file",children:"CMakeLists and setup file"}),"\n",(0,s.jsx)(n.p,{children:"Since we created a source file, we need to tell the build system (colcon) how to compile our files. We can do so by modifying our CMakeLists.txt and setup.py found within the root of our package folder."}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-txt",children:"add_executable(simple_node src/simple.cpp) # Generate a binary executable with name simple_node from src/simple.cpp\nament_target_dependencies(simple_node rclcpp) # Specify which dependencies the binary requires for compiling and usage\n\n# Store the binaries within the path lib/${PROJECT_NAME}\n\ninstall(TARGETS\nsimple_node\nDESTINATION lib/${PROJECT_NAME}\n)\n\n# Store the launch files within the path share/${PROJECT_NAME}\n\ninstall(DIRECTORY\nlaunch\nDESTINATION share/${PROJECT_NAME}/\n)\n\n"})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-python",children:" entry_points={\n 'console_scripts': [\n '<executable_name> = <package_name>.<file_name>:<function_name>'\n ],\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsxs)(n.p,{children:["Once we compile our package, we can see our new node using ",(0,s.jsx)(n.code,{children:"ros2 node list"})," For more information about a node, we can use ",(0,s.jsx)(n.code,{children:"ros2 node info /<package_name>"}),"."]}),"\n",(0,s.jsx)(n.h2,{id:"topics",children:"Topics"}),"\n",(0,s.jsxs)(n.p,{children:["Topics are communication channels that nodes use to exchange messages. To see available topics, we can use ",(0,s.jsx)(n.code,{children:"ros2 topic list"}),". For more information about a topic, we can use ",(0,s.jsx)(n.code,{children:"ros2 topic info <topic_name>"}),"."]}),"\n",(0,s.jsx)(n.h3,{id:"publishers",children:"Publishers"}),"\n",(0,s.jsx)(n.p,{children:"Publishers are nodes that continuously send out messages to a topic channel at a specific frequency. We can create a very trivial publisher below that counts at rate of 10 Hz."}),"\n",(0,s.jsxs)(i.A,{children:[(0,s.jsx)(l.A,{value:"C++",label:"C++",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:'// Import all the necessary ROS libraries and import the Int32 message from the std_msgs package\n#include "rclcpp/rclcpp.hpp"\n#include "std_msgs/msg/int32.hpp"\n\nint main(int argc, char \\* argv[])\n{\nrclcpp::init(argc, argv);\n\nauto theNode = rclcpp::Node::make_shared("counter_publisher");\n\n// We tell the node to create a publisher at the topic /counter using the type Int32\n// Specify the queue (buffer) to only be of size 10.\nauto thePublisher = node->create_publisher<std_msgs::msg::Int32>("counter", 10);\n// We create the message we want to send to the channel.\nauto theMessage = std::make_shared<std_msgs::msg::Int32>();\ntheMessage->data = 0;\n// Publish at 10 Hz\nrclcpp::WallRate loop_rate(std::chrono::milliseconds(100));\n\n// Continuously execute until program stops or exits via user command\nwhile (rclcpp::ok()) {\nthePublisher->publish(\\*message);\ntheMessage->data++;\n// Execute the node and process the messages in the queue until there\'s nothing left in original queue.\nrclcpp::spin_some(node);\n// We ensure the publish rate stays at 10 Hz by sleeping here.\nloop_rate.sleep();\n}\n\nrclcpp::shutdown();\nreturn 0;\n}\n\n'})})}),(0,s.jsx)(l.A,{value:"Python",label:"Python",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom std_msgs.msg import Int32\nfrom time import sleep\n\ndef main():\n rclpy.init()\n theNode = rclpy.create_node('counter_publisher')\n thePublisher = node.create_publisher(Int32, 'counter', 10)\n count = 0\n\n while rclpy.ok():\n theMessage = Int32()\n theMessage.data = count\n thePublisher.publish(theMessage)\n count += 1\n sleep(0.1)\n\n node.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})}),(0,s.jsx)(l.A,{value:"Rust",label:"Rust"})]}),"\n",(0,s.jsxs)(n.p,{children:["We can launch and compile the package and run ",(0,s.jsx)(n.code,{children:"ros2 topic echo /counter"})," to see that it is indeed counting."]}),"\n",(0,s.jsx)(n.h3,{id:"object-oriented-programming",children:"Object Oriented Programming"}),"\n",(0,s.jsx)(n.p,{children:"We've made all of our source code using basic logic and control flow. 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I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am."}),"\n",(0,i.jsx)(t.p,{children:"It's been a busy two weeks, juggling classes, finals, projects, looking for new grad opportunities, and learning some new stuff on the side. The new stuff is what this blog post is about, specifically, my introduction to linux."}),"\n",(0,i.jsx)(t.p,{children:"Everybody hears linux and immediately thinks that person must be hardcore programmer or a hacker. I've come to find out that it's mainly two types of people: people who want to understand their computer and people who want to brag that they use linux."}),"\n",(0,i.jsx)(t.p,{children:"I like to think that I fit the former as one of my life long interests is to be a lifelong learner. 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We take inspiration from mother nature, so why can't we take inspiration from different fields?"}),"\n",(0,i.jsx)(t.h3,{id:"arch-linux",children:"Arch Linux"}),"\n",(0,i.jsx)(t.p,{children:"You might be wondering what linux distro I selected, and it's probably not a surprise that it's Arch Linux. The only reason why I chose this was because of how popular it was, meaning that there would be some sort of community support for it. It turned out to be right because Arch Wiki is one of the main leading reasons why Arch is used. It's also because you have more freedom in Arch than more common distros such as Ubuntu."}),"\n",(0,i.jsx)(t.p,{children:"There are various trade offs such as having to configure packages individually, setting up your environment, getting hardware drivers that matches, and many more. This means that if ANYTHING went wrong, it was basically your fault. This is kind of an extreme way to learn linux (surface level) but it was fine since I had a windows OS on my SSD. I could just dual boot into my windows if my arch linux messed up and redo the entire setup again."}),"\n",(0,i.jsxs)(t.p,{children:["I'm not going to claim that I did everything on my own, and frankly speaking, I did ask LLMs for help. I wasn't going to spend my time reading documentation which in hindsight, I should have since most of the answers were on there. This isn't a tutorial on how to set up arch linux, so I won't be going into it. The biggest challenge though was perhaps figuring out how to configure my NVIDIA graphics card to work with the distro but I got that figured out using ",(0,i.jsx)(t.code,{children:"nvidia-drm"}),"."]}),"\n",(0,i.jsx)(t.h3,{id:"workspace",children:"Workspace"}),"\n",(0,i.jsxs)(t.p,{children:["My next biggest challenge was to figure out what DE to use and how I wanted my workspace set up. I know I said I installed arch linux for the freedom, but I'm a big fan of not reinventing the wheel. I opted to just take someones dotfiles online and that's precisely what I did. I initially had KDE and Plasma set up, but after stumbling upon Hyprland, I was mesmerized by the aesthetics. I took the dotfiles provided by ",(0,i.jsx)(t.a,{href:"https://github.com/mylinuxforwork/dotfiles",children:"ML4W"})," and configured some of them to fit my workflow."]}),"\n",(0,i.jsxs)(t.p,{children:["I did a bunch of configurations and honestly enjoy how my workflow is set up. For my software workflow , I configured lazygit/lazydocker for easier use of git/docker in CLI. For anything IDE/terminal related, I configured neovim with ",(0,i.jsx)(t.code,{children:"nvim-dap"}),"."]}),"\n",(0,i.jsx)(t.p,{children:"To be truthful, at the time I am writing this, I am doing a water fast until the academic quarter starts, and do not have the energy to be writing this. So I will stop and just showcase my workflow below. Images and GIFs portray a thousand words."}),"\n",(0,i.jsx)("iframe",{width:"90%",height:"360px",src:a.A,allow:"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture",allowfullscreen:!0,title:"Workflow Video"})]})}function c(e={}){const{wrapper:t}={...(0,s.R)(),...e.components};return t?(0,i.jsx)(t,{...e,children:(0,i.jsx)(u,{...e})}):u(e)}},6576:(e,t,o)=>{o.d(t,{A:()=>n});const n=o.p+"assets/medias/workflow-36211429edfd91260d1f09815d3f3f8b.mp4"},8453:(e,t,o)=>{o.d(t,{R:()=>a,x:()=>r});var n=o(6540);const i={},s=n.createContext(i);function a(e){const t=n.useContext(s);return n.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function r(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(i):e.components||i:a(e.components),n.createElement(s.Provider,{value:t},e.children)}},2636:e=>{e.exports=JSON.parse('{"permalink":"/blog/introduction-to-linux","editUrl":"https://github.com/kevshin2002/kevshin2002.github.io/tree/main/blog/2024/12/21.mdx","source":"@site/blog/2024/12/21.mdx","title":"My Introduction To Linux","description":"It\'s been two weeks since I last wrote. 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Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am.","date":"2024-12-21T18:00:00.000Z","tags":[],"readingTime":3.765,"hasTruncateMarker":true,"authors":[{"name":"Kevin Shin","title":"Electrical Engineer","url":"https://kevshin2002.github.io","imageURL":"/img/pororo.jpg","key":"kevshin2002","page":null}],"frontMatter":{"slug":"introduction-to-linux","title":"My Introduction To Linux","authors":"kevshin2002","date":"2024-12-21T18:00"},"unlisted":false,"nextItem":{"title":"Purpose of Website","permalink":"/blog/thoughts"}}')}}]); \ No newline at end of file diff --git a/assets/js/7ac9d686.f717c90e.js b/assets/js/7ac9d686.f717c90e.js deleted file mode 100644 index 3f6d791..0000000 --- a/assets/js/7ac9d686.f717c90e.js +++ /dev/null @@ -1 +0,0 @@ -"use strict";(self.webpackChunkkevshin2002=self.webpackChunkkevshin2002||[]).push([[8263],{726:(e,t,o)=>{o.r(t),o.d(t,{assets:()=>d,contentTitle:()=>h,default:()=>c,frontMatter:()=>r,metadata:()=>n,toc:()=>l});var n=o(2636),i=o(4848),s=o(8453),a=o(6576);const r={slug:"introduction-to-linux",title:"My Introduction To Linux",authors:"kevshin2002",date:"2024-12-21T18:00"},h=void 0,d={authorsImageUrls:[void 0]},l=[{value:"Why you may ask?",id:"why-you-may-ask",level:3},{value:"Arch Linux",id:"arch-linux",level:3},{value:"Workspace",id:"workspace",level:3}];function u(e){const t={a:"a",code:"code",h3:"h3",p:"p",...(0,s.R)(),...e.components};return(0,i.jsxs)(i.Fragment,{children:[(0,i.jsx)(t.p,{children:"It's been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am."}),"\n",(0,i.jsx)(t.p,{children:"It's been a busy two weeks, juggling classes, finals, projects, looking for new grad opportunities, and learning some new stuff on the side. The new stuff is what this blog post is about, specifically, my introduction to linux."}),"\n",(0,i.jsx)(t.p,{children:"Everybody hears linux and immediately thinks that person must be hardcore programmer or a hacker. I've come to find out that it's mainly two types of people: people who want to understand their computer and people who want to brag that they use linux."}),"\n",(0,i.jsx)(t.p,{children:"I like to think that I fit the former as one of my life long interests is to be a lifelong learner. This means understanding what I'm working with, even though I may not necessarily require it."}),"\n",(0,i.jsx)(t.h3,{id:"why-you-may-ask",children:"Why you may ask?"}),"\n",(0,i.jsx)(t.p,{children:"Many may say that you don't need to understand how your car works if your whole purpose is to get from point A to point B, and I agree with that. My reasoning is that I don't want to be just a driver, but an engineer."}),"\n",(0,i.jsx)(t.p,{children:"What if my car broke down in the middle of the road? Having a basic understanding of how a car functions can save you time and money instead of relying on someone else. It is also my core belief that knowing diverse sectors of technology can help make better informed decisions. We take inspiration from mother nature, so why can't we take inspiration from different fields?"}),"\n",(0,i.jsx)(t.h3,{id:"arch-linux",children:"Arch Linux"}),"\n",(0,i.jsx)(t.p,{children:"You might be wondering what linux distro I selected, and it's probably not a surprise that it's Arch Linux. The only reason why I chose this was because of how popular it was, meaning that there would be some sort of community support for it. It turned out to be right because Arch Wiki is one of the main leading reasons why Arch is used. It's also because you have more freedom in Arch than more common distros such as Ubuntu."}),"\n",(0,i.jsx)(t.p,{children:"There are various trade offs such as having to configure packages individually, setting up your environment, getting hardware drivers that matches, and many more. This means that if ANYTHING went wrong, it was basically your fault. This is kind of an extreme way to learn linux (surface level) but it was fine since I had a windows OS on my SSD. I could just dual boot into my windows if my arch linux messed up and redo the entire setup again."}),"\n",(0,i.jsxs)(t.p,{children:["I'm not going to claim that I did everything on my own, and frankly speaking, I did ask LLMs for help. I wasn't going to spend my time reading documentation which in hindsight, I should have since most of the answers were on there. This isn't a tutorial on how to set up arch linux, so I won't be going into it. The biggest challenge though was perhaps figuring out how to configure my NVIDIA graphics card to work with the distro but I got that figured out using ",(0,i.jsx)(t.code,{children:"nvidia-drm"}),"."]}),"\n",(0,i.jsx)(t.h3,{id:"workspace",children:"Workspace"}),"\n",(0,i.jsxs)(t.p,{children:["My next biggest challenge was to figure out what DE to use and how I wanted my workspace set up. I know I said I installed arch linux for the freedom, but I'm a big fan of not reinventing the wheel. I opted to just take someones dotfiles online and that's precisely what I did. I initially had KDE and Plasma set up, but after stumbling upon Hyprland, I was mesmerized by the aesthetics. I took the dotfiles provided by ",(0,i.jsx)(t.a,{href:"https://github.com/mylinuxforwork/dotfiles",children:"ML4W"})," and configured some of them to fit my workflow."]}),"\n",(0,i.jsxs)(t.p,{children:["I did a bunch of configurations and honestly enjoy how my workflow is set up. For my software workflow , I configured lazygit/lazydocker for easier use of git/docker in CLI. For anything IDE/terminal related, I configured neovim with ",(0,i.jsx)(t.code,{children:"nvim-dap"}),"."]}),"\n",(0,i.jsx)(t.p,{children:"To be truthful, at the time I am writing this, I am doing a water fast until the academic quarter starts, and do not have the energy to be writing this. So I will stop and just showcase my workflow below. Images and GIFs portray a thousand words."}),"\n",(0,i.jsx)("iframe",{width:"90%",height:"360px",src:a.A,allow:"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture",allowfullscreen:!0,title:"Workflow Video"})]})}function c(e={}){const{wrapper:t}={...(0,s.R)(),...e.components};return t?(0,i.jsx)(t,{...e,children:(0,i.jsx)(u,{...e})}):u(e)}},6576:(e,t,o)=>{o.d(t,{A:()=>n});const n=o.p+"assets/medias/workflow-36211429edfd91260d1f09815d3f3f8b.mp4"},8453:(e,t,o)=>{o.d(t,{R:()=>a,x:()=>r});var n=o(6540);const i={},s=n.createContext(i);function a(e){const t=n.useContext(s);return n.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function r(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(i):e.components||i:a(e.components),n.createElement(s.Provider,{value:t},e.children)}},2636:e=>{e.exports=JSON.parse('{"permalink":"/blog/introduction-to-linux","editUrl":"https://github.com/kevshin2002/kevshin2002.github.io/tree/main/blog/2024/12/21.mdx","source":"@site/blog/2024/12/21.mdx","title":"My Introduction To Linux","description":"It\'s been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. 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Since they didn't have a couse on testing with ROS2, I referenced the ROS2 documentation and ChatGPT while doing this to fill in the gaps for ROS2 Testing. I used the docker image ",(0,r.jsx)(t.code,{children:"osrf/ros:humble-desktop"})," for my environment."]}),"\n",(0,r.jsx)(t.p,{children:"This note will go over:"}),"\n",(0,r.jsxs)(t.ul,{children:["\n",(0,r.jsx)(t.li,{children:"Unit Testing"}),"\n",(0,r.jsx)(t.li,{children:"Node Level Tests"}),"\n",(0,r.jsx)(t.li,{children:"Integration Tests"}),"\n"]}),"\n",(0,r.jsx)(t.h2,{id:"testing-frameworks-for-ros2",children:"Testing Frameworks for ROS2"}),"\n",(0,r.jsxs)(t.table,{children:[(0,r.jsx)(t.thead,{children:(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.th,{children:"Testing Framework"}),(0,r.jsx)(t.th,{children:"Language"}),(0,r.jsx)(t.th,{children:"Purpose"})]})}),(0,r.jsxs)(t.tbody,{children:[(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"Google Test"})}),(0,r.jsx)(t.td,{children:"C++"}),(0,r.jsx)(t.td,{children:"Unit testing with Google Test"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"pytest"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Unit testing for Python-based ROS 2 nodes and library code"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"launch_testing"})}),(0,r.jsx)(t.td,{children:"Python/C++"}),(0,r.jsx)(t.td,{children:"Testing ROS 2 launch files"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"mock, unittest"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Unit testing with mock and unittest"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"ros2-benchmarks"})}),(0,r.jsx)(t.td,{children:"C++/Python"}),(0,r.jsx)(t.td,{children:"Performance testing in ROS 2"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"Cucumber, Behave"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Behavior-driven testing (BDD)"})]})]})]}),"\n",(0,r.jsxs)(t.p,{children:["I did not do any testing with gtest as of ",(0,r.jsx)(t.code,{children:"12/25/24"})," and this was done using ",(0,r.jsx)(t.code,{children:"unittest"}),"."]}),"\n",(0,r.jsx)(t.h3,{id:"unit-tests",children:"Unit Tests"}),"\n",(0,r.jsx)(t.p,{children:"Unit tests are mainly to ensure correct functionality of a stand-alone unit or function. This means that they could test a single function, node, or process. Library unit tests are for testing non-ROS2 related issues while ROS2 unit tests are for ROS2 single nodes."}),"\n",(0,r.jsx)(t.h3,{id:"integration-tests",children:"Integration Tests"}),"\n",(0,r.jsx)(t.p,{children:"Integration tests are to ensure correct functionality of the system as a whole. For ROS2, it means starting up multiple nodes and ensuring that they all work as intended."}),"\n",(0,r.jsx)(t.p,{children:"I will be using the code below for all testing purposes."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"#!/usr/bin/env python3\n\nimport rclpy\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Twist\nfrom sensor_msgs.msg import LaserScan\nimport time\n\nclass RobotControl(Node):\n\n def __init__(self):\n super().__init__('robot_control_node')\n self.vel_publisher = self.create_publisher(Twist, '/cmd_vel', 10)\n self.cmd = Twist()\n self.ctrl_c = False\n self.rate = self.create_rate(10)\n self.create_timer(0.1, self.shutdownhook)\n\n def publish_once_in_cmd_vel(self):\n \"\"\"\n Publish a single Twist message to ensure command receipt.\n \"\"\"\n while not self.ctrl_c:\n if self.vel_publisher.get_subscription_count() > 0:\n self.vel_publisher.publish(self.cmd)\n self.get_logger().info(\"Command published\")\n break\n\t else:\n self.rate.sleep()\n\n def shutdownhook(self):\n self.stop_robot()\n self.ctrl_c = True\n\n def stop_robot(self):\n self.cmd.linear.x = 0.0\n self.cmd.angular.z = 0.0\n self.publish_once_in_cmd_vel()\n\n def get_inputs_rotate(self):\n angular_speed = float(input('Enter angular speed (degrees/sec): '))\n angle = float(input('Enter angle (degrees): '))\n clockwise = input('Rotate clockwise? (y/n): ').strip().lower() == 'y'\n return angular_speed, angle, clockwise\n\n def convert_degree_to_rad(self, speed_deg, angle_deg):\n angle = float(input('Enter angle (degrees): '))\n clockwise = input('Rotate clockwise? (y/n): ').strip().lower() == 'y'\n return angular_speed, angle, clockwise\n\n def convert_degree_to_rad(self, speed_deg, angle_deg):\n return speed_deg * 3.141592653589793 / 180, angle_deg * 3.141592653589793 / 180\n\n def rotate(self):\n angular_speed_d, angle_d, clockwise = self.get_inputs_rotate()\n angular_speed_r, angle_r = self.convert_degree_to_rad(angular_speed_d, angle_d)\n\n self.cmd.angular.z = -angular_speed_r if clockwise else angular_speed_r\n\n start_time = self.get_clock().now()\n current_angle = 0.0\n\n while current_angle < angle_r:\n self.vel_publisher.publish(self.cmd)\n elapsed_time = self.get_clock().now() - start_time\n current_angle = angular_speed_r * elapsed_time.nanoseconds * 1e-9\n self.rate.sleep()\n\n self.stop_robot()\n\ndef main(args=None):\n rclpy.init(args=args)\n robot_control = RobotControl()\n try:\n robot_control.rotate()\n except KeyboardInterrupt:\n robot_control.get_logger().info(\"Shutting down gracefully.\")\n finally:\n robot_control.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})}),"\n",(0,r.jsx)(t.admonition,{type:"note",children:(0,r.jsxs)(t.p,{children:["All tests must be within ",(0,r.jsx)(t.code,{children:"test"})," directory and must start as ",(0,r.jsx)(t.code,{children:"test_*.py"})," conventionally."]})}),"\n",(0,r.jsx)(t.h2,{id:"library-unit-tests",children:"Library Unit Tests"}),"\n",(0,r.jsx)(t.h3,{id:"unittest",children:"unittest"}),"\n",(0,r.jsxs)(t.p,{children:["Let's go ahead and create a simple unit test to see if our ",(0,r.jsx)(t.code,{children:"RobotControl"})," is behaving as correctly."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:'#!/usr/bin/env python3\n\nimport unittest # Testing framework\nimport rclpy\nfrom robot_control_py.robot_control import RobotControl\n\nclass TestRobotControl(unittest.TestCase):\n\n @classmethod\n def setUpClass(cls): # Part of the unittest framework where we override to specify logic when we instantiate the Test Node.\n """Initialize rclpy once for the entire test class."""\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls): # Part of the unittest framework where we override to specify logic for shutting down\n """Shutdown rclpy once after all tests are complete."""\n rclpy.shutdown()\n\n def setUp(self): # Applies to each individual test cases and is ran before each test.\n """Set up the test environment by creating a RobotControl node."""\n self.rc = RobotControl()\n\n def tearDown(self): # Applies to each after individual test case.\n """Clean up resources after each test."""\n self.rc.destroy_node()\n\n def test_deg_rad_conversion(self):\n """Test degree-to-radian conversion."""\n speed, angle = self.rc.convert_degree_to_rad(60, 90)\n self.assertAlmostEqual(speed, 1.0472, places=4, msg="Speed conversion failed")\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Angle conversion failed")\n\nif __name__ == \'__main__\':\n unittest.main()\n'})}),"\n",(0,r.jsxs)(t.p,{children:["ROS2 has a built-in testing system using it's build system ",(0,r.jsx)(t.code,{children:"colcon"}),", however, to set it up, we have to configure some files. As a general rule of thumb, while ROS2 ",(0,r.jsx)(t.code,{children:"ament_python"})," is available as a build type, it's in your best interest to work with ",(0,r.jsx)(t.code,{children:"ament_cmake"})," as most ROS2 features require a ",(0,r.jsx)(t.code,{children:"CMakeLists.txt"}),"."]}),"\n",(0,r.jsx)(t.h4,{id:"cmakelist",children:"CMakeList"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:"if(BUILD_TESTING)\n find_package(ament_cmake_pytest REQUIRED)\n ament_add_pytest_test(test_robot_control test/test_robot_control.py)\nendif()\n"})}),"\n",(0,r.jsx)(t.h4,{id:"packagexml",children:"package.xml"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:"<test_depend>ament_cmake_pytest</test_depend>\n"})}),"\n",(0,r.jsx)(t.h4,{id:"setuppy",children:"setup.py"}),"\n",(0,r.jsxs)(t.p,{children:["This is only if you are using an ",(0,r.jsx)(t.code,{children:"ament_python"})," package, and is to provide the ROS2 environment where the test files are after building. Note that you will need the two above files as well."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"(os.path.join('share', package_name, 'test'), glob('test/*.py'))\n"})}),"\n",(0,r.jsxs)(t.p,{children:["If you don't want to utilize the ",(0,r.jsx)(t.code,{children:"colcon"})," build system, you can run the python file as a stand-alone script."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:"python3 test_robot_control.py # Run without ROS2 environment\ncolcon test --packages-select <package_name> # Run with ROS2 environment\ncolcon test-result --all --verbose # Run to see results\n"})}),"\n",(0,r.jsx)(t.p,{children:"The outputs for success and failing:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-text",children:'.\n----------------------------------------------------------------------\nRan 1 test in 0.024s\n\nOK\n\n######################################################################\n\nF\n======================================================================\nFAIL: test_deg_rad_conversion (__main__.TestRobotControl)\nTest degree-to-radian conversion.\n----------------------------------------------------------------------\nTraceback (most recent call last):\n File "/ros2_ws/src/robot_control_py/test/test_robot_control.py", line 30, in test_deg_rad_conversion\n self.assertAlmostEqual(speed, 1.0472, places=4, msg="Speed conversion failed")\nAssertionError: 0.5235987755982988 != 1.0472 within 4 places (0.5236012244017011 difference) : Speed conversion failed\nFinished <<< robot_control_py [0.63s]\nSummary: 1 package finished [0.83s]\nroot@9f3977f822c1:/ros2_ws# colcon test-result --verbose\nSummary: 1 test, 0 errors, 0 failures, 0 skipped\n'})}),"\n",(0,r.jsx)(t.h4,{id:"test-suites",children:"Test Suites"}),"\n",(0,r.jsxs)(t.p,{children:[(0,r.jsx)(t.code,{children:"unittest"})," provides what's known as a Test Suite which allows us to modularize our test cases for different functionalities. Test Suites contain test cases or even other test suites."]}),"\n",(0,r.jsx)(t.p,{children:"We can create a TestSuite via below:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:'#!/usr/bin/env python3\n\nimport unittest\nimport rclpy\nfrom robot_control_py.robot_control import RobotControl\n\nclass TestCaseA(unittest.TestCase):\n\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.rc = RobotControl()\n\n def test_case_a(self):\n speed, angle = self.rc.convert_degree_to_rad(60, 90)\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case A failed")\n\nclass TestCaseB(unittest.TestCase):\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.rc = RobotControl()\n\n def test_case_b(self):\n speed, angle = self.rc.convert_degree_to_rad(60, -90)\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case B failed")\n'})}),"\n",(0,r.jsxs)(t.p,{children:["If we don't want to use the ",(0,r.jsx)(t.code,{children:"colcon"})," build system, we need a runner for this."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"import unittest\nfrom test_robot_control_cases import TestCaseA, TestCaseB\n\nif __name__ == '__main__':\n suite = unittest.TestSuite()\n suite.addTest(TestCaseA('test_case_a'))\n suite.addTest(TestCaseB('test_case_b'))\n runner = unittest.TextTestRunner()\n runner.run(suite)\n"})}),"\n",(0,r.jsx)(t.p,{children:"Output:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:'root@9f3977f822c1:/ros2_ws/src/robot_control_py/test# python3 run_tests.py\n.F\n======================================================================\nFAIL: test_case_b (test_robot_control_cases.TestCaseB)\n----------------------------------------------------------------------\nTraceback (most recent call last):\n File "/ros2_ws/src/robot_control_py/test/test_robot_control_cases.py", line 39, in test_case_b\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case B failed")\nAssertionError: -1.5707963267948966 != 1.57 within 2 places (3.140796326794897 difference) : Test Case B failed ----------------------------------------------------------------------\nRan 2 tests in 0.054s\nFAILED (failures=1)\n'})}),"\n",(0,r.jsx)(t.p,{children:"The tests are failing because we only want positive angles but are accounting for negative angles. We can fix it by adjusting our core code and rebuilding, and doing so will pass our tests."}),"\n",(0,r.jsx)(t.admonition,{type:"info",children:(0,r.jsxs)(t.p,{children:["If you only want to see tests for one package, run\n",(0,r.jsx)(t.code,{children:"colcon test-result --test-result-base build/<package_name> "})]})}),"\n",(0,r.jsx)(t.p,{children:"If you want to color code it, run this command or put it inside a script file:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:'#!/bin/bash\ncolcon test --packages-select <package_name> --pytest-args="--color=yes" --pytest-args="-v" --event-handlers console_direct+\n\nroot@9f3977f822c1:/ros2_ws# ./tests.sh\nStarting >>> robot_control_py\n============================= test session starts ==============================\nplatform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0 -- /usr/bin/python3\ncachedir: /ros2_ws/build/robot_control_py/.pytest_cache\nrootdir: /ros2_ws/src/robot_control_py, configfile: pytest.ini\nplugins: ament-flake8-0.12.11, ament-pep257-0.12.11, ament-xmllint-0.12.11, ament-copyright-0.12.11, ament-lint-0.12.11, launch-testing-ros-0.19.8, launch-testing-1.0.7, colcon-core-0.18.4\ncollecting ...\ncollected 3 items\ntest/test_robot_control_cases.py::TestCaseA::test_case_a PASSED [ 33%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_b PASSED [ 66%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_string PASSED [100%]\n-------- generated xml file: /ros2_ws/build/robot_control_py/pytest.xml --------\n============================== 3 passed in 0.12s ===============================\nFinished <<< robot_control_py [0.63s] Summary: 1 package finished [0.83s]\n'})}),"\n",(0,r.jsx)(t.h2,{id:"node-tests",children:"Node Tests"}),"\n",(0,r.jsx)(t.p,{children:"Let's do some Node Testing, which is just unit test for ROS2 nodes."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"#!/usr/bin/env python3\n\nfrom robot_control_py.robot_control import RobotControl\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Twist\nimport time\nimport rclpy\nimport unittest\n\n\nclass TestRobotControl(unittest.TestCase):\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.node = rclpy.create_node('test_robot_control_node')\n self.rc = RobotControl()\n self.success = False\n\n def callback(self, msg):\n print(f\"Received Angular Speed: {msg.angular.z}\")\n self.success = msg.angular.z == 1.0\n\n def test_publish_cmd_vel(self):\n test_sub = self.node.create_subscription(\n Twist, \"/cmd_vel\", self.callback, 10\n )\n self.rc.cmd.angular.z = 1.0\n self.rc.publish_once_in_cmd_vel()\n timeout_t = time.time() + 10.0 # 10 seconds\n\n rclpy.spin_once(self.node, timeout_sec=0.1)\n while not self.success and time.time() < timeout_t:\n rclpy.spin_once(self.node, timeout_sec=0.1)\n\n self.assertTrue(self.success)\n\n def tearDown(self):\n self.node.destroy_node()\n\n\nif __name__ == '__main__':\n unittest.main()\n"})}),"\n",(0,r.jsx)(t.p,{children:"The only difference is that before each test, we are instantiating a ROS2 node and using it within our test function. In our case, we're subscribing to /cmd_vel, and seeing if we do get a message back."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:"python3 test_robot_control_node.py\n[INFO] [1735008562.793690945] [robot_control_node]: Command published\nReceived Angular Speed: 1.0\n.\n----------------------------------------------------------------------\nRan 1 test in 0.036s\n\nOK\n\n======================================================================\n./tests.sh robot_control_py\n./tests.sh robot_control_py\nStarting >>> robot_control_py\n============================= test session starts ==============================\nplatform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0 -- /usr/bin/python3\ncachedir: /ros2_ws/build/robot_control_py/.pytest_cache\nrootdir: /ros2_ws/src/robot_control_py, configfile: pytest.ini\nplugins: ament-flake8-0.12.11, ament-pep257-0.12.11, ament-xmllint-0.12.11, ament-copyright-0.12.11, ament-lint-0.12.11, launch-testing-ros-0.19.8, launch-testing-1.0.7, colcon-core-0.18.4\ncollecting ...\ncollected 4 items\n\ntest/test_robot_control_cases.py::TestCaseA::test_case_a PASSED [ 25%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_b PASSED [ 50%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_string PASSED [ 75%]\ntest/test_robot_control_node.py::TestRobotControl::test_publish_cmd_vel PASSED [100%]\n\n-------- generated xml file: /ros2_ws/build/robot_control_py/pytest.xml --------\n============================== 4 passed in 0.15s ===============================\nFinished <<< robot_control_py [0.67s]\n\nSummary: 1 package finished [0.89s]\n"})}),"\n",(0,r.jsx)(t.h4,{id:"automation",children:"Automation"}),"\n",(0,r.jsx)(t.p,{children:"There's actually a way simpler way where we just modify the CMakeLists and package.xml, and remove all the unnecessary stuff from main. From the ROS2 documentation,"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:'cmake_minimum_required(VERSION 3.8)\nproject(app)\n\nif(BUILD_TESTING)\n # Integration tests\n find_package(ament_cmake_ros REQUIRED)\n find_package(launch_testing_ament_cmake REQUIRED)\n function(add_ros_isolated_launch_test path)\n set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")\n add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})\n endfunction()\n add_ros_isolated_launch_test(test/<any_test>.py)\nendif()\n'})}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-xml",children:"<test_depend>ament_cmake_ros</test_depend>\n<test_depend>launch</test_depend>\n<test_depend>launch_ros</test_depend>\n<test_depend>launch_testing</test_depend>\n<test_depend>launch_testing_ament_cmake</test_depend>\n<test_depend>rclpy</test_depend>\n"})}),"\n",(0,r.jsxs)(t.p,{children:["And you can just run ",(0,r.jsx)(t.code,{children:"colcon test"})," to get your tests. I came upon this after attempting to figure out how to create launch files for testing."]}),"\n",(0,r.jsx)(t.h2,{id:"integration-tests-1",children:"Integration Tests"}),"\n",(0,r.jsxs)(t.p,{children:["We can use the same CMake file for configuring an integration test as it was built for that purpose. The ",(0,r.jsx)(t.code,{children:"add_ros_isolated_launch_test"})," isolates the nodes in order to test them. In fact, as long as our CMake file contains those lines of code, we don't have to worry about tests as long as all of our tests are in the test directory and starts with ",(0,r.jsx)(t.code,{children:"test_*.py"})]})]})}function u(e={}){const{wrapper:t}={...(0,o.R)(),...e.components};return t?(0,r.jsx)(t,{...e,children:(0,r.jsx)(d,{...e})}):d(e)}},7227:(e,t,n)=>{n.d(t,{A:()=>a});n(6540);var s=n(4164);const r={tabItem:"tabItem_Ymn6"};var o=n(4848);function a(e){let{children:t,hidden:n,className:a}=e;return(0,o.jsx)("div",{role:"tabpanel",className:(0,s.A)(r.tabItem,a),hidden:n,children:t})}},9489:(e,t,n)=>{n.d(t,{A:()=>v});var s=n(6540),r=n(4164),o=n(4245),a=n(6347),l=n(6494),i=n(2814),c=n(5167),d=n(9900);function u(e){return s.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,s.isValidElement)(e)&&function(e){const{props:t}=e;return!!t&&"object"==typeof t&&"value"in t}(e))return e;throw new Error(`Docusaurus error: Bad <Tabs> child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the <Tabs> component should be <TabItem>, and every <TabItem> should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function h(e){const{values:t,children:n}=e;return(0,s.useMemo)((()=>{const e=t??function(e){return u(e).map((e=>{let{props:{value:t,label:n,attributes:s,default:r}}=e;return{value:t,label:n,attributes:s,default:r}}))}(n);return function(e){const t=(0,c.XI)(e,((e,t)=>e.value===t.value));if(t.length>0)throw new Error(`Docusaurus error: Duplicate values "${t.map((e=>e.value)).join(", ")}" found in <Tabs>. 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Since they didn't have a couse on testing with ROS2, I referenced the ROS2 documentation and ChatGPT while doing this to fill in the gaps for ROS2 Testing. I used the docker image ",(0,r.jsx)(t.code,{children:"osrf/ros:humble-desktop"})," for my environment."]}),"\n",(0,r.jsx)(t.p,{children:"This note will go over:"}),"\n",(0,r.jsxs)(t.ul,{children:["\n",(0,r.jsx)(t.li,{children:"Unit Testing"}),"\n",(0,r.jsx)(t.li,{children:"Node Level Tests"}),"\n",(0,r.jsx)(t.li,{children:"Integration Tests"}),"\n"]}),"\n",(0,r.jsx)(t.h2,{id:"testing-frameworks-for-ros2",children:"Testing Frameworks for ROS2"}),"\n",(0,r.jsxs)(t.table,{children:[(0,r.jsx)(t.thead,{children:(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.th,{children:"Testing Framework"}),(0,r.jsx)(t.th,{children:"Language"}),(0,r.jsx)(t.th,{children:"Purpose"})]})}),(0,r.jsxs)(t.tbody,{children:[(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"Google Test"})}),(0,r.jsx)(t.td,{children:"C++"}),(0,r.jsx)(t.td,{children:"Unit testing with Google Test"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"pytest"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Unit testing for Python-based ROS 2 nodes and library code"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"launch_testing"})}),(0,r.jsx)(t.td,{children:"Python/C++"}),(0,r.jsx)(t.td,{children:"Testing ROS 2 launch files"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"mock, unittest"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Unit testing with mock and unittest"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"ros2-benchmarks"})}),(0,r.jsx)(t.td,{children:"C++/Python"}),(0,r.jsx)(t.td,{children:"Performance testing in ROS 2"})]}),(0,r.jsxs)(t.tr,{children:[(0,r.jsx)(t.td,{children:(0,r.jsx)(t.strong,{children:"Cucumber, Behave"})}),(0,r.jsx)(t.td,{children:"Python"}),(0,r.jsx)(t.td,{children:"Behavior-driven testing (BDD)"})]})]})]}),"\n",(0,r.jsxs)(t.p,{children:["I did not do any testing with gtest as of ",(0,r.jsx)(t.code,{children:"12/25/24"})," and this was done using ",(0,r.jsx)(t.code,{children:"unittest"}),"."]}),"\n",(0,r.jsx)(t.h3,{id:"unit-tests",children:"Unit Tests"}),"\n",(0,r.jsx)(t.p,{children:"Unit tests are mainly to ensure correct functionality of a stand-alone unit or function. This means that they could test a single function, node, or process. Library unit tests are for testing non-ROS2 related issues while ROS2 unit tests are for ROS2 single nodes."}),"\n",(0,r.jsx)(t.h3,{id:"integration-tests",children:"Integration Tests"}),"\n",(0,r.jsx)(t.p,{children:"Integration tests are to ensure correct functionality of the system as a whole. For ROS2, it means starting up multiple nodes and ensuring that they all work as intended."}),"\n",(0,r.jsx)(t.p,{children:"I will be using the code below for all testing purposes."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"#!/usr/bin/env python3\n\nimport rclpy\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Twist\nfrom sensor_msgs.msg import LaserScan\nimport time\n\nclass RobotControl(Node):\n\n def __init__(self):\n super().__init__('robot_control_node')\n self.vel_publisher = self.create_publisher(Twist, '/cmd_vel', 10)\n self.cmd = Twist()\n self.ctrl_c = False\n self.rate = self.create_rate(10)\n self.create_timer(0.1, self.shutdownhook)\n\n def publish_once_in_cmd_vel(self):\n \"\"\"\n Publish a single Twist message to ensure command receipt.\n \"\"\"\n while not self.ctrl_c:\n if self.vel_publisher.get_subscription_count() > 0:\n self.vel_publisher.publish(self.cmd)\n self.get_logger().info(\"Command published\")\n break\n\t else:\n self.rate.sleep()\n\n def shutdownhook(self):\n self.stop_robot()\n self.ctrl_c = True\n\n def stop_robot(self):\n self.cmd.linear.x = 0.0\n self.cmd.angular.z = 0.0\n self.publish_once_in_cmd_vel()\n\n def get_inputs_rotate(self):\n angular_speed = float(input('Enter angular speed (degrees/sec): '))\n angle = float(input('Enter angle (degrees): '))\n clockwise = input('Rotate clockwise? (y/n): ').strip().lower() == 'y'\n return angular_speed, angle, clockwise\n\n def convert_degree_to_rad(self, speed_deg, angle_deg):\n angle = float(input('Enter angle (degrees): '))\n clockwise = input('Rotate clockwise? (y/n): ').strip().lower() == 'y'\n return angular_speed, angle, clockwise\n\n def convert_degree_to_rad(self, speed_deg, angle_deg):\n return speed_deg * 3.141592653589793 / 180, angle_deg * 3.141592653589793 / 180\n\n def rotate(self):\n angular_speed_d, angle_d, clockwise = self.get_inputs_rotate()\n angular_speed_r, angle_r = self.convert_degree_to_rad(angular_speed_d, angle_d)\n\n self.cmd.angular.z = -angular_speed_r if clockwise else angular_speed_r\n\n start_time = self.get_clock().now()\n current_angle = 0.0\n\n while current_angle < angle_r:\n self.vel_publisher.publish(self.cmd)\n elapsed_time = self.get_clock().now() - start_time\n current_angle = angular_speed_r * elapsed_time.nanoseconds * 1e-9\n self.rate.sleep()\n\n self.stop_robot()\n\ndef main(args=None):\n rclpy.init(args=args)\n robot_control = RobotControl()\n try:\n robot_control.rotate()\n except KeyboardInterrupt:\n robot_control.get_logger().info(\"Shutting down gracefully.\")\n finally:\n robot_control.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})}),"\n",(0,r.jsx)(t.admonition,{type:"note",children:(0,r.jsxs)(t.p,{children:["All tests must be within ",(0,r.jsx)(t.code,{children:"test"})," directory and must start as ",(0,r.jsx)(t.code,{children:"test_*.py"})," conventionally."]})}),"\n",(0,r.jsx)(t.h2,{id:"library-unit-tests",children:"Library Unit Tests"}),"\n",(0,r.jsx)(t.h3,{id:"unittest",children:"unittest"}),"\n",(0,r.jsxs)(t.p,{children:["Let's go ahead and create a simple unit test to see if our ",(0,r.jsx)(t.code,{children:"RobotControl"})," is behaving as correctly."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:'#!/usr/bin/env python3\n\nimport unittest # Testing framework\nimport rclpy\nfrom robot_control_py.robot_control import RobotControl\n\nclass TestRobotControl(unittest.TestCase):\n\n @classmethod\n def setUpClass(cls): # Part of the unittest framework where we override to specify logic when we instantiate the Test Node.\n """Initialize rclpy once for the entire test class."""\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls): # Part of the unittest framework where we override to specify logic for shutting down\n """Shutdown rclpy once after all tests are complete."""\n rclpy.shutdown()\n\n def setUp(self): # Applies to each individual test cases and is ran before each test.\n """Set up the test environment by creating a RobotControl node."""\n self.rc = RobotControl()\n\n def tearDown(self): # Applies to each after individual test case.\n """Clean up resources after each test."""\n self.rc.destroy_node()\n\n def test_deg_rad_conversion(self):\n """Test degree-to-radian conversion."""\n speed, angle = self.rc.convert_degree_to_rad(60, 90)\n self.assertAlmostEqual(speed, 1.0472, places=4, msg="Speed conversion failed")\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Angle conversion failed")\n\nif __name__ == \'__main__\':\n unittest.main()\n'})}),"\n",(0,r.jsxs)(t.p,{children:["ROS2 has a built-in testing system using it's build system ",(0,r.jsx)(t.code,{children:"colcon"}),", however, to set it up, we have to configure some files. As a general rule of thumb, while ROS2 ",(0,r.jsx)(t.code,{children:"ament_python"})," is available as a build type, it's in your best interest to work with ",(0,r.jsx)(t.code,{children:"ament_cmake"})," as most ROS2 features require a ",(0,r.jsx)(t.code,{children:"CMakeLists.txt"}),"."]}),"\n",(0,r.jsx)(t.h4,{id:"cmakelist",children:"CMakeList"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:"if(BUILD_TESTING)\n find_package(ament_cmake_pytest REQUIRED)\n ament_add_pytest_test(test_robot_control test/test_robot_control.py)\nendif()\n"})}),"\n",(0,r.jsx)(t.h4,{id:"packagexml",children:"package.xml"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:"<test_depend>ament_cmake_pytest</test_depend>\n"})}),"\n",(0,r.jsx)(t.h4,{id:"setuppy",children:"setup.py"}),"\n",(0,r.jsxs)(t.p,{children:["This is only if you are using an ",(0,r.jsx)(t.code,{children:"ament_python"})," package, and is to provide the ROS2 environment where the test files are after building. Note that you will need the two above files as well."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"(os.path.join('share', package_name, 'test'), glob('test/*.py'))\n"})}),"\n",(0,r.jsxs)(t.p,{children:["If you don't want to utilize the ",(0,r.jsx)(t.code,{children:"colcon"})," build system, you can run the python file as a stand-alone script."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:"python3 test_robot_control.py # Run without ROS2 environment\ncolcon test --packages-select <package_name> # Run with ROS2 environment\ncolcon test-result --all --verbose # Run to see results\n"})}),"\n",(0,r.jsx)(t.p,{children:"The outputs for success and failing:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-text",children:'.\n----------------------------------------------------------------------\nRan 1 test in 0.024s\n\nOK\n\n######################################################################\n\nF\n======================================================================\nFAIL: test_deg_rad_conversion (__main__.TestRobotControl)\nTest degree-to-radian conversion.\n----------------------------------------------------------------------\nTraceback (most recent call last):\n File "/ros2_ws/src/robot_control_py/test/test_robot_control.py", line 30, in test_deg_rad_conversion\n self.assertAlmostEqual(speed, 1.0472, places=4, msg="Speed conversion failed")\nAssertionError: 0.5235987755982988 != 1.0472 within 4 places (0.5236012244017011 difference) : Speed conversion failed\nFinished <<< robot_control_py [0.63s]\nSummary: 1 package finished [0.83s]\nroot@9f3977f822c1:/ros2_ws# colcon test-result --verbose\nSummary: 1 test, 0 errors, 0 failures, 0 skipped\n'})}),"\n",(0,r.jsx)(t.h4,{id:"test-suites",children:"Test Suites"}),"\n",(0,r.jsxs)(t.p,{children:[(0,r.jsx)(t.code,{children:"unittest"})," provides what's known as a Test Suite which allows us to modularize our test cases for different functionalities. Test Suites contain test cases or even other test suites."]}),"\n",(0,r.jsx)(t.p,{children:"We can create a TestSuite via below:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:'#!/usr/bin/env python3\n\nimport unittest\nimport rclpy\nfrom robot_control_py.robot_control import RobotControl\n\nclass TestCaseA(unittest.TestCase):\n\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.rc = RobotControl()\n\n def test_case_a(self):\n speed, angle = self.rc.convert_degree_to_rad(60, 90)\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case A failed")\n\nclass TestCaseB(unittest.TestCase):\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.rc = RobotControl()\n\n def test_case_b(self):\n speed, angle = self.rc.convert_degree_to_rad(60, -90)\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case B failed")\n'})}),"\n",(0,r.jsxs)(t.p,{children:["If we don't want to use the ",(0,r.jsx)(t.code,{children:"colcon"})," build system, we need a runner for this."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"import unittest\nfrom test_robot_control_cases import TestCaseA, TestCaseB\n\nif __name__ == '__main__':\n suite = unittest.TestSuite()\n suite.addTest(TestCaseA('test_case_a'))\n suite.addTest(TestCaseB('test_case_b'))\n runner = unittest.TextTestRunner()\n runner.run(suite)\n"})}),"\n",(0,r.jsx)(t.p,{children:"Output:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:'root@9f3977f822c1:/ros2_ws/src/robot_control_py/test# python3 run_tests.py\n.F\n======================================================================\nFAIL: test_case_b (test_robot_control_cases.TestCaseB)\n----------------------------------------------------------------------\nTraceback (most recent call last):\n File "/ros2_ws/src/robot_control_py/test/test_robot_control_cases.py", line 39, in test_case_b\n self.assertAlmostEqual(angle, 1.57, places=2, msg="Test Case B failed")\nAssertionError: -1.5707963267948966 != 1.57 within 2 places (3.140796326794897 difference) : Test Case B failed ----------------------------------------------------------------------\nRan 2 tests in 0.054s\nFAILED (failures=1)\n'})}),"\n",(0,r.jsx)(t.p,{children:"The tests are failing because we only want positive angles but are accounting for negative angles. We can fix it by adjusting our core code and rebuilding, and doing so will pass our tests."}),"\n",(0,r.jsx)(t.admonition,{type:"info",children:(0,r.jsxs)(t.p,{children:["If you only want to see tests for one package, run\n",(0,r.jsx)(t.code,{children:"colcon test-result --test-result-base build/<package_name> "})]})}),"\n",(0,r.jsx)(t.p,{children:"If you want to color code it, run this command or put it inside a script file:"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:'#!/bin/bash\ncolcon test --packages-select <package_name> --pytest-args="--color=yes" --pytest-args="-v" --event-handlers console_direct+\n\nroot@9f3977f822c1:/ros2_ws# ./tests.sh\nStarting >>> robot_control_py\n============================= test session starts ==============================\nplatform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0 -- /usr/bin/python3\ncachedir: /ros2_ws/build/robot_control_py/.pytest_cache\nrootdir: /ros2_ws/src/robot_control_py, configfile: pytest.ini\nplugins: ament-flake8-0.12.11, ament-pep257-0.12.11, ament-xmllint-0.12.11, ament-copyright-0.12.11, ament-lint-0.12.11, launch-testing-ros-0.19.8, launch-testing-1.0.7, colcon-core-0.18.4\ncollecting ...\ncollected 3 items\ntest/test_robot_control_cases.py::TestCaseA::test_case_a PASSED [ 33%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_b PASSED [ 66%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_string PASSED [100%]\n-------- generated xml file: /ros2_ws/build/robot_control_py/pytest.xml --------\n============================== 3 passed in 0.12s ===============================\nFinished <<< robot_control_py [0.63s] Summary: 1 package finished [0.83s]\n'})}),"\n",(0,r.jsx)(t.h2,{id:"node-tests",children:"Node Tests"}),"\n",(0,r.jsx)(t.p,{children:"Let's do some Node Testing, which is just unit test for ROS2 nodes."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-py",children:"#!/usr/bin/env python3\n\nfrom robot_control_py.robot_control import RobotControl\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Twist\nimport time\nimport rclpy\nimport unittest\n\n\nclass TestRobotControl(unittest.TestCase):\n @classmethod\n def setUpClass(cls):\n rclpy.init()\n\n @classmethod\n def tearDownClass(cls):\n rclpy.shutdown()\n\n def setUp(self):\n self.node = rclpy.create_node('test_robot_control_node')\n self.rc = RobotControl()\n self.success = False\n\n def callback(self, msg):\n print(f\"Received Angular Speed: {msg.angular.z}\")\n self.success = msg.angular.z == 1.0\n\n def test_publish_cmd_vel(self):\n test_sub = self.node.create_subscription(\n Twist, \"/cmd_vel\", self.callback, 10\n )\n self.rc.cmd.angular.z = 1.0\n self.rc.publish_once_in_cmd_vel()\n timeout_t = time.time() + 10.0 # 10 seconds\n\n rclpy.spin_once(self.node, timeout_sec=0.1)\n while not self.success and time.time() < timeout_t:\n rclpy.spin_once(self.node, timeout_sec=0.1)\n\n self.assertTrue(self.success)\n\n def tearDown(self):\n self.node.destroy_node()\n\n\nif __name__ == '__main__':\n unittest.main()\n"})}),"\n",(0,r.jsx)(t.p,{children:"The only difference is that before each test, we are instantiating a ROS2 node and using it within our test function. In our case, we're subscribing to /cmd_vel, and seeing if we do get a message back."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-bash",children:"python3 test_robot_control_node.py\n[INFO] [1735008562.793690945] [robot_control_node]: Command published\nReceived Angular Speed: 1.0\n.\n----------------------------------------------------------------------\nRan 1 test in 0.036s\n\nOK\n\n======================================================================\n./tests.sh robot_control_py\n./tests.sh robot_control_py\nStarting >>> robot_control_py\n============================= test session starts ==============================\nplatform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0 -- /usr/bin/python3\ncachedir: /ros2_ws/build/robot_control_py/.pytest_cache\nrootdir: /ros2_ws/src/robot_control_py, configfile: pytest.ini\nplugins: ament-flake8-0.12.11, ament-pep257-0.12.11, ament-xmllint-0.12.11, ament-copyright-0.12.11, ament-lint-0.12.11, launch-testing-ros-0.19.8, launch-testing-1.0.7, colcon-core-0.18.4\ncollecting ...\ncollected 4 items\n\ntest/test_robot_control_cases.py::TestCaseA::test_case_a PASSED [ 25%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_b PASSED [ 50%]\ntest/test_robot_control_cases.py::TestCaseB::test_case_string PASSED [ 75%]\ntest/test_robot_control_node.py::TestRobotControl::test_publish_cmd_vel PASSED [100%]\n\n-------- generated xml file: /ros2_ws/build/robot_control_py/pytest.xml --------\n============================== 4 passed in 0.15s ===============================\nFinished <<< robot_control_py [0.67s]\n\nSummary: 1 package finished [0.89s]\n"})}),"\n",(0,r.jsx)(t.h4,{id:"automation",children:"Automation"}),"\n",(0,r.jsx)(t.p,{children:"There's actually a way simpler way where we just modify the CMakeLists and package.xml, and remove all the unnecessary stuff from main. From the ROS2 documentation,"}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-txt",children:'cmake_minimum_required(VERSION 3.8)\nproject(app)\n\nif(BUILD_TESTING)\n # Integration tests\n find_package(ament_cmake_ros REQUIRED)\n find_package(launch_testing_ament_cmake REQUIRED)\n function(add_ros_isolated_launch_test path)\n set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")\n add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})\n endfunction()\n add_ros_isolated_launch_test(test/<any_test>.py)\nendif()\n'})}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-xml",children:"<test_depend>ament_cmake_ros</test_depend>\n<test_depend>launch</test_depend>\n<test_depend>launch_ros</test_depend>\n<test_depend>launch_testing</test_depend>\n<test_depend>launch_testing_ament_cmake</test_depend>\n<test_depend>rclpy</test_depend>\n"})}),"\n",(0,r.jsxs)(t.p,{children:["And you can just run ",(0,r.jsx)(t.code,{children:"colcon test"})," to get your tests. 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In fact, as long as our CMake file contains those lines of code, we don't have to worry about tests as long as all of our tests are in the test directory and starts with ",(0,r.jsx)(t.code,{children:"test_*.py"})]})]})}function u(e={}){const{wrapper:t}={...(0,o.R)(),...e.components};return t?(0,r.jsx)(t,{...e,children:(0,r.jsx)(d,{...e})}):d(e)}},9365:(e,t,n)=>{n.d(t,{A:()=>a});n(6540);var s=n(4164);const r={tabItem:"tabItem_Ymn6"};var o=n(4848);function a(e){let{children:t,hidden:n,className:a}=e;return(0,o.jsx)("div",{role:"tabpanel",className:(0,s.A)(r.tabItem,a),hidden:n,children:t})}},1470:(e,t,n)=>{n.d(t,{A:()=>v});var s=n(6540),r=n(4164),o=n(3104),a=n(6347),l=n(205),i=n(7485),c=n(1682),d=n(679);function u(e){return s.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,s.isValidElement)(e)&&function(e){const{props:t}=e;return!!t&&"object"==typeof t&&"value"in t}(e))return e;throw new Error(`Docusaurus error: Bad <Tabs> child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the <Tabs> component should be <TabItem>, and every <TabItem> should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function h(e){const{values:t,children:n}=e;return(0,s.useMemo)((()=>{const e=t??function(e){return u(e).map((e=>{let{props:{value:t,label:n,attributes:s,default:r}}=e;return{value:t,label:n,attributes:s,default:r}}))}(n);return function(e){const t=(0,c.XI)(e,((e,t)=>e.value===t.value));if(t.length>0)throw new Error(`Docusaurus error: Duplicate values "${t.map((e=>e.value)).join(", ")}" found in <Tabs>. 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r=JSON.parse('{"id":"Robotics/ROS2/nav2","title":"Nav2","description":"This has not been proof-read or modified for simpler reading yet.","source":"@site/docs/Robotics/ROS2/nav.mdx","sourceDirName":"Robotics/ROS2","slug":"/Robotics/ROS2/nav2","permalink":"/docs/Robotics/ROS2/nav2","draft":false,"unlisted":false,"tags":[],"version":"current","lastUpdatedAt":1736236800000,"sidebarPosition":1,"frontMatter":{"id":"nav2","title":"Nav2","hide_title":true,"sidebar_position":1,"last_update":{"date":"1/7/2025","author":"Kevin Shin"}},"sidebar":"noteSidebar","previous":{"title":"ROS2","permalink":"/docs/Robotics/ROS2/"},"next":{"title":"Perception","permalink":"/docs/Robotics/ROS2/perception"}}');var t=a(4848),o=a(8453),i=a(4627),s=a.n(i),l=a(8564),c=a.n(l);const d=a.p+"assets/medias/localization-ba3b88ba953cabc06080aaddf7e82f4f.mp4";var h=a(9489),_=a(7227);const m=a.p+"assets/medias/demo-1a40eff5b66c9b8d99e4117f6d3d9c8b.mp4";var p=a(8294),u=a.n(p);const 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Navigation course available on ",(0,t.jsx)(n.a,{href:"https://app.theconstruct.ai",children:"The Construct"}),". As this is a robotics note, you will need physical hardware components to follow along. Before each section though, I will list what is required before starting."]}),"\n",(0,t.jsx)(n.h2,{id:"map",children:"Map"}),"\n",(0,t.jsx)(n.p,{children:"A map is a representation of the environment that the robot is functioning in. It uses the map to localize and plan trajectories. Maps are implemented in ROS2 via an occupancy grid where in each ccell, specific values represent obstacles."}),"\n",(0,t.jsx)(n.h3,{id:"requirements",children:"Requirements"}),"\n",(0,t.jsx)(n.p,{children:"Before starting, we need a robot with LIDAR and Odometry. We also need to use SLAM for localizing. Available ones are cartographer and SLAM-Toolbox. This note uses cartographer as the learning curve is lower. It is notable that cartographer is no longer maintained, so the better software to use is SLAM-Toolbox."}),"\n",(0,t.jsx)(n.p,{children:"Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in both 2D and 3D across multiple platforms and sensor configurations. Cartographer_ros is a ROS wrapper of cartographer so that we can integrate cartographer with ROS. This allows us to use prebuilt packages and only have to configure them."}),"\n",(0,t.jsx)(n.p,{children:(0,t.jsx)(n.img,{src:"https://google-cartographer-ros.readthedocs.io/en/latest/_images/demo_2d.gif",alt:"cartographer_2d"})}),"\n",(0,t.jsx)(n.h3,{id:"configuring-cartographer",children:"Configuring Cartographer"}),"\n",(0,t.jsx)(n.p,{children:"We use a launch file because we can start multiple nodes and can also set a node-specific parameter while launching a node. These parameters can then be loaded from a YAML file or specified in the launch file."}),"\n",(0,t.jsxs)(n.p,{children:["To launch ",(0,t.jsx)(n.code,{children:"cartographer"}),", we need to launch two nodes:"]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\n\ncartographer_config_dir = os.path.join(get_package_share_directory('cartographer_slam'), 'config')\n\nNode(\n package='cartographer_ros',\n executable='cartographer_node',\n name='cartographer_node',\n output='screen',\n parameters=[{'use_sim_time': True}], # boolean indicating node synchronization time with simulation time\n arguments=['-configuration_directory', cartographer_config_dir,\n '-configuration_basename', configuration_basename]\n # configuration_directory specifies where the configuration files are\n # configuration_basename specifies the configuration file name\n ),\nNode(\n package='cartographer_ros',\n executable='cartographer_occupancy_grid_node',\n output='screen',\n name='occupancy_grid_node',\n parameters=[{'use_sim_time': True}],\n arguments=['-resolution', '0.05', '-publish_period_sec', '1.0']\n # resolution specifies number of meters per grid in the map\n # publish_period_sec specifies frequency of publishing to /map topic\n )\n"})}),"\n",(0,t.jsxs)(n.p,{children:["We then create a LUA file named ",(0,t.jsx)(n.code,{children:"cartographer.lua"})," within the config directory."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-lua",children:'include "map_builder.lua"\ninclude "trajectory_builder.lua"\n\noptions = {\n map_builder = MAP_BUILDER,\n trajectory_builder = TRAJECTORY_BUILDER,\n map_frame = "map",\n tracking_frame = "base_footprint",\n published_frame = "odom",\n odom_frame = "odom",\n provide_odom_frame = false,\n publish_frame_projected_to_2d = true,\n use_odometry = true,\n use_nav_sat = false,\n use_landmarks = false,\n num_laser_scans = 1,\n num_multi_echo_laser_scans = 0,\n num_subdivisions_per_laser_scan = 1,\n num_point_clouds = 0,\n lookup_transform_timeout_sec = 0.2,\n submap_publish_period_sec = 0.3,\n pose_publish_period_sec = 5e-3,\n trajectory_publish_period_sec = 30e-3,\n rangefinder_sampling_ratio = 1.,\n odometry_sampling_ratio = 1.,\n fixed_frame_pose_sampling_ratio = 1.,\n imu_sampling_ratio = 1.,\n landmarks_sampling_ratio = 1.,\n}\n\nMAP_BUILDER.use_trajectory_builder_2d = true\n\nTRAJECTORY_BUILDER_2D.min_range = 0.12\nTRAJECTORY_BUILDER_2D.max_range = 3.5\nTRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0\nTRAJECTORY_BUILDER_2D.use_imu_data = false\nTRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true\nTRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)\n\nPOSE_GRAPH.constraint_builder.min_score = 0.65\nPOSE_GRAPH.constraint_builder.global_localization_min_score = 0.7\n\n-- POSE_GRAPH.optimize_every_n_nodes = 0\n\nreturn options\n'})}),"\n",(0,t.jsx)(n.p,{children:"Make sure that within setup.py, we specify the new config and lua directories. If you're using C++, make sure to specify the DIRECTORIES within CMakeList."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),\n(os.path.join('share', package_name, 'config'), glob('config/*')),\n"})}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-cpp",children:"install(DIRECTORY\n launch\n config\n DESTINATION share/${PROJECT_NAME}/\n)\n"})}),"\n",(0,t.jsx)(n.p,{children:"We can then compile the package and launch the launch file. We can then run rviz2 on another terminal while this is running."}),"\n",(0,t.jsxs)(n.p,{children:["To display our mapping, add the ",(0,t.jsx)(n.code,{children:"map"})," display and set the topic to ",(0,t.jsx)(n.code,{children:"/map"}),". If the mapping isn't showing, then the Quality of Service (QoS) parameters of the ",(0,t.jsx)(n.code,{children:"/map"})," may be wrong. We can add a couple more displays."]}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"TF"}),": Allows us to see the frames of the robot"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"LaserScan"}),": Allows us to see the laser coliding with the objects on the map"]}),"\n"]}),"\n",(0,t.jsx)(n.admonition,{type:"note",children:(0,t.jsx)(n.p,{children:"These are all specific to the hardware configurations the construct provides"})}),"\n",(0,t.jsx)("img",{src:s().src,width:"100%"}),"\n",(0,t.jsx)(n.p,{children:"After moving and mapping around, we'll have our entire domain."}),"\n",(0,t.jsx)("img",{src:c().src,width:"100%"}),"\n",(0,t.jsx)(n.h3,{id:"different-configurations",children:"Different Configurations"}),"\n",(0,t.jsxs)(n.p,{children:["Cartographer works for many robots and sensors but must be configured properly to work optimally. 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All configurations can be given from the Lua configuration file.This means that in the launch files, we have to remap those three if we want to publish data to them."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"from launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n return LaunchDescription([\n Node(\n package='cartographer_ros',\n executable='cartographer_node',\n name='cartographer',\n remappings=[\n ('/scan', '/my_laser_scan'),\n ('/odom', '/my_odom'),\n ('/imu', '/my_imu')\n ]\n )\n ])\n"})}),"\n",(0,t.jsxs)(n.table,{children:[(0,t.jsx)(n.thead,{children:(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.th,{children:(0,t.jsx)(n.strong,{children:"Category"})}),(0,t.jsx)(n.th,{children:(0,t.jsx)(n.strong,{children:"Parameter"})}),(0,t.jsx)(n.th,{children:(0,t.jsx)(n.strong,{children:"Description"})}),(0,t.jsx)(n.th,{children:(0,t.jsx)(n.strong,{children:"Default"})})]})}),(0,t.jsxs)(n.tbody,{children:[(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.strong,{children:"Frames"})}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"map_frame"})}),(0,t.jsx)(n.td,{children:"ROS frame ID for publishing sub-maps, the parent frame of poses."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"map"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"tracking_frame"})}),(0,t.jsxs)(n.td,{children:["Frame ID tracked by SLAM. 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enabled."]}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"true"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"use_odometry"})}),(0,t.jsxs)(n.td,{children:["Subscribes to ",(0,t.jsx)(n.code,{children:"nav_msgs/Odometry"})," on ",(0,t.jsx)(n.code,{children:"odom"})," topic and includes odometry in SLAM."]}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"true"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"use_nav_sat"})}),(0,t.jsxs)(n.td,{children:["Subscribes to ",(0,t.jsx)(n.code,{children:"sensor_msgs/NavSatFix"})," on ",(0,t.jsx)(n.code,{children:"fix"})," topic and includes navigation data in SLAM."]}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"true"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.strong,{children:"Laser Parameters"})}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"num_laser_scans"})}),(0,t.jsx)(n.td,{children:"Number of laser scan topics to subscribe to."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"num_multi_echo_laser_scans"})}),(0,t.jsx)(n.td,{children:"Number of multi-echo laser scan topics to subscribe to."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"num_subdivisions_per_laser_scan"})}),(0,t.jsx)(n.td,{children:"Number of point clouds to split each laser scan for unwarping during motion."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"num_point_clouds"})}),(0,t.jsx)(n.td,{children:"Number of point cloud topics to subscribe to."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.strong,{children:"Filter Parameters"})}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"lookup_transform_timeout_sec"})}),(0,t.jsx)(n.td,{children:"Timeout in seconds for looking up transforms using tf2."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"0.2"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"submap_publish_period_sec"})}),(0,t.jsx)(n.td,{children:"Interval in seconds to publish submap poses."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"0.3"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"pose_publish_period_sec"})}),(0,t.jsx)(n.td,{children:"Interval in seconds to publish poses (e.g., 5e-3 for 200 Hz)."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"5e-3"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"trajectory_publish_period_sec"})}),(0,t.jsx)(n.td,{children:"Interval in seconds to publish trajectory markers (e.g., 30e-3 for 30 ms)."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"30e-3"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"odometry_sampling_ratio"})}),(0,t.jsx)(n.td,{children:"Sampling ratio for odometry messages."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"fixed_frame_sampling_ratio"})}),(0,t.jsx)(n.td,{children:"Sampling ratio for fixed frame messages."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"imu_sampling_ratio"})}),(0,t.jsx)(n.td,{children:"Sampling ratio for IMU messages."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"landmarks_sampling_ratio"})}),(0,t.jsx)(n.td,{children:"Sampling ratio for landmark messages."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"1.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.strong,{children:"Trajectory Builder"})}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"TRAJECTORY_BUILDER_2D.min_range"})}),(0,t.jsx)(n.td,{children:"Minimum distance measured to be considered for mapping."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"0.2"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"TRAJECTORY_BUILDER_2D.max_range"})}),(0,t.jsx)(n.td,{children:"Maximum distance measured to be considered for mapping."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"30.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"TRAJECTORY_BUILDER_2D.missing_data_ray_length"})}),(0,t.jsx)(n.td,{children:"Distance to treat as a lost laser ray."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"25.0"})})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"TRAJECTORY_BUILDER_2D.use_imu_data"})}),(0,t.jsx)(n.td,{children:"Whether or not to use IMU data."}),(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"true"})})]})]})]}),"\n",(0,t.jsxs)(n.p,{children:["If we want to save the map that we mapped out, we can run an executable named ",(0,t.jsx)(n.code,{children:"map_saver"})," from ",(0,t.jsx)(n.code,{children:"nav2_map_server"}),". It's important that we call this within the directory that we want to save the map in. The cartography has to be running for this to work."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:"ros2 run nav2_map_server map_saver_cli -f <name>\n"})}),"\n",(0,t.jsxs)(n.p,{children:["This'll generate two files of type ",(0,t.jsx)(n.code,{children:".pgm and .yaml"}),". The ",(0,t.jsx)(n.code,{children:".pgm"})," is an image file of the map as an occupancy grid image. The ",(0,t.jsx)(n.code,{children:".yaml"})," contains details about the resolution of the map."]}),"\n",(0,t.jsx)(n.p,{children:"Example:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:"image: turtlebot_area.pgm\nmode: trinary\nresolution: 0.05 # Resolution of the map (meters/pixel)\norigin: [-3.8, -1.84, 0] # Coordinates of the lower-left pixel on the map (x,y,z). The third value indicates rotation and if there is none, value is 0\nnegate: 0 # Inverts the color of the map.\noccupied_thresh: 0.65 # Pixels with a value greater than this value will be considered an occupied zone\nfree_thresh: 0.25 # Pixels with a value smaller than this will be considered a completely free zone\n"})}),"\n",(0,t.jsx)(n.h3,{id:"using-saved-map",children:"Using Saved Map"}),"\n",(0,t.jsxs)(n.p,{children:["If we want to use this saved map, we have to launch ",(0,t.jsx)(n.code,{children:"map_server"})," and ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"}),". We can create a custom launch file for this, but we must specify some parameters."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrmo ament_index_python.packages import get_package_share_directory\nimport os\n\ndef generate_launch_description():\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\n return LaunchDescription([\n Node(\n package=\"nav2_map_server\",\n executable=\"map_server\",\n name=\"map_server\",\n output=\"screen\",\n parameters=[{'use_sim_time': True}, # Boolean indicating if map_server must synchronize with its time with the simulation\n {'yaml_filename':map_file] # The complete path to the map yaml file\n ),\n Node(\n package=\"nav2_lifecycle_manager\",\n executable=\"lifecycle_manager\",\n name=\"lifecycle_manager_mapper\",\n output=\"screen\",\n parameters=[{'use_sim_time': True},\n {'autostart': True}, # lifecycle manager autostart when launched\n {'node_names': ['map_server']}] # Nodes that the lifecycle manager takes care of\n )\n ])\n"})}),"\n",(0,t.jsx)(n.p,{children:"We can try using our saved map by creating a ROS2 package called map_server, placing our saved map files inside of config, and creating our launch file. Note that we can just put our launch file in any package and just create a new launch file with our configs."}),"\n",(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsx)(n.p,{children:"You must specify your map display durability as Transient Local. Volatile means use incoming data being published as the map source, while transient local allows us to check if we had any cached messages that were published but not received by our subscriber as well as all incoming data."})}),"\n",(0,t.jsx)(n.h2,{id:"nav2-lifecycle-manager",children:"Nav2 Lifecycle Manager"}),"\n",(0,t.jsx)(n.p,{children:"Navigation nodes are managed nodes meaning that they can be easily controlled to be restarted, paused, or running. They can do so by being at these states:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"Unconfigured"}),"\n",(0,t.jsx)(n.li,{children:"Inactive"}),"\n",(0,t.jsx)(n.li,{children:"Active"}),"\n",(0,t.jsx)(n.li,{children:"Finalized"}),"\n"]}),"\n",(0,t.jsxs)(n.p,{children:["The diagram is taken from the course and depicts how nodes transition from one state to another. Seems to be like a state machine.\n",(0,t.jsx)(n.img,{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/lifecycle.png",alt:"Node Transition"})]}),"\n",(0,t.jsxs)(n.p,{children:["Managed nodes start at the ",(0,t.jsx)(n.code,{children:"unconfigured"})," state and is active usually when running. To transition to ",(0,t.jsx)(n.code,{children:"active"}),", nodes need an external agent that moves them to this state. Several nodes in Nav2, such as ",(0,t.jsx)(n.code,{children:"map_server"}),", ",(0,t.jsx)(n.code,{children:"amcl"}),", ",(0,t.jsx)(n.code,{children:"planner_server"}),", and ",(0,t.jsx)(n.code,{children:"controller_server"}),", are lifecycle enabled meaning they are managed nodes."]}),"\n",(0,t.jsx)(n.p,{children:"These nodes have the required overrides of the lifecycle functions:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"on_configure()"}),"\n",(0,t.jsx)(n.li,{children:"on_activate()"}),"\n",(0,t.jsx)(n.li,{children:"on_deactivate()"}),"\n",(0,t.jsx)(n.li,{children:"on_cleanup()"}),"\n",(0,t.jsx)(n.li,{children:"on_shutdown()"}),"\n",(0,t.jsx)(n.li,{children:"on_error()"}),"\n"]}),"\n",(0,t.jsx)(n.h4,{id:"lifecycle-manager",children:"Lifecycle Manager"}),"\n",(0,t.jsxs)(n.p,{children:["In Nav2, the external agent that helps transition nodes to an active state is called the ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"}),". The lifecycle manager changes the state of the managed nodes to achieve a controlled startup, shutdown, reset, pause, or resume of the navigation stack."]}),"\n",(0,t.jsx)(n.p,{children:"Referenced from Steve Macenski"}),"\n",(0,t.jsx)(n.p,{children:(0,t.jsx)(n.img,{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/diagram_lifecycle_manager.png",alt:"Figure"})}),"\n",(0,t.jsxs)(n.p,{children:["Nav2 uses a wrapper of ",(0,t.jsx)(n.code,{children:"LifecycleNode"}),", the ",(0,t.jsx)(n.code,{children:"nav2_util LifecycleNode"})," and it hides many abstractions of LifecycleNodes for typical applications. It includes a bond connection for the ",(0,t.jsx)(n.code,{children:"lifecycle manager"})," to ensure that after a node transitions up, it also remains active. When a node crashes, it lets the ",(0,t.jsx)(n.code,{children:"lifecycle manager"})," know and transitions down the system to prevent a critical failure."]}),"\n",(0,t.jsxs)(n.p,{children:["The ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," provides a ROS service from which other ROS nodes can invoke the startup, shutdown, reset, pause, or resume functions. Based on these requests, the ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," calls the necessary lifecycle services in the managed nodes. As shown previously in the ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," node within the launch file, we specify which nodes need management via ",(0,t.jsx)(n.code,{children:"node_names"}),". The ordering matters as that is the order in which they have to be moved to initialized (first to last) and the order in which they are paused and stopped (last to first)."]}),"\n",(0,t.jsxs)(n.p,{children:["It's important that the manager has the ",(0,t.jsx)(n.code,{children:"autostart"})," parameter which allows the ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," to do it's default behavior."]}),"\n",(0,t.jsxs)(n.p,{children:["You interact with the ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," via a service named:"]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:'/<lifecycle_manager_node_name>/manage_nodes\n\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 0}" # Start the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 1}" # Pause the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 2}" # Resume the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 3}" # Reset the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 4}" # Shutdown the nodes\n'})}),"\n",(0,t.jsxs)(n.p,{children:["This is because the service ",(0,t.jsx)(n.code,{children:"/manage_nodes"})," uses the message ",(0,t.jsx)(n.code,{children:"nav2_msgs/srv/ManageLifecycleNodes"})," which is as follows:"]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-txt",children:"uint8 STARTUP = 0\nuint8 PAUSE = 1\nuint8 RESUME = 2\nuint8 RESET = 3\nuint8 SHUTDOWN = 4\n\nuint8 command\n---\nbool success\n"})}),"\n",(0,t.jsx)(n.h2,{id:"localization",children:"Localization"}),"\n",(0,t.jsx)(n.p,{children:"Localization is knowing the current position with respect to the environment. This means knowing the position and orientation. This is otherwise known as the pose."}),"\n",(0,t.jsxs)(n.p,{children:["ROS has a very robust algorithm for localization. It uses ",(0,t.jsx)(n.code,{children:"AMCL"})," which is the Adaptive Monte-Carlo Licalization and uses a probabilistic localization system for a robot moving in 2D. It implements the adaptive or KLD sampling Monte Carlo localization approach which uses a particle filter to track a robot's pose against a known map."]}),"\n",(0,t.jsx)(n.p,{children:(0,t.jsxs)(n.strong,{children:["A ROS Robot is localized when somebody publishes a transform between the ",(0,t.jsx)(n.code,{children:"/map"})," frame and the ",(0,t.jsx)(n.code,{children:"/odom"})," frame"]})}),"\n",(0,t.jsxs)(n.p,{children:["That means that the ",(0,t.jsx)(n.code,{children:"/odom"})," frame of the robot knows its relative position to the ",(0,t.jsx)(n.code,{children:"/map"})," frame. Therefore, the robot knows its position on the map since ",(0,t.jsx)(n.code,{children:"/base_link"})," frame is directly connected to the ",(0,t.jsx)(n.code,{children:"/odom"})," frame."]}),"\n",(0,t.jsx)(n.p,{children:"When everything is correct, the AMCL publishes that transform."}),"\n",(0,t.jsx)(n.h3,{id:"ros2-localization",children:"ROS2 Localization"}),"\n",(0,t.jsx)(n.p,{children:"In order to localize, we need three nodes:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"map_server"}),": provides the map to the localization algorithm"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"localization"}),": the algorithm"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"life cycle manager"}),": state manager"]}),"\n"]}),"\n",(0,t.jsxs)(n.p,{children:["Let's create an ",(0,t.jsx)(n.code,{children:"ament_cmake"})," package and the launch file for all three nodes."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"from ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\nimport os\n\ndef generate_launch_description():\n nav2_yaml = os.path.join(get_package_share_directory('localization'), 'config', 'amcl_config.yaml')\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\n print(map_file)\n return LaunchDescription([\n Node(\n package=\"nav2_map_server\",\n executable=\"map_server\",\n name=\"map_server\",\n output=\"screen\",\n parameters=[{'use_sim_time': True}, {'yaml_filename': map_file}] ## This is the saved map we got from our cartography.\n ),\n Node(\n package=\"nav2_amcl\",\n executable=\"amcl\",\n name=\"amcl\",\n output=\"screen\",\n parameters=[nav2_yaml]\n ),\n Node(\n package=\"nav2_lifecycle_manager\",\nLaunch Fil executable=\"lifecycle_manager\",\n name=\"lifecycle_manager\",\n output=\"screen\",\n parameters=[{'use_sim_time': True},\n {'autostart': True},\n {'node_names': ['map_server', 'amcl']}]\n )\n ])\n"})}),"\n",(0,t.jsx)(n.p,{children:"The amcl_config specifies the configurations for the localization algorithm. This goes inside of the config directory of your package."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'amcl:\n ros__parameters:\n use_sim_time: True\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: "base_footprint"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: "map"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: "likelihood_field"\n max_beams: 60\n max_particles: 8000\n min_particles: 200\n odom_frame_id: "odom"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: "nav2_amcl::DifferentialMotionModel"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n'})}),"\n",(0,t.jsx)(n.p,{children:"Make sure to add launch and config files respective to whatever build package you are using."}),"\n",(0,t.jsx)(n.h4,{id:"for-python",children:"For Python"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),\n(os.path.join('share', package_name, 'config'), glob('config/*')),\n"})}),"\n",(0,t.jsx)(n.h4,{id:"for-c",children:"For C++"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-text",children:"install(DIRECTORY\n launch\n config\n DESTINATION $share/{PROJECT_NAME}\n)\n"})}),"\n",(0,t.jsx)(n.p,{children:"If all is placed correctly, we should be able to receive our old map. From there onwards, you want to configure your RVIZ settings with these below:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"map"}),": Environment"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"TF"}),": Frames of the robot"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Robot Model"}),": Robot structure (uses URDF model)"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Laser Scan"}),": Estimate of robot position relative to actual map"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Pose with Covariance"}),": Status of the localization"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Particle Cloud"}),": See the localization particle distribution"]}),"\n"]}),"\n",(0,t.jsx)(n.admonition,{type:"note",children:(0,t.jsx)(n.p,{children:"Particle cloud uses the reliability policy of best effort and not volatile. If you want to use these configs again, you can save them."})}),"\n",(0,t.jsxs)(n.p,{children:["We can use the ",(0,t.jsx)(n.code,{children:"2D Pose Estimate"})," to tell our ",(0,t.jsx)(n.code,{children:"AMCL"})," system to start localizing the robot. You want to put it at a rough estimate of where the robot is so the algorithm can estimate roughly from the initial state. This'll start publishing the transform between ",(0,t.jsx)(n.code,{children:"map"})," and ",(0,t.jsx)(n.code,{children:"odom"})," topics respectively. When we say transform, it means relationship. The map and odom data are independent from oen another, but there is a mathematical relationship between them using AMCL, and can be used to \"localize\" our robot's position from these data. That's because we have laser scan (environment scanning) and odometry (wheel/position)."]}),"\n",(0,t.jsx)(n.p,{children:"If we start moving our robot, our estimation and localization starts to fit better."}),"\n",(0,t.jsx)("video",{width:"100%",src:d,controls:!0,title:"Localization Video"}),"\n",(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsxs)(n.p,{children:["For 2D Localization, we only need ",(0,t.jsxs)(n.span,{className:"katex",children:[(0,t.jsx)(n.span,{className:"katex-mathml",children:(0,t.jsx)(n.math,{xmlns:"http://www.w3.org/1998/Math/MathML",children:(0,t.jsxs)(n.semantics,{children:[(0,t.jsxs)(n.mrow,{children:[(0,t.jsx)(n.mo,{stretchy:"false",children:"("}),(0,t.jsx)(n.mi,{children:"x"}),(0,t.jsx)(n.mo,{separator:"true",children:","}),(0,t.jsx)(n.mi,{children:"y"}),(0,t.jsx)(n.mo,{separator:"true",children:","}),(0,t.jsx)(n.mi,{children:"\u03b8"}),(0,t.jsx)(n.mo,{stretchy:"false",children:")"})]}),(0,t.jsx)(n.annotation,{encoding:"application/x-tex",children:"(x,y, \\theta)"})]})})}),(0,t.jsx)(n.span,{className:"katex-html","aria-hidden":"true",children:(0,t.jsxs)(n.span,{className:"base",children:[(0,t.jsx)(n.span,{className:"strut",style:{height:"1em",verticalAlign:"-0.25em"}}),(0,t.jsx)(n.span,{className:"mopen",children:"("}),(0,t.jsx)(n.span,{className:"mord mathnormal",children:"x"}),(0,t.jsx)(n.span,{className:"mpunct",children:","}),(0,t.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,t.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.03588em"},children:"y"}),(0,t.jsx)(n.span,{className:"mpunct",children:","}),(0,t.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,t.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.02778em"},children:"\u03b8"}),(0,t.jsx)(n.span,{className:"mclose",children:")"})]})})]})," and are the variables used for setting the robot in the ",(0,t.jsx)(n.code,{children:"map"})," frame. We can compute ",(0,t.jsxs)(n.span,{className:"katex",children:[(0,t.jsx)(n.span,{className:"katex-mathml",children:(0,t.jsx)(n.math,{xmlns:"http://www.w3.org/1998/Math/MathML",children:(0,t.jsxs)(n.semantics,{children:[(0,t.jsxs)(n.mrow,{children:[(0,t.jsx)(n.mo,{stretchy:"false",children:"("}),(0,t.jsx)(n.mi,{children:"x"}),(0,t.jsx)(n.mo,{separator:"true",children:","}),(0,t.jsx)(n.mi,{children:"y"}),(0,t.jsx)(n.mo,{separator:"true",children:","}),(0,t.jsx)(n.mi,{children:"\u03b8"}),(0,t.jsx)(n.mo,{stretchy:"false",children:")"})]}),(0,t.jsx)(n.annotation,{encoding:"application/x-tex",children:"(x,y,\\theta)"})]})})}),(0,t.jsx)(n.span,{className:"katex-html","aria-hidden":"true",children:(0,t.jsxs)(n.span,{className:"base",children:[(0,t.jsx)(n.span,{className:"strut",style:{height:"1em",verticalAlign:"-0.25em"}}),(0,t.jsx)(n.span,{className:"mopen",children:"("}),(0,t.jsx)(n.span,{className:"mord mathnormal",children:"x"}),(0,t.jsx)(n.span,{className:"mpunct",children:","}),(0,t.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,t.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.03588em"},children:"y"}),(0,t.jsx)(n.span,{className:"mpunct",children:","}),(0,t.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,t.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.02778em"},children:"\u03b8"}),(0,t.jsx)(n.span,{className:"mclose",children:")"})]})})]})," by using the AMCL.\nThe Adaptive Monte Carlo Localization algorithm uses particles to localize the robot. Each particle have their own coordinates, orientation value, and a weight. These weights are the likelihood of the particle being a good estimate of the robot's actual pose based on our sensor data. That means that if our weight is higher for a given particle, that particle is more likely to represent the robot's true pose. These particles are then re-sampled whenever the robot moves and with new sensor data, the higher likelihood particles remain and will converge over many iterations to the robot's true pose."]})}),"\n",(0,t.jsx)(n.p,{children:"To get a good localization of our robot, we need to configure out AMCL node from our amcl_config.yaml. Below are the parameters and their respective categories."}),"\n",(0,t.jsx)(n.h4,{id:"overall-filter-parameters",children:"Overall Filter Parameters"}),"\n",(0,t.jsxs)(n.table,{children:[(0,t.jsx)(n.thead,{children:(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.th,{children:"Parameter"}),(0,t.jsx)(n.th,{children:"Type"}),(0,t.jsx)(n.th,{children:"Default"}),(0,t.jsx)(n.th,{children:"Description"})]})}),(0,t.jsxs)(n.tbody,{children:[(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"min_particles"})}),(0,t.jsx)(n.td,{children:"int"}),(0,t.jsx)(n.td,{children:"500"}),(0,t.jsx)(n.td,{children:"Minimum allowed number of particles."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"max_particles"})}),(0,t.jsx)(n.td,{children:"int"}),(0,t.jsx)(n.td,{children:"2000"}),(0,t.jsx)(n.td,{children:"Maximum allowed number of particles."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"update_min_d"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.25 meters"}),(0,t.jsx)(n.td,{children:"Translational movement required before performing a filter update."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"update_min_a"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2 radians"}),(0,t.jsx)(n.td,{children:"Rotational movement required before performing a filter update."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"resample_interval"})}),(0,t.jsx)(n.td,{children:"int"}),(0,t.jsx)(n.td,{children:"1"}),(0,t.jsx)(n.td,{children:"Number of filter updates required before re-sampling."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"transform_tolerance"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"1.0 seconds"}),(0,t.jsx)(n.td,{children:"Time to post-date the published transform, indicating validity into the future."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"recovery_alpha_slow"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.0 (disabled)"}),(0,t.jsx)(n.td,{children:"Exponential decay rate for the slow average weight filter; helps decide recovery with random poses. Suggested: 0.001."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"recovery_alpha_fast"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.0 (disabled)"}),(0,t.jsx)(n.td,{children:"Exponential decay rate for the fast average weight filter; helps decide recovery with random poses. Suggested: 0.1."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"set_initial_pose"})}),(0,t.jsx)(n.td,{children:"bool"}),(0,t.jsx)(n.td,{children:"false"}),(0,t.jsxs)(n.td,{children:["Causes AMCL to set the initial pose from ",(0,t.jsx)(n.code,{children:"initial_pose*"})," parameters instead of waiting for the ",(0,t.jsx)(n.code,{children:"initial_pose"})," message."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"initial_pose"})}),(0,t.jsx)(n.td,{children:"Pose2D"}),(0,t.jsx)(n.td,{children:0}),(0,t.jsx)(n.td,{children:"X, Y, Z, and yaw coordinates of the robot base frame's initial pose in the global frame."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"always_reset_initial_pose"})}),(0,t.jsx)(n.td,{children:"bool"}),(0,t.jsx)(n.td,{children:"false"}),(0,t.jsx)(n.td,{children:"Requires an initial pose on reset. Uses the last known pose if false."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"save_pose_rate"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.5 Hz"}),(0,t.jsx)(n.td,{children:"Maximum rate at which to save the last estimated pose and covariance to the parameter server. Use -1.0 to disable."})]})]})]}),"\n",(0,t.jsx)(n.h4,{id:"laser-model-parameters",children:"Laser Model Parameters"}),"\n",(0,t.jsxs)(n.table,{children:[(0,t.jsx)(n.thead,{children:(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.th,{children:"Parameter"}),(0,t.jsx)(n.th,{children:"Type"}),(0,t.jsx)(n.th,{children:"Default"}),(0,t.jsx)(n.th,{children:"Description"})]})}),(0,t.jsxs)(n.tbody,{children:[(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"laser_min_range"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"-1.0"}),(0,t.jsx)(n.td,{children:"Minimum scan range to be considered. Use laser's minimum range if set to -1.0."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"laser_max_range"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"100"}),(0,t.jsx)(n.td,{children:"Maximum scan range to be considered. Use laser's maximum range if set to -1.0."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"max_beams"})}),(0,t.jsx)(n.td,{children:"int"}),(0,t.jsx)(n.td,{children:"60"}),(0,t.jsx)(n.td,{children:"Number of evenly-spaced beams in each scan used when updating the filter."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"z_hit"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.5"}),(0,t.jsxs)(n.td,{children:["Mixture weight for ",(0,t.jsx)(n.code,{children:"z_hit"})," part of the model."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"z_short"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.05"}),(0,t.jsxs)(n.td,{children:["Mixture weight for the ",(0,t.jsx)(n.code,{children:"z_short"})," part of the model."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"z_max"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.05"}),(0,t.jsxs)(n.td,{children:["Mixture weight for the ",(0,t.jsx)(n.code,{children:"z_max"})," part of the model."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"z_rand"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.5"}),(0,t.jsxs)(n.td,{children:["Mixture weight for the ",(0,t.jsx)(n.code,{children:"z_rand"})," part of the model."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"sigma_hit"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2 meters"}),(0,t.jsxs)(n.td,{children:["Standard deviation for Gaussian model used in ",(0,t.jsx)(n.code,{children:"z_hit"})," part."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"lambda_short"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.1"}),(0,t.jsxs)(n.td,{children:["Exponential decay parameter for the ",(0,t.jsx)(n.code,{children:"z_short"})," part of the model."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"laser_likelihood_max_dist"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"2.0 meters"}),(0,t.jsx)(n.td,{children:"Maximum distance for obstacle inflation in the likelihood_field model."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"laser_model_type"})}),(0,t.jsx)(n.td,{children:"string"}),(0,t.jsx)(n.td,{children:'"likelihood_field"'}),(0,t.jsxs)(n.td,{children:["Model to use: ",(0,t.jsx)(n.code,{children:"beam"}),", ",(0,t.jsx)(n.code,{children:"likelihood_field"}),", or ",(0,t.jsx)(n.code,{children:"likelihood_field_prob"})," (includes beam skipping)."]})]})]})]}),"\n",(0,t.jsx)(n.p,{children:"Mixture weights should sum to 1."}),"\n",(0,t.jsx)(n.h4,{id:"odometry-model-parameters",children:"Odometry Model Parameters"}),"\n",(0,t.jsxs)(n.table,{children:[(0,t.jsx)(n.thead,{children:(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.th,{children:"Parameter"}),(0,t.jsx)(n.th,{children:"Type"}),(0,t.jsx)(n.th,{children:"Default"}),(0,t.jsx)(n.th,{children:"Description"})]})}),(0,t.jsxs)(n.tbody,{children:[(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"robot_model_type"})}),(0,t.jsx)(n.td,{children:"string"}),(0,t.jsx)(n.td,{children:'"differential"'}),(0,t.jsxs)(n.td,{children:["Type of motion model: ",(0,t.jsx)(n.code,{children:"differential"})," or ",(0,t.jsx)(n.code,{children:"omnidirectional"}),"."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"alpha1"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2"}),(0,t.jsx)(n.td,{children:"Noise in odometry's rotation estimate from rotational motion."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"alpha2"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2"}),(0,t.jsx)(n.td,{children:"Noise in odometry's rotation estimate from translational motion."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"alpha3"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2"}),(0,t.jsx)(n.td,{children:"Noise in odometry's translation estimate from translational motion."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"alpha4"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2"}),(0,t.jsx)(n.td,{children:"Noise in odometry's translation estimate from rotational motion."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"alpha5"})}),(0,t.jsx)(n.td,{children:"double"}),(0,t.jsx)(n.td,{children:"0.2"}),(0,t.jsxs)(n.td,{children:["Translation-related noise parameter (only for ",(0,t.jsx)(n.code,{children:"omni"})," model)."]})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"odom_frame_id"})}),(0,t.jsx)(n.td,{children:"string"}),(0,t.jsx)(n.td,{children:'"odom"'}),(0,t.jsx)(n.td,{children:"Frame to use for odometry."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"base_frame_id"})}),(0,t.jsx)(n.td,{children:"string"}),(0,t.jsx)(n.td,{children:'"base_footprint"'}),(0,t.jsx)(n.td,{children:"Frame to use for the robot base."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"global_frame_id"})}),(0,t.jsx)(n.td,{children:"string"}),(0,t.jsx)(n.td,{children:'"map"'}),(0,t.jsx)(n.td,{children:"Name of the coordinate frame published by the localization system."})]}),(0,t.jsxs)(n.tr,{children:[(0,t.jsx)(n.td,{children:(0,t.jsx)(n.code,{children:"tf_broadcast"})}),(0,t.jsx)(n.td,{children:"bool"}),(0,t.jsx)(n.td,{children:"true"}),(0,t.jsx)(n.td,{children:"Set to false to prevent AMCL from publishing the transform between global and odometry frames."})]})]})]}),"\n",(0,t.jsx)(n.h3,{id:"auto-localization",children:"Auto Localization"}),"\n",(0,t.jsx)(n.h4,{id:"via-yaml",children:"Via YAML"}),"\n",(0,t.jsxs)(n.p,{children:["If you don't want to localize via GUI ",(0,t.jsx)(n.code,{children:"rviz"}),", you can do so by modifying the configuration settings for ",(0,t.jsx)(n.code,{children:"amcl"}),". When you start your localization server, you're given the initial_pose, to which you can set those within the ",(0,t.jsx)(n.code,{children:"amcl_config"}),":"]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:"set_initial_pose: true\ninitial_pose:\n x: -4.44264\n y: 2.32243\n yaw: 0.328028\n"})}),"\n",(0,t.jsx)(n.p,{children:"Rebuild the package, and you can start the server and not have to localize the robot."}),"\n",(0,t.jsx)(n.h4,{id:"via-cli",children:"Via CLI"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:"ros2 topic pub -1 /initialpose geometry_msgs/msg/PoseWithCovarianceStamped \"{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}}\"\n"})}),"\n",(0,t.jsx)(n.h3,{id:"global-localization",children:"Global Localization"}),"\n",(0,t.jsx)(n.p,{children:"Global localization is when neither the person or robot knows where it is on the map. In order to localize itself, it does global localization:"}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsxs)(n.li,{children:["Distribute all the particles of the filter across the map. (Calls the service ",(0,t.jsx)(n.code,{children:"/reinitialize_global_localization"})]}),"\n",(0,t.jsx)(n.li,{children:"Move the robot around until it detects where the it is located. If the environment is simple, can just rotate itself."}),"\n"]}),"\n",(0,t.jsx)(n.p,{children:"Modify the amcl_config to increase particles:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:"max_particles: 80000\nmin_particles: 2000\n"})}),"\n",(0,t.jsx)(n.p,{children:"Call the service and start moving around to localize."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:"ros2 service call /reinitialize_global_localization std_srvs/srv/Empty\n"})}),"\n",(0,t.jsx)(n.h2,{id:"path-planning",children:"Path Planning"}),"\n",(0,t.jsx)(n.p,{children:"Path planning is planning a route from Point A to Point B, avoiding obstacles along the way."}),"\n",(0,t.jsx)(n.p,{children:"In ROS2, to do path planning, we have to launch several nodes. Before we start any path planning, we need to have two nodes which provides the base map and localization:"}),"\n",(0,t.jsx)(n.h5,{id:"mapping-environment",children:"Mapping Environment"}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"nav2_map_server"}),": provides the base map as a topic and service"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"nav2_amcl"}),": responsible for localization via Adaptive Monte Carlo Localizer"]}),"\n"]}),"\n",(0,t.jsx)(n.p,{children:"To do path planning, we need these nodes:"}),"\n",(0,t.jsx)(n.h5,{id:"path-planning-1",children:"Path Planning"}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"planner"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"controller"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"manager_of_recovery_behaviors"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"behavior_tree_navigator"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})}),"\n"]}),"\n",(0,t.jsx)(n.h3,{id:"planner",children:"Planner"}),"\n",(0,t.jsxs)(n.p,{children:["The planner is responsible for computing a path from Point A to Point B. It can compute a path as soon as the robot receives a ",(0,t.jsx)(n.code,{children:"2D_Goal_Pose"})," and also has access to a global environment representation and sensor data buffered into it (",(0,t.jsx)(n.code,{children:"Global Costmap"}),")."]}),"\n",(0,t.jsxs)(n.p,{children:["Currently on Galactic, there is only one Planenr algorithm available in ROS2, the ",(0,t.jsx)(n.code,{children:"Nav2Fn_Planner"}),"."]}),"\n",(0,t.jsx)(n.p,{children:"In order to launch the planner, we need these in the launch file:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"package='nav2_planner', these in the ```config``` directory.\n<Tabs>\nexecutable='planner_server',\nname='planner_server',\noutput='screen',\nparameters=[nav2_yaml] # contains all of the configuration parameters\n"})}),"\n",(0,t.jsx)(n.h5,{id:"nav2_yaml",children:"nav2_yaml"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n'})}),"\n",(0,t.jsx)(n.h3,{id:"controller",children:"Controller"}),"\n",(0,t.jsx)(n.p,{children:"The controller is responsible for performing reactive path planning from the current position to the maximum range of the sensors. From this data, it builds a trajectory to avoid the obstacles it encounters along the way while trying to follow the path generated by the planner. The controller is the one responsible for generating the wheel's commands."}),"\n",(0,t.jsx)(n.p,{children:"There are only two planners available in ROS2:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"dwb_controller"}),": used with ",(0,t.jsx)(n.code,{children:"differential drive"})," robots"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"TEB controller"}),": used with ",(0,t.jsx)(n.code,{children:"car-like"})," robots (doesn't work properly in Galactic)"]}),"\n"]}),"\n",(0,t.jsx)(n.p,{children:"In order to launch the controller, we need these in the launch file:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"package='nav2_controller',\nexecutable='controller_server',\nname='controller_server',\noutput='screen',\nparameters=[controller_yaml] # contains all of the configuration parameters\n"})}),"\n",(0,t.jsx)(n.h5,{id:"controller_yaml",children:"controller_yaml"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"]\n controller_plugins: ["FollowPath"]\n\n # Progress checker parameters\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n # Goal checker parameters\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n # DWB parameters\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n - ```dwb_controller```: Used in ```differential drive``` robots acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n'})}),"\n",(0,t.jsx)(n.h3,{id:"navigation-controller",children:"Navigation Controller"}),"\n",(0,t.jsxs)(n.p,{children:["The navigation controller coordinates between the planner node and the controller node. This node is called the ",(0,t.jsx)(n.code,{children:"bt_navigator"}),". It basically manages these two nodes."]}),"\n",(0,t.jsx)(n.p,{children:"Navigation controller launch file:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"package='nav2_bt_navigator',\nexecutable='bt_navigator',\nname='bt_navigator',\noutput='screen',\nparameters=[bt_navigator_yaml]\n"})}),"\n",(0,t.jsx)(n.h5,{id:"bt_navigator_yaml",children:"bt_navigator_yaml"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})}),"\n",(0,t.jsxs)(n.admonition,{type:"info",children:[(0,t.jsxs)(n.p,{children:["The behavior of this node is defined by the XML file dubbed ",(0,t.jsx)(n.code,{children:"behavior.xml"})," which contains the behavior tree. This behavior tree includes when to call the path planner, when to call the controller, and when to activate a recovery behavior. More on behavior trees later on in this note."]}),(0,t.jsx)(n.p,{children:"behavior.xml"}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-xml",children:'\x3c!--\n This Behavior Tree replans the global path periodically at 1 Hz, and has\n recovery actions. Obtained from the official Nav2 package\n--\x3e\n<root main_tree_to_execute="MainTree">\n <BehaviorTree ID="MainTree">\n <RecoveryNode number_of_retries="6" name="NavigateRecovery">\n <PipelineSequence name="NavigateWithReplanning">\n <RateController hz="1.0">\n <RecoveryNode number_of_retries="1" name="ComputePathToPose">\n <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n </RecoveryNode>\n </RateController>\n <RecoveryNode number_of_retries="1" name="FollowPath">\n <FollowPath path="{path}" controller_id="FollowPath"/>\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n </RecoveryNode>\n </PipelineSequence>\n <SequenceStar name="RecoveryActions">\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n <Spin spin_dist="1.57"/>\n <Wait wait_duration="5"/>\n </SequenceStar>\n </RecoveryNode>\n </BehaviorTree>\n</root>\n'})})]}),"\n",(0,t.jsx)(n.h3,{id:"recoveries-server",children:"Recoveries Server"}),"\n",(0,t.jsxs)(n.p,{children:["When a robot cannot find a valid path to the goal provided or gets stuck in the middle, we use recovery behaviors provided by recovery servers. These are simple predefined movements called via behavior trees. When the robot gets stuck, the ",(0,t.jsx)(n.code,{children:"bt_navigator"})," will call the ",(0,t.jsx)(n.code,{children:"recoverieS_server"}),"."]}),"\n",(0,t.jsx)(n.p,{children:"To Launch Recovery Servers:"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"package='nav2_behaviors',\nexecutable='behavior_server', these in the ```config``` directory.\n<Tabs>\nname='behavior_server',\noutput='screen',\nparameters=[recovery_yaml]\n"})}),"\n",(0,t.jsx)(n.p,{children:"There are three recovery behaviors available in the Nav2 stack:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.strong,{children:"spin"}),": performs an in-place rotation by a given angle"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.strong,{children:"backup"}),": performs a linear translation by a given distance"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.strong,{children:"wait"}),": brings the robot to a stationary state"]}),"\n"]}),"\n",(0,t.jsxs)(n.p,{children:["We can indicate which one of these behaviors we want to load within the config file ",(0,t.jsx)(n.code,{children:"recovery_yaml"}),"."]}),"\n",(0,t.jsx)(n.h5,{id:"recovery_yaml",children:"recovery_yaml"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: odom\n robot_base_frame: base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})}),"\n",(0,t.jsx)(n.h3,{id:"demo",children:"Demo"}),"\n",(0,t.jsxs)(n.p,{children:["We'll start by first creating a new package using our favorite CMake build system. We'll then create two directories: ",(0,t.jsx)(n.code,{children:"config"})," and ",(0,t.jsx)(n.code,{children:"launch"}),"."]}),"\n",(0,t.jsx)(n.p,{children:"We then create these and place them in their respective directories."}),"\n",(0,t.jsxs)(h.A,{children:[(0,t.jsx)(_.A,{value:"pathplanner.launch.py",label:"pathplanner.launch.py",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrom ament_index_python.packages import get_package_share_directory\nimport os\n\ndef generate_launch_description():\n\n planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner.yaml')\n controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')\n recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')\n bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml]\n ),\n Node(\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen', these in the ```config``` directory.\n\n<Tabs> these in the ```config``` directory. \n<Tabs> \n parameters=[controller_yaml],\n ),\n Node(\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml],\n ),\n Node(\n package='nav2_behaviors',\n executable='behavior_server',\n name='behavior_server',\n output='screen',\n parameters=[recovery_yaml],\n ),\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_pathplanner',\n output='screen',\n parameters=[{'autostart': True},\n {'node_names': ['planner_server', 'controller_server', 'behavior_server', 'bt_navigator']}],\n )\n ])\n\n"})})}),(0,t.jsx)(_.A,{value:"planner.yaml",label:"planner.yaml",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n'})})}),(0,t.jsx)(_.A,{value:"controller.yaml",label:"controller.yaml",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"] \n controller_plugins: ["FollowPath"]\n\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\n'})})}),(0,t.jsx)(_.A,{value:"bt_navigator.yaml",label:"bt_navigator.yaml",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})})}),(0,t.jsx)(_.A,{value:"recovery.yaml",label:"recovery.yaml",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: odom\n robot_base_frame: base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})})}),(0,t.jsx)(_.A,{value:"behavior.xml",label:"behavior.xml",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-xml",children:'\x3c!--\n This Behavior Tree replans the global path periodically at 1 Hz, and has\n recovery actions. Obtained from the official Nav2 package\n--\x3e\n<root main_tree_to_execute="MainTree">\n <BehaviorTree ID="MainTree">\n <RecoveryNode number_of_retries="6" name="NavigateRecovery">\n <PipelineSequence name="NavigateWithReplanning">\n <RateController hz="1.0">\n <RecoveryNode number_of_retries="1" name="ComputePathToPose">\n <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/> \n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n </RecoveryNode>\n </RateController>\n <RecoveryNode number_of_retries="1" name="FollowPath">\n <FollowPath path="{path}" controller_id="FollowPath"/>\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n </RecoveryNode>\n </PipelineSequence>\n <SequenceStar name="RecoveryActions">\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n <Spin spin_dist="1.57"/>\n <Wait wait_duration="5"/>\n </SequenceStar>\n </RecoveryNode>\n </BehaviorTree>\n</root>\n'})})})]}),"\n",(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsx)(n.p,{children:"We have to be running in parallel our localization server, the one responsible for localizing our robot with the map and the one providing the base map environment."})}),"\n",(0,t.jsx)(n.h4,{id:"rviz2-settings",children:"RVIZ2 Settings"}),"\n",(0,t.jsxs)(n.p,{children:["On top of our settings provided for localization, we add the ",(0,t.jsx)(n.code,{children:"Path"})," display and change LineStyle to ",(0,t.jsx)(n.code,{children:"BillBoards"}),". If everything is set, we can get something cool like below!"]}),"\n",(0,t.jsx)("video",{width:"100%",src:m,controls:!0,title:"Demo Video"}),"\n",(0,t.jsx)(n.h4,{id:"navigation-goal-via-cli",children:"Navigation Goal via CLI"}),"\n",(0,t.jsxs)(n.p,{children:["We can send a goal via the CLI through the server interface ",(0,t.jsx)(n.code,{children:"/navigate_to_pose"})," or ",(0,t.jsx)(n.code,{children:"goal_pose"}),"."]}),"\n",(0,t.jsx)(n.h5,{id:"action",children:"Action"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "pose: {header: {frame_id: map}, pose: {position: {x: 1.52, y: 1.92, z: 0.0}, orientation:{x: 0.0, y: 0.0, z: 0, w: 1.0000000}}}"\n'})}),"\n",(0,t.jsx)(n.h5,{id:"topic",children:"Topic"}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-bash",children:"ros2 topic pub -1 /goal_pose geometry_msgs/PoseStamped \"{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {position: {x: 2.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}\"\n"})}),"\n",(0,t.jsx)(n.h4,{id:"ros2-node",children:"ROS2 Node"}),"\n",(0,t.jsx)(n.p,{children:"Taken directly from The Construct."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom nav2_msgs.action import NavigateToPose\nfrom rclpy.action import ActionClient\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import PointStamped\n\nclass NavToPoseActionClient(Node):\n\n def __init__(self):\n super().__init__('Nav_To_Pose_Action_Client')\n self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose')\n self.subscriber_ = self.create_subscription(PointStamped, 'clicked_point', self.callback, 1)\n self.subscriber_ # prevent unused variable warning\n\n def callback(self, msg):\n self.get_logger().info('Recieved Data:\\n X : %f \\n Y : %f \\n Z : %f' % (msg.point.x, msg.point.y, msg.point.z))\n self.send_goal (msg.point.x, msg.point.y, 0.0)\n\n def send_goal(self, x ,y, theta):\n self.get_logger().info('sending goal to action server')\n goal_pose = NavigateToPose.Goal()\n goal_pose.pose.header.frame_id = 'map'\n goal_pose.pose.pose.position.x = x\n goal_pose.pose.pose.position.y = y\n goal_pose.pose.pose.position.z = theta\n\n self.get_logger().info('waiting for action server')\n self._action_client.wait_for_server()\n self.get_logger().info('action server detected')\n\n self._send_goal_future = self._action_client.send_goal_async(\n goal_pose,\n feedback_callback=self.feedback_callback)\n self.get_logger().info('goal sent')\n\n self._send_goal_future.add_done_callback(self.goal_response_callback)\n\n def goal_response_callback(self, future):\n goal_handle = future.result()\n if not goal_handle.accepted:\n self.get_logger().info('Goal rejected :(')\n return\n self.get_logger().info('Goal accepted :)')\n self._get_result_future = goal_handle.get_result_async()\n\n self._get_result_future.add_done_callback(self.get_result_callback)\n\n def get_result_callback(self, future):\n result = future.result().result\n self.get_logger().info('Result: {0}' + str(result))\n rclpy.shutdown()\n\n def feedback_callback(self, feedback_msg):\n feedback = feedback_msg.feedback\n self.get_logger().info('FEEDBACK:' + str(feedback) )\n\ndef main(args=None):\n rclpy.init(args=args)\n\n action_client = NavToPoseActionClient()\n\n rclpy.spin(action_client)\n\n\nif __name__ == '__main__':\n main()\n"})}),"\n",(0,t.jsxs)(n.p,{children:["Used via RVIZ and ",(0,t.jsx)(n.code,{children:"Publish Point"})," feature."]}),"\n",(0,t.jsx)(n.h2,{id:"obstacle-avoidance",children:"Obstacle Avoidance"}),"\n",(0,t.jsx)(n.p,{children:"The Nav2 stack avoids dynamic and static obstacles by utilizing what's known as costmaps."}),"\n",(0,t.jsx)(n.h3,{id:"costmaps",children:"Costmaps"}),"\n",(0,t.jsx)(n.p,{children:"A Costmap is a 2D representation of robot-sensed obstacles on a grid map. Each grid cells contain information about the obstacles detected by the sensors. The cost of the cell can be unknown, free, occupied, or inflated. Different colors indicate how likely it is to colide against an obstacle. Using this information, the Nav2 stack can compute their tasks safely and efficiently."}),"\n",(0,t.jsxs)(n.p,{children:["There are two kinds of costmaps: ",(0,t.jsx)(n.code,{children:"global"})," and ",(0,t.jsx)(n.code,{children:"local"}),"."]}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"global"}),": generated from obstacles on a static map and is used by the ",(0,t.jsx)(n.code,{children:"planner"})," to generate long term path."]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"local"}),": created from new obstacles during runtime(sensors) and is used by the ",(0,t.jsx)(n.code,{children:"controller"})," to generate short-term path"]}),"\n"]}),"\n",(0,t.jsx)("img",{src:u().src,width:"100%"}),"\n",(0,t.jsx)(n.h3,{id:"global-costmaps",children:"Global Costmaps"}),"\n",(0,t.jsxs)(n.p,{children:["To add a ",(0,t.jsx)(n.code,{children:"global costmap"}),", we can add these parameters to the ",(0,t.jsx)(n.code,{children:"planner.yaml"})," file."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "inflation_layer"]\n static_layer:\n plugin: "nav2_costmap_2d::StaticLayer"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n always_send_full_costmap: True\n'})}),"\n",(0,t.jsxs)(n.p,{children:["When we run our ",(0,t.jsx)(n.code,{children:"path_planner_server"})," with these new parameters, we see an added map on top of our base map. When we add a new obstacle, the global costmap is not updated. The differences can be seen below. This means that our planner will not take into consideration the new dynamic obstacle that spawned in and will crash."]}),"\n",(0,t.jsx)(n.admonition,{type:"note",children:(0,t.jsx)(n.p,{children:"The different tones of gray are to illustrate the different regions the robot can use. Dark tones of grey means the robot cannot use that area to path plan as it is too close to an obstacle"})}),"\n",(0,t.jsx)(n.h4,{id:"global-costmap-obstacle-layers",children:"Global Costmap Obstacle Layers"}),"\n",(0,t.jsxs)(n.p,{children:["Global costmaps are generated as the superposition of different obstacle layers. This means that each layer adds a set of obstacles to the ",(0,t.jsx)(n.code,{children:"global costmap"})," based on how the layer computes the obstacles."]}),"\n",(0,t.jsx)(n.p,{children:"Available Costmap layers:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Static Layer"}),": Adds as obstacles to the ",(0,t.jsx)(n.code,{children:"global costmap"})," any black dot that exists in the static map"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Inflation Layer"}),": Adds an inflation to any obstacle in the ",(0,t.jsx)(n.code,{children:"global costmap"}),", as a safe distance to maintain"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Obstacle Layer"}),": Adds to the ",(0,t.jsx)(n.code,{children:"global costmap"})," any object detected by a 2D sensor"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"Voxel Layer"}),": Adds to the ",(0,t.jsx)(n.code,{children:"global costmap"})," 3D obstacles from PointCloud data."]}),"\n"]}),"\n",(0,t.jsx)(n.p,{children:"We can specify which layers or all in our parameter list via plugins."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'plugins: ["static_layer", "obstacle_layer", "inflation_layer", "voxel_layer"] # Order matters here, inflation is applied after obstacle, etc.\n'})}),"\n",(0,t.jsx)(n.p,{children:"Adding these layers will allow us to account for dynamic obstacles."}),"\n",(0,t.jsx)(n.h4,{id:"general-parameters",children:"General Parameters"}),"\n",(0,t.jsxs)(h.A,{children:[(0,t.jsx)(_.A,{value:"global_costmap",label:"global_costmap",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "obstacle_layer", "inflation_layer"]\n'})})}),(0,t.jsx)(_.A,{value:"static_layer",label:"static_layer",children:(0,t.jsxs)(n.p,{children:["Represents a largely unchanging portion of the Costmap, like those generated\nby SLAM. ",(0,t.jsx)(n.code,{children:'yaml static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True '})]})}),(0,t.jsx)(_.A,{value:"inflation_layer",label:"inflation_layer",children:(0,t.jsxs)(n.p,{children:["Adds new values around lethal obstacles to make the Costmap represent robot's\nconfiguration space. ",(0,t.jsx)(n.code,{children:'yaml inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.35 '})]})}),(0,t.jsxs)(_.A,{value:"obstacle_layer",label:"obstacle_layer",children:[(0,t.jsx)(n.p,{children:"Tracks obstacles read by sensor data and marks/raytraces obstacles in 2D."}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",metastring:'obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True',children:'observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0\nclearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0\nraytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 ```\n</TabItem>\n\n<TabItem value="voxel_layer" label="voxel_layer">\nResponsible for including 3D detected obstacles in the 2D costmaps.\n```yaml\nvoxel_layer:\nplugin: "nav2_costmap_2d::VoxelLayer"\nenabled: True\nfootprint_clearing_enabled: true\nmax_obstacle_height: 2.0\npublish_voxel_map: True\norigin_z: 0.0\nz_resolution: 0.05\nz_voxels: 16\nmax_obstacle_height: 2.0\nunknown_threshold: 15\nmark_threshold: 0\nobservation_sources: pointcloud\ncombination_method: 1\npointcloud: # no frame set, uses frame from message\n topic: /intel_realsense_r200_depth/points\n max_obstacle_height: 2.0\n min_obstacle_height: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n clearing: True\n marking: True\n data_type: "PointCloud2"\n'})})]})]}),"\n",(0,t.jsx)(n.h3,{id:"local-costmap",children:"Local Costmap"}),"\n",(0,t.jsxs)(n.p,{children:["Let's figure out how to add a ",(0,t.jsx)(n.code,{children:"local costmap"}),". It's no different than a ",(0,t.jsx)(n.code,{children:"global costmap"})," but goes inside of ",(0,t.jsx)(n.code,{children:"controller.yaml"})," instead of ",(0,t.jsx)(n.code,{children:"planner.yaml"}),". This is because a ",(0,t.jsx)(n.code,{children:"local costmap"})," is a dynamic version of the ",(0,t.jsx)(n.code,{children:"global costmap"})," using sensors."]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'local_costmap:\n local_costmap:\n ros__parameters:\n update_frequency: 5.0\n publish_frequency: 2.0\n global_frame: odom\n robot_base_frame: base_link\n use_sim_time: True\n rolling_window: true\n width: 1\n height: 1\n resolution: 0.05\n robot_radius: 0.15\n plugins: ["voxel_layer", "inflation_layer"]\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n voxel_layer:\n plugin: "nav2_costmap_2d::VoxelLayer"\n enabled: True\n publish_voxel_map: True\n origin_z: 0.0\n z_resolution: 0.05\n z_voxels: 16\n max_obstacle_height: 2.0\n mark_threshold: 0\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: "LaserScan"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n map_subscribe_transient_local: True\n always_send_full_costmap: True\n'})}),"\n",(0,t.jsxs)(n.admonition,{type:"info",children:[(0,t.jsx)(n.p,{children:"The robot's shape can influence what extent the obstacles in the Costmaps will be inflated to. This is then taken into consideration when computing a path to said point. We can specify our robot's shape within our costmap parameters in both local and global."}),(0,t.jsxs)(n.p,{children:["When we use round robots, we use the parameter ",(0,t.jsx)(n.code,{children:"robot_radius"}),". For more complex robots that aren't round, we have to use ",(0,t.jsx)(n.code,{children:"footprint"})," parameter instead that specifies the coordinates for each point of the robot. The ",(0,t.jsx)(n.code,{children:"footprint"})," parameter is the project of the robot on the ground. For example, if a square robot has 65 cm per side, we would specify:"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'footprint: "[[0.325, 0.325], [0.325, -0.325], [-0.325, -0.325], [-0.325, 0.325]]"\n'})}),(0,t.jsxs)(n.p,{children:["We also have to change the ",(0,t.jsx)(n.code,{children:"controller.yaml"})," configuration:"]}),(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"BaseObstacle"})," if using ",(0,t.jsx)(n.code,{children:"robot_radius"})]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.code,{children:"ObstacleFootprint"})," if using ",(0,t.jsx)(n.code,{children:"footprint"})]}),"\n"]}),(0,t.jsxs)(n.p,{children:["Remember that we can only specify one parameter: ",(0,t.jsx)(n.code,{children:"footprint"})," or ",(0,t.jsx)(n.code,{children:"robot_radius"}),"."]})]}),"\n",(0,t.jsx)(n.h3,{id:"demo-1",children:"Demo"}),"\n",(0,t.jsx)("video",{width:"100%",controls:!0,src:g,title:"Demo Video"}),"\n",(0,t.jsx)(n.h3,{id:"path-planner-package",children:"Path Planner Package"}),"\n",(0,t.jsxs)(n.p,{children:["Currently, we have two packages: ",(0,t.jsx)(n.code,{children:"localization"})," and ",(0,t.jsx)(n.code,{children:"path_planner"}),". One does the localization and mapping while the other does the path planning. Ideally, for a full navigaiton system, we want a single package with one ",(0,t.jsx)(n.code,{children:"nav2_lifecycle_manager"})," managing all navigation nodes."]}),"\n",(0,t.jsx)(n.p,{children:"How you wanna structure it is up to you, and having separate packages can be good for debugging, but ideally, in real navigation systems for deployment, you want one package for ease of use with one single launch file."}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')\n bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')\n planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner_server.yaml')\n recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')\n amcl_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'amcl_config.yaml')\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'yaml_filename':map_file}]\n ),\n\n Node(\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[amcl_yaml]\n ),\n Node(\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml]),\n\n Node(\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml]),\n\n Node(\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml],\n output='screen'),\n\n Node(\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml]),\n\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager',\n output='screen',\n parameters=[{'autostart': True},\n {'node_names': ['map_server',\n 'amcl',\n 'controller_server',\n 'planner_server',\n 'recoveries_server',\n 'bt_navigator']}])\n ])\n"})}),"\n",(0,t.jsx)(n.h2,{id:"multi-robot-navigation",children:"Multi-robot Navigation"}),"\n",(0,t.jsxs)(n.p,{children:["In the scenario you have multiple robots, each robot will have the same ",(0,t.jsx)(n.code,{children:"/cmd_vel"})," topic name, same ",(0,t.jsx)(n.code,{children:"base_footprint"})," frame name and even the same control node name. This is complicated because the navigation stack won't know which robot it's talking to. We can bypass this by using ",(0,t.jsx)(n.code,{children:"namespaces"})," which are labels we assign to each robot. This means that each robot may have the same name but will have a unique ",(0,t.jsx)(n.code,{children:"namespace"})," for it. ",(0,t.jsx)(n.code,{children:"namespaces"})," are configured at:"]}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.strong,{children:"Simulated Robots"}),": At the URDF description file and the Gazebo plugins"]}),"\n",(0,t.jsxs)(n.li,{children:[(0,t.jsx)(n.strong,{children:"Real Robots"}),": At the bring-up routine provided by the vendor"]}),"\n"]}),"\n",(0,t.jsxs)(n.p,{children:["If these are not configured properly, the robots will have difficulty booting into ",(0,t.jsx)(n.code,{children:"namespaces"})," mode. For two robots, we could have the following:"]}),"\n",(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-text",children:"/clock\n/parameter_events\n/performance_metrics\n/rosout\n/tb3_0/cmd_vel\n/tb3_0/imu\n/tb3_0/joint_states\n/tb3_0/odom\n/tb3_0/robot_description\n/tb3_0/scan\n/tb3_1/cmd_vel\n/tb3_1/imu\n/tb3_1/joint_states\n/tb3_1/odom\n/tb3_1/robot_description\n/tb3_1/scan\n/tf\n/tf_static\n"})}),"\n",(0,t.jsx)(n.h3,{id:"configuration",children:"Configuration"}),"\n",(0,t.jsx)(n.p,{children:"To have a multiagent system that uses the same nav stack, we need for each robot:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"localization"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"controller_server"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"planner_server"})}),"\n",(0,t.jsx)(n.li,{children:(0,t.jsx)(n.code,{children:"bt_navigator"})}),"\n"]}),"\n",(0,t.jsxs)(n.p,{children:["The only thing that'll be used by all is the ",(0,t.jsx)(n.code,{children:"map_server"})," as all robots will use the same map."]}),"\n",(0,t.jsx)(n.h3,{id:"mapping",children:"Mapping"}),"\n",(0,t.jsx)(n.p,{children:"It is possible to have multiple robots collaborate to create a single map between them but that is covered later on. This tutorial goes over:"}),"\n",(0,t.jsxs)(n.ol,{children:["\n",(0,t.jsx)(n.li,{children:"One robot from the fleet in charge of making the robot"}),"\n",(0,t.jsxs)(n.li,{children:["A single ",(0,t.jsx)(n.code,{children:"map_server"})," is launched using that map"]}),"\n",(0,t.jsxs)(n.li,{children:["All the navigation systems for each robot will use the same name by asking for the same ",(0,t.jsx)(n.code,{children:"map_server"})]}),"\n"]}),"\n",(0,t.jsx)(n.h4,{id:"multirobot-cartographer",children:"Multirobot cartographer"}),"\n",(0,t.jsx)(n.p,{children:"There isn't much difference when trying to do multirobot navigation. For mapping, al lwe do is add and modify a few lines of code. For this, we use our cartographer config files and simply add these few lines of code below."}),"\n",(0,t.jsxs)(h.A,{children:[(0,t.jsx)(_.A,{value:"cartographer_multi.lua",label:"cartographer_multi.lua",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-lua",children:'tracking_frame = "tb3_0/base_footprint",\npublished_frame = "tb3_0/odom",\nodom_frame = "tb3_0/odom"\n'})})}),(0,t.jsx)(_.A,{value:"multi_cartographer.launch.py",label:"multi_cartographer.launch.py",children:(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",metastring:"# cartographer_node remappings=[ ('/cmd_vel', '/tb3_0/cmd_vel'),",children:'(\'/odom\', \'/tb3_0/odom\'), (\'/scan\', \'/tb3_0/scan\'), ] ```\n</TabItem>\n\n</Tabs>\n\n:::warn\nWhen localizing with one single robot as above and having the other stand still, the map will think the idle robot is an obstacle.\n:::\n\n### Localization\n\nWe can launch a localization system for each robot. This means launching two `amcl` nodes each configured for their respective robot.\n\n<Tabs>\n<TabItem value="Step 1" label="Step 1">\n- Add a ```namespace``` variable to the launches of ```amcl``` nodes.\n- Create a new launch file named ```multi_localization.launch.py``` to include two ```amcl``` nodes, each with a different namespace, according to the robot it will localize. Note that each node\'s parameters argument must point to **two** config files.\n- Try to use the cleaned map that doesn\'t include the idle robot as an obstacle. You can edit the ```.pgm``` file using ```GIMP```.\n\n```py\nNode(\n namespace="tb3_0",\n package="nav2_amcl",\n executable="amcl",\n name="amcl",\n output="screen",\n parameters=[tb3_0_config],\n ),\nNode(\n namespace="tb3_1",\n package="nav2_amcl",\n executable="amcl",\n name+"amcl",\n output="screen",\n parameters=[tb3_1_config],\n ),\n'})})}),(0,t.jsxs)(_.A,{label:"Step 2",value:"Step 2",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Create two copies of the ",(0,t.jsx)(n.code,{children:"amcl_config.yaml"})," file, with each one of the names referencing the robot it controls. Example: ",(0,t.jsx)(n.code,{children:"tb3_0_amcl_config.yaml"})]}),"\n",(0,t.jsxs)(n.li,{children:["Modify the ",(0,t.jsx)(n.code,{children:"amcl_config.yaml"})," files to make sure it fits the robot needs."]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Modifying the first line to contain the ",(0,t.jsx)(n.strong,{children:"full new name"})," of the node."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["All frames must be modified to include the ",(0,t.jsx)(n.code,{children:"namespace"}),". The only frame that doesn't have to be changed is the ",(0,t.jsx)(n.code,{children:"global_frame_id"})," sincei t's a global single frame for all the robots."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Topics don't need to be modified because the ",(0,t.jsx)(n.code,{children:"namespace"})," arguments of the launch file automatically modifies them. This doesn't apply to frames."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["The ",(0,t.jsx)(n.code,{children:"map_topic"})," parameters must be forced to ",(0,t.jsx)(n.code,{children:"/map"}),". If we don't do this with ",(0,t.jsx)(n.code,{children:"/"}),", then it automatically uses ",(0,t.jsx)(n.code,{children:"tb3_0/map"})," as the topic which isn't the topic the map server publishes."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["Import the two config files into the ",(0,t.jsx)(n.code,{children:"multi_localization.launch.py"})]}),"\n",(0,t.jsx)(n.li,{children:"Assign it to their respective nodes."}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'# tb3_0_amcl_config.yaml\ntb3_0/amcl:\n ros__parameters:\n use_sim_time: True\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: "tb3_0/base_footprint"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: "map"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: "likelihood_field"\n max_beams: 60\n max_particles: 8000\n min_particles: 200\n odom_frame_id: "tb3_0/odom"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: "nav2_amcl::DifferentialMotionModel"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n scan_topic: "/tb3_0/scan"\n map_topic: "/map"\n set_initial_pose: true\n initial_pose:\n x: 0.0\n y: 0.0\n yaw: 0.0\n'})})]}),(0,t.jsxs)(_.A,{label:"Step 3",value:"Step 3",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Add the full node names to the lifecycle manager with their ",(0,t.jsx)(n.code,{children:"namespaces"})]}),"\n"]}),(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsxs)(n.p,{children:["We have to add a new parameter ",(0,t.jsx)(n.code,{children:"{'bond_timeout': 0.0}"})," to prevent launching errors"]})}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_localization',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['map_server', 'tb3_0/amcl', 'tb3_1/amcl']}]\n)\n"})})]}),(0,t.jsxs)(_.A,{label:"Step 4",value:"Step 4",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Modify the ",(0,t.jsx)(n.code,{children:"map_server"})," launch file."]}),"\n",(0,t.jsxs)(n.li,{children:["Specify the ",(0,t.jsx)(n.code,{children:"topic_name"})," and ",(0,t.jsx)(n.code,{children:"frame_id"})," of the ",(0,t.jsx)(n.code,{children:"map_server"}),". These parameters aren't configured when we do a single robot ",(0,t.jsx)(n.code,{children:"map_server"}),"."]}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True}, \n {'topic_name':\"map\"},\n {'frame_id':\"map\"},\n {'yaml_filename':map_file}]\n),\n"})}),(0,t.jsx)(n.p,{children:"The final launch file should be:"}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"import os\n\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n tb3_0_nav2_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'tb3_0_amcl_config.yaml')\n tb3_1_nav2_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'tb3_1_amcl_config.yaml')\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area_two_robots_clean.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'topic_name':\"map\"},\n {'frame_id':\"map\"},\n {'yaml_filename':map_file}]\n ),\n\n Node(\n namespace='tb3_0',\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[tb3_0_nav2_yaml]\n ),\n Node(\n namespace='tb3_1',\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[tb3_1_nav2_yaml]\n ),\n\n\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_localization',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['map_server', 'tb3_0/amcl', 'tb3_1/amcl']}]\n )\n ])\n"})})]})]}),"\n",(0,t.jsx)(n.h4,{id:"configuring-rviz2",children:"Configuring RVIZ2"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Load the RVIZ configuration of the localization unit: ",(0,t.jsx)(n.code,{children:".rviz"})]}),"\n",(0,t.jsxs)(n.li,{children:["Modify the topic of the ",(0,t.jsx)(n.code,{children:"LaserScan"})," to point to the ",(0,t.jsx)(n.code,{children:"tb3_0/scan"})," and indicate the ",(0,t.jsx)(n.code,{children:"Color Transformer"})," as ",(0,t.jsx)(n.code,{children:"FlatColor"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["Add another ",(0,t.jsx)(n.code,{children:"LaserScan"})," and make it ",(0,t.jsx)(n.code,{children:"tb3_1/scan"})," with ",(0,t.jsx)(n.code,{children:"Color Transformer"})," as the same as previous but different color."]}),"\n",(0,t.jsxs)(n.li,{children:["Modify the ",(0,t.jsx)(n.code,{children:"RobotModel"})," display as below:"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["In the ",(0,t.jsx)(n.code,{children:"Description Source"}),", select ",(0,t.jsx)(n.code,{children:"Topic"})," and indicate ",(0,t.jsx)(n.code,{children:"/tb3_0/robot_description"}),"."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["In the ",(0,t.jsx)(n.code,{children:"TF prefix"}),", indicate the namespace of the robot, which for tb3_0 is ",(0,t.jsx)(n.code,{children:"tb3_0"}),"."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["Do the same for ",(0,t.jsx)(n.code,{children:"tb3_1"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["Add the ",(0,t.jsx)(n.code,{children:"Panel"})," of ",(0,t.jsx)(n.code,{children:"Tool Properties"})," and modify it such that the topics for ",(0,t.jsx)(n.code,{children:"2D Pose Estimate"}),". (You do this to localize each robot individually)"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Should always be ",(0,t.jsx)(n.code,{children:"/namespace/topic_name"}),"."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["You should relaunch the simulation because the robots will ",(0,t.jsx)(n.strong,{children:"drift"})," if given a long time of idling in the simulation. Then localize by doing the ",(0,t.jsx)(n.code,{children:"2D Pose Estimate"}),"."]}),"\n"]}),"\n",(0,t.jsx)(n.p,{children:"After, we should get something like this:"}),"\n",(0,t.jsx)("img",{src:b().src,width:"100%"}),"\n",(0,t.jsx)("img",{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/global_tf_localized.png"}),"\n",(0,t.jsx)(n.h3,{id:"path-planning-2",children:"Path Planning"}),"\n",(0,t.jsx)(n.p,{children:"To path plan for multiple robots, we need n path planning node systems. This means for our two robot, we need:"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["two ",(0,t.jsx)(n.code,{children:"controller_server"})," nodes"]}),"\n",(0,t.jsxs)(n.li,{children:["two ",(0,t.jsx)(n.code,{children:"planner_server"})," nodes"]}),"\n",(0,t.jsxs)(n.li,{children:["two ",(0,t.jsx)(n.code,{children:"recoveries_server"})," nodes"]}),"\n",(0,t.jsxs)(n.li,{children:["two ",(0,t.jsx)(n.code,{children:"bt_navigator"})," nodes"]}),"\n"]}),"\n",(0,t.jsxs)(h.A,{children:[(0,t.jsxs)(_.A,{label:"Step 1",value:"Step 1",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Add a ",(0,t.jsx)(n.code,{children:"namespace"})," to the launches of the nodes."]}),"\n"]}),(0,t.jsxs)(n.p,{children:["Example below for one single node, the ",(0,t.jsx)(n.code,{children:"planner_server"}),". We need to do this for the 4 nodes, for each robot, meaning we should have 8 nodes in total for the path planning system."]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"Node(\n namespace='tb3_0',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb1_0]\n),\n"})})]}),(0,t.jsxs)(_.A,{label:"Step 2",value:"Step 2",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"Create respective config files for each robot."}),"\n",(0,t.jsxs)(n.li,{children:["This means two of each yamls for ",(0,t.jsx)(n.code,{children:"planner_server"}),", ",(0,t.jsx)(n.code,{children:"controller"}),", ",(0,t.jsx)(n.code,{children:"bt_navigator"}),", ",(0,t.jsx)(n.code,{children:"recovery"})," files."]}),"\n",(0,t.jsxs)(n.li,{children:["Modify the content of each file and name it with good convention such as ",(0,t.jsx)(n.code,{children:"tb3_0_planner_server.yaml"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["First line must contain the full new name of the node: ",(0,t.jsx)(n.code,{children:"tb3_0/planner_server"})]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["All frames of the config must be modified to include the ",(0,t.jsx)(n.code,{children:"namespace"}),". The ",(0,t.jsx)(n.code,{children:"global_frame_id"})," doesn't need to since it's a single global frame."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Topics don't need to be modified since they're done via launch file with the argument ",(0,t.jsx)(n.code,{children:"namespace"}),"."]}),"\n"]}),"\n"]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["The ",(0,t.jsx)(n.code,{children:"map_topic"})," must be forced to ",(0,t.jsx)(n.code,{children:"/map"})," or else the map server will be publishing to ",(0,t.jsx)(n.code,{children:"tb3_0/map"}),"."]}),"\n"]}),"\n"]}),"\n"]}),(0,t.jsxs)(h.A,{children:[(0,t.jsxs)(_.A,{label:"planner_server",value:"planner_server",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Change ",(0,t.jsx)(n.code,{children:"global_costmap"})," to include the namespace: ",(0,t.jsx)(n.code,{children:"tb3_0/global_costmap"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["Do the same for ",(0,t.jsx)(n.code,{children:"robot_base_frame"}),": ",(0,t.jsx)(n.code,{children:"robot_base_frame: tb3_0/base_link"}),"."]}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'tb3_0/planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n\ntb3_0/global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n # This has to be set\n map_topic: /map\n robot_base_frame: tb3_0/base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "obstacle_layer", "inflation_layer"]\n static_layer:\n plugin: "nav2_costmap_2d::StaticLayer"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n always_send_full_costmap: True\n obstacle_layer:\n plugin: "nav2_costmap_2d::ObstacleLayer"\n enabled: True\n observation_sources: scan\n scan:\n # The scan is let as is because with namespace on topc it remaps properly , NO f.slash\n topic: /tb3_0/scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: "LaserScan"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n'})})]}),(0,t.jsxs)(_.A,{label:"controller.yaml",value:"controller.yaml",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"Same as planner_server"}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'tb3_0/controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"] \n controller_plugins: ["FollowPath"]\n\n # Progress checker parameters\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n # Goal checker parameters\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n # DWB parameters\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\ntb3_0/local_costmap:\nlocal_costmap:\nros\\_\\_parameters:\nupdate_frequency: 5.0\npublish_frequency: 2.0\nglobal_frame: tb3_0/odom\nrobot_base_frame: tb3_0/base_link\nuse_sim_time: True\nrolling_window: true\nwidth: 1\nheight: 1\nresolution: 0.05\nrobot_radius: 0.15\nplugins: ["voxel_layer", "inflation_layer"]\ninflation_layer:\nplugin: "nav2_costmap_2d::InflationLayer"\ncost_scaling_factor: 3.0\ninflation_radius: 0.35\nvoxel_layer:\nplugin: "nav2_costmap_2d::VoxelLayer"\nenabled: True\npublish_voxel_map: True\norigin_z: 0.0\nz_resolution: 0.05\nz_voxels: 16\nmax_obstacle_height: 2.0\nmark_threshold: 0\nobservation_sources: scan\nscan:\ntopic: /tb3_0/scan\nmax_obstacle_height: 2.0\nclearing: True\nmarking: True\ndata_type: "LaserScan"\nraytrace_max_range: 3.0\nraytrace_min_range: 0.0\nobstacle_max_range: 2.5\nobstacle_min_range: 0.0\nstatic_layer:\nmap_subscribe_transient_local: True\nalways_send_full_costmap: True\n\n'})})]}),(0,t.jsxs)(_.A,{label:"bt_navigator.yaml",value:"bt_navigator.yaml",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Set the ",(0,t.jsx)(n.code,{children:"base_frame"})," to include ",(0,t.jsx)(n.code,{children:"namespace"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["Set the ",(0,t.jsx)(n.code,{children:"default_nav_to_pose_bt_xml"})," via absolute path. If you wanna do relative, you can. ",(0,t.jsx)(n.code,{children:'default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"'})]}),"\n",(0,t.jsxs)(n.li,{children:["Also remove the publication of behavior status of Groot or else the Groot introspection port for one ",(0,t.jsx)(n.code,{children:"bt-navigator"})," will collide with the port of the other. ",(0,t.jsx)(n.a,{href:"https://github.com/ros-navigation/navigation2/issues/2386",children:"Reference"})]}),"\n",(0,t.jsxs)(n.li,{children:["\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["To disconnect, add to eahc of the ",(0,t.jsx)(n.code,{children:"bt-navigator"}),": ",(0,t.jsx)(n.code,{children:"enable_groot_monitoring: false"})]}),"\n"]}),"\n"]}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'tb3_0/bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: tb3_0/base_link\n odom_topic: tb3_0/odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n enable_groot_monitoring: false\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})}),(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsxs)(n.p,{children:["We use the same ",(0,t.jsx)(n.code,{children:"behavior.xml"})," for both robots."]})})]}),(0,t.jsxs)(_.A,{label:"recovery.yaml",value:"recovery.yaml",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"Same steps as first two."}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-yaml",children:'tb3_0/behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: tb3_0/odom\n robot_base_frame: tb3_0/base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})})]})]})]}),(0,t.jsxs)(_.A,{label:"Step 3",value:"Step 3",children:[(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsx)(n.li,{children:"Add the nodes to the lifecycle manager"}),"\n"]}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_pathplanner',\n output='screen',\n parameters=[{'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': [\n 'tb3_0/planner_server',\n 'tb3_0/controller_server',\n 'tb3_0/recoveries_server',\n 'tb3_0/bt_navigator',\n 'tb3_1/planner_server',\n 'tb3_1/controller_server',\n 'tb3_1/recoveries_server',\n 'tb3_1/bt_navigator'\n ]}])\n"})}),(0,t.jsx)(n.p,{children:"The final launch file should look like this."}),(0,t.jsx)(n.pre,{children:(0,t.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n controller_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_controller.yaml')\n planner_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_planner_server.yaml')\n recovery_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_recovery.yaml')\n bt_navigator_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_bt_navigator.yaml')\n\n controller_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_controller.yaml')\n planner_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_planner_server.yaml')\n recovery_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_recovery.yaml')\n bt_navigator_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_bt_navigator.yaml')\n\n\n return LaunchDescription([\n\n ## TB3_0\n Node(\n namespace='tb3_0',\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml_tb3_0]),\n\n Node(\n namespace='tb3_0',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb3_0]),\n\n Node(\n namespace='tb3_0',\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml_tb3_0],\n output='screen'),\n\n Node(\n namespace='tb3_0',\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml_tb3_0]),\n\n # ## TB3_1\n Node(\n namespace='tb3_1',\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml_tb3_1]),\n\n Node(\n namespace='tb3_1',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb3_1]),\n\n Node(\n namespace='tb3_1',\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml_tb3_1],\n output='screen'),\n\n Node(\n namespace='tb3_1',\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml_tb3_1]),\n\n\n ## LIFECICLE MANAGER\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager',\n output='screen',\n\n parameters=[{'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['tb3_0/controller_server',\n 'tb3_0/planner_server',\n 'tb3_0/recoveries_server',\n 'tb3_0/bt_navigator',\n 'tb3_1/controller_server',\n 'tb3_1/planner_server',\n 'tb3_1/recoveries_server',\n 'tb3_1/bt_navigator',\n ]}])\n ])\n\n"})})]})]}),"\n",(0,t.jsx)(n.admonition,{type:"info",children:(0,t.jsx)(n.p,{children:"The order is localization -> path_planning -> rviz2 for launches."})}),"\n",(0,t.jsx)(n.h3,{id:"configuring-rviz2-1",children:"Configuring RVIZ2"}),"\n",(0,t.jsxs)(n.ul,{children:["\n",(0,t.jsxs)(n.li,{children:["Add a ",(0,t.jsx)(n.code,{children:"Path"})," display configured for the ",(0,t.jsx)(n.code,{children:"/tb3_0/plan"})," topic and select the ",(0,t.jsx)(n.code,{children:"Line Style"})," as ",(0,t.jsx)(n.code,{children:"Billboards"})," with Red as it's color."]}),"\n",(0,t.jsxs)(n.li,{children:["Add another ",(0,t.jsx)(n.code,{children:"Path"})," for the ",(0,t.jsx)(n.code,{children:"/tb3_1/plan"})," and choose a different color for it."]}),"\n",(0,t.jsxs)(n.li,{children:["Add a ",(0,t.jsx)(n.code,{children:"Map"})," display and configure the topic for the global costmap: ",(0,t.jsx)(n.code,{children:"/tb3_0/global_costmap/costmap"})]}),"\n",(0,t.jsxs)(n.li,{children:["Add another ",(0,t.jsx)(n.code,{children:"Map"})," for ",(0,t.jsx)(n.code,{children:"/tb3_1/global_costmap/costmap"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["Add another ",(0,t.jsx)(n.code,{children:"Map"})," for the ",(0,t.jsx)(n.strong,{children:"local"})," costmap for again each of the topics: ",(0,t.jsx)(n.code,{children:"/tb_3_0/local_costmap/costmap"})," and ",(0,t.jsx)(n.code,{children:"/tb3_1/local_costmap/costmap"}),"."]}),"\n",(0,t.jsxs)(n.li,{children:["All the ",(0,t.jsx)(n.code,{children:"cost_maps"})," change the color scheme from ",(0,t.jsx)(n.code,{children:"map"})," to ",(0,t.jsx)(n.code,{children:"cost_map"})," to see the nice colors."]}),"\n",(0,t.jsxs)(n.li,{children:["To make the robot move, use the ",(0,t.jsx)(n.code,{children:"Tool Properties"})," and change the ",(0,t.jsx)(n.code,{children:"2D Goal Pose"})," to be ",(0,t.jsx)(n.code,{children:"/tb3_0/goal_pose"})," and then use the ",(0,t.jsx)(n.code,{children:"2D Goal Pose"}),". For the other robot, use the other namespace ",(0,t.jsx)(n.code,{children:"/tb3_1/goal_pose"}),"."]}),"\n"]}),"\n",(0,t.jsx)(n.h3,{id:"single-launch",children:"Single Launch"}),"\n",(0,t.jsxs)(n.p,{children:["To make this simpler, we can create several launch files to concentrate everything into a single launch. Inside of our ",(0,t.jsx)(n.code,{children:"path_planner_server"}),", we can create the launch ",(0,t.jsx)(n.code,{children:"multi_main.launch.xml"}),". Inside the ",(0,t.jsx)(n.code,{children:"cartographer_slam"}),", we also create the launch file ",(0,t.jsx)(n.code,{children:"start_rviz.launch.py"})," which'll launch ",(0,t.jsx)(n.code,{children:"RVIZ2"})," without terminal commands. 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q=v.forwardRef(((e,n)=>{let{className:a,variant:r="outline",size:o="icon",...t}=e;const{orientation:i,scrollPrev:l,canScrollPrev:c}=E();return(0,s.jsxs)(I,{ref:n,variant:r,size:o,className:w("absolute h-8 w-8 rounded-full","horizontal"===i?"-left-12 top-1/2 -translate-y-1/2":"-top-12 left-1/2 -translate-x-1/2 rotate-90",a),disabled:!c,onClick:l,...t,children:[(0,s.jsx)(P.A,{className:"h-4 w-4"}),(0,s.jsx)("span",{className:"sr-only",children:"Previous slide"})]})}));q.displayName="CarouselPrevious";const F=v.forwardRef(((e,n)=>{let{className:a,variant:r="outline",size:o="icon",...t}=e;const{orientation:i,scrollNext:l,canScrollNext:c}=E();return(0,s.jsxs)(I,{ref:n,variant:r,size:o,className:w("absolute h-8 w-8 rounded-full","horizontal"===i?"-right-12 top-1/2 -translate-y-1/2":"-bottom-12 left-1/2 -translate-x-1/2 rotate-90",a),disabled:!c,onClick:l,...t,children:[(0,s.jsx)(L.A,{className:"h-4 w-4"}),(0,s.jsx)("span",{className:"sr-only",children:"Next 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n={a:"a",admonition:"admonition",annotation:"annotation",code:"code",h2:"h2",h3:"h3",h4:"h4",h5:"h5",img:"img",li:"li",math:"math",mi:"mi",mo:"mo",mrow:"mrow",ol:"ol",p:"p",pre:"pre",semantics:"semantics",span:"span",strong:"strong",ul:"ul",...(0,o.R)(),...e.components};return(0,s.jsxs)(s.Fragment,{children:[(0,s.jsxs)(n.admonition,{type:"danger",children:[(0,s.jsx)(n.p,{children:"This has not been proof-read or modified for simpler reading yet."}),(0,s.jsx)(n.p,{children:"12/23/24"})]}),"\n",(0,s.jsx)(n.h2,{id:"getting-started",children:(0,s.jsx)(n.strong,{children:"Getting Started"})}),"\n",(0,s.jsxs)(n.p,{children:["These are my notes from the ROS2 Navigation course available on ",(0,s.jsx)(n.a,{href:"https://app.theconstruct.ai",children:"The Construct"}),". As this is a robotics note, you will need physical hardware components to follow along. Before each section though, I will list what is required before starting."]}),"\n",(0,s.jsx)(n.h3,{id:"requirements",children:(0,s.jsx)(n.strong,{children:"Requirements"})}),"\n",(0,s.jsx)(n.p,{children:"Before starting, we need a robot with LIDAR and Odometry. We also need to use SLAM for localizing. Available ones are cartographer and SLAM-Toolbox. This note uses cartographer as the learning curve is lower. It is notable that cartographer is no longer maintained, so the better software to use is SLAM-Toolbox."}),"\n",(0,s.jsx)(n.p,{children:"Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in both 2D and 3D across multiple platforms and sensor configurations. Cartographer_ros is a ROS wrapper of cartographer so that we can integrate cartographer with ROS. This allows us to use prebuilt packages and only have to configure them."}),"\n",(0,s.jsx)(n.p,{children:(0,s.jsx)(n.img,{src:"https://google-cartographer-ros.readthedocs.io/en/latest/_images/demo_2d.gif",alt:"cartographer_2d"})}),"\n",(0,s.jsx)(n.h2,{id:"map",children:(0,s.jsx)(n.strong,{children:"Map"})}),"\n",(0,s.jsx)(n.p,{children:"A map is a representation of the environment that the robot is functioning in. It uses the map to localize and plan trajectories. Maps are implemented in ROS2 via an occupancy grid where in each cell, specific values represent obstacles."}),"\n",(0,s.jsx)(n.h3,{id:"configuring-cartographer",children:(0,s.jsx)(n.strong,{children:"Configuring Cartographer"})}),"\n",(0,s.jsx)(n.p,{children:"We use a launch file because we can start multiple nodes and can also set a node-specific parameter while launching a node. These parameters can then be loaded from a YAML file or specified in the launch file."}),"\n",(0,s.jsxs)(n.p,{children:["To launch ",(0,s.jsx)(n.code,{children:"cartographer"}),", we need to launch two nodes. Below are the files you need within their respective directories."]}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsxs)(_.A,{label:"cartographer.launch.py",value:"cartographer.launch.py",children:[(0,s.jsx)(n.p,{children:(0,s.jsx)(n.code,{children:"<package>/launch"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\n\ncartographer_config_dir = os.path.join(get_package_share_directory('cartographer_slam'), 'config')\n\nNode(\npackage='cartographer_ros',\nexecutable='cartographer_node',\nname='cartographer_node',\noutput='screen',\nparameters=[{'use_sim_time': True}], # boolean indicating node synchronization time with simulation time\narguments=['-configuration_directory', cartographer_config_dir,\n'-configuration_basename', configuration_basename] # configuration_directory specifies where the configuration files are # configuration_basename specifies the configuration file name\n),\nNode(\npackage='cartographer_ros',\nexecutable='cartographer_occupancy_grid_node',\noutput='screen',\nname='occupancy_grid_node',\nparameters=[{'use_sim_time': True}],\narguments=['-resolution', '0.05', '-publish_period_sec', '1.0'] # resolution specifies number of meters per grid in the map # publish_period_sec specifies frequency of publishing to /map topic\n)\n\n"})})]}),(0,s.jsxs)(_.A,{label:"cartographer.lua",value:"cartographer.lua",children:[(0,s.jsxs)(n.p,{children:["We then create a LUA file named ",(0,s.jsx)(n.code,{children:"cartographer.lua"})," within the ",(0,s.jsx)(n.code,{children:"<package>/config"})," directory."]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-lua",children:'include "map_builder.lua"\ninclude "trajectory_builder.lua"\n\noptions = {\n map_builder = MAP_BUILDER,\n trajectory_builder = TRAJECTORY_BUILDER,\n map_frame = "map",\n tracking_frame = "base_footprint",\n published_frame = "odom",\n odom_frame = "odom",\n provide_odom_frame = false,\n publish_frame_projected_to_2d = true,\n use_odometry = true,\n use_nav_sat = false,\n use_landmarks = false,\n num_laser_scans = 1,\n num_multi_echo_laser_scans = 0,\n num_subdivisions_per_laser_scan = 1,\n num_point_clouds = 0,\n lookup_transform_timeout_sec = 0.2,\n submap_publish_period_sec = 0.3,\n pose_publish_period_sec = 5e-3,\n trajectory_publish_period_sec = 30e-3,\n rangefinder_sampling_ratio = 1.,\n odometry_sampling_ratio = 1.,\n fixed_frame_pose_sampling_ratio = 1.,\n imu_sampling_ratio = 1.,\n landmarks_sampling_ratio = 1.,\n}\n\nMAP_BUILDER.use_trajectory_builder_2d = true\n\nTRAJECTORY_BUILDER_2D.min_range = 0.12\nTRAJECTORY_BUILDER_2D.max_range = 3.5\nTRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0\nTRAJECTORY_BUILDER_2D.use_imu_data = false\nTRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true\nTRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)\n\nPOSE_GRAPH.constraint_builder.min_score = 0.65\nPOSE_GRAPH.constraint_builder.global_localization_min_score = 0.7\n\n-- POSE_GRAPH.optimize_every_n_nodes = 0\n\nreturn options\n'})})]}),(0,s.jsxs)(_.A,{label:"config files",value:"config files",children:[(0,s.jsx)(n.p,{children:"Make sure that within setup.py, we specify the new config and lua directories. If you're using C++, make sure to specify the DIRECTORIES within CMakeList."}),(0,s.jsx)(n.h4,{id:"setuppy",children:(0,s.jsx)(n.strong,{children:"setup.py"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),\n(os.path.join('share', package_name, 'config'), glob('config/*')),\n"})}),(0,s.jsx)(n.h4,{id:"cmakelist",children:(0,s.jsx)(n.strong,{children:"CMakeList"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:"install(DIRECTORY\n launch\n config\n DESTINATION share/${PROJECT_NAME}/\n)\n"})})]})]}),"\n",(0,s.jsx)(n.h4,{id:"compilation",children:(0,s.jsx)(n.strong,{children:"Compilation"})}),"\n",(0,s.jsx)(n.p,{children:"Compile the package and launch the launch file from the CLI. Once we've done that, run RVIZ2 on another terminal while our cartographer node is running."}),"\n",(0,s.jsxs)(n.p,{children:["To display our mapping, add the ",(0,s.jsx)(n.code,{children:"map"})," display and set the topic to ",(0,s.jsx)(n.code,{children:"/map"}),". If the mapping isn't showing, then the Quality of Service (QoS) parameters of the ",(0,s.jsx)(n.code,{children:"/map"})," may be wrong. We can add a couple more displays."]}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"TF"}),": Allows us to see the frames of the robot"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"LaserScan"}),": Allows us to see the laser coliding with the objects on the map"]}),"\n"]}),"\n",(0,s.jsx)(n.admonition,{type:"note",children:(0,s.jsx)(n.p,{children:"These are all specific to the hardware configurations and the topic may be dependent on your system."})}),"\n",(0,s.jsxs)(G,{orientation:"horizontal",children:[(0,s.jsxs)(B,{children:[(0,s.jsx)(W,{children:(0,s.jsx)("img",{src:i().src,width:"100%"})}),(0,s.jsx)(W,{children:(0,s.jsx)("img",{src:c().src,width:"100%"})})]}),(0,s.jsx)(q,{}),(0,s.jsx)(F,{})]}),"\n",(0,s.jsx)(n.h3,{id:"alternative-configurations",children:(0,s.jsx)(n.strong,{children:"Alternative Configurations"})}),"\n",(0,s.jsxs)(n.p,{children:["Cartographer works for many robots and sensors but must be configured properly to work optimally. By default, cartographer automatically subscribes to ",(0,s.jsx)(n.code,{children:"/scan, /odom, /imu"})," topics. All configurations can be given from the Lua configuration file. 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Builder"}),(0,s.jsx)(C,{children:"TRAJECTORY_BUILDER_2D.min_range"}),(0,s.jsx)(C,{children:(0,s.jsx)(n.p,{children:"Minimum distance measured to be considered for mapping."})}),(0,s.jsx)(C,{className:"text-right",children:"0.2"})]}),(0,s.jsxs)(T,{children:[(0,s.jsx)(C,{}),(0,s.jsx)(C,{children:"TRAJECTORY_BUILDER_2D.max_range"}),(0,s.jsx)(C,{children:(0,s.jsx)(n.p,{children:"Maximum distance measured to be considered for mapping."})}),(0,s.jsx)(C,{className:"text-right",children:"30.0"})]}),(0,s.jsxs)(T,{children:[(0,s.jsx)(C,{}),(0,s.jsx)(C,{children:"TRAJECTORY_BUILDER_2D.missing_data_ray_length"}),(0,s.jsx)(C,{children:"Distance to treat as a lost laser ray."}),(0,s.jsx)(C,{className:"text-right",children:"25.0"})]}),(0,s.jsxs)(T,{children:[(0,s.jsx)(C,{}),(0,s.jsx)(C,{children:"TRAJECTORY_BUILDER_2D.use_imu_data"}),(0,s.jsx)(C,{children:"Whether or not to use IMU data."}),(0,s.jsx)(C,{className:"text-right",children:"true"})]})]})]}),"\n",(0,s.jsxs)(n.p,{children:["If we want to save the map that we mapped out, we can run an executable named ",(0,s.jsx)(n.code,{children:"map_saver"})," from ",(0,s.jsx)(n.code,{children:"nav2_map_server"}),". It's important that we call this within the directory that we want to save the map in. The cartography has to be running for this to work."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 run nav2_map_server map_saver_cli -f <name>\n"})}),"\n",(0,s.jsxs)(n.p,{children:["This'll generate two files of type ",(0,s.jsx)(n.code,{children:".pgm"})," and ",(0,s.jsx)(n.code,{children:".yaml"}),". The ",(0,s.jsx)(n.code,{children:".pgm"})," is an image file of the map as an occupancy grid image. The ",(0,s.jsx)(n.code,{children:".yaml"})," contains details about the resolution of the map."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:"image: turtlebot_area.pgm\nmode: trinary\nresolution: 0.05 # Resolution of the map (meters/pixel)\norigin: [-3.8, -1.84, 0] # Coordinates of the lower-left pixel on the map (x,y,z). The third value indicates rotation and if there is none, value is 0\nnegate: 0 # Inverts the color of the map.\noccupied_thresh: 0.65 # Pixels with a value greater than this value will be considered an occupied zone\nfree_thresh: 0.25 # Pixels with a value smaller than this will be considered a completely free zone\n"})}),"\n",(0,s.jsx)(n.h3,{id:"using-saved-map",children:(0,s.jsx)(n.strong,{children:"Using Saved Map"})}),"\n",(0,s.jsxs)(n.p,{children:["If we want to use the saved map, we have to launch ",(0,s.jsx)(n.code,{children:"map_server"})," and ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"}),". We can create a custom launch file for this, but we must specify some parameters."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrmo ament_index_python.packages import get_package_share_directory\nimport os\n\ndef generate_launch_description():\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\n return LaunchDescription([\n Node(\n package=\"nav2_map_server\",\n executable=\"map_server\",\n name=\"map_server\",\n output=\"screen\",\n parameters=[{'use_sim_time': True}, # Boolean indicating if map_server must synchronize with its time with the simulation\n {'yaml_filename':map_file] # The complete path to the map yaml file\n ),\n Node(\n package=\"nav2_lifecycle_manager\",\n executable=\"lifecycle_manager\",\n name=\"lifecycle_manager_mapper\",\n output=\"screen\",\n parameters=[{'use_sim_time': True},\n {'autostart': True}, # lifecycle manager autostart when launched\n {'node_names': ['map_server']}] # Nodes that the lifecycle manager takes care of\n )\n ])\n"})}),"\n",(0,s.jsx)(n.p,{children:"We can try using our saved map by creating a ROS2 package called map_server, placing our saved map files inside of config, and creating our launch file. Note that we can just put our launch file in any package and just create a new launch file with our configs."}),"\n",(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsx)(n.p,{children:"You must specify your map display durability as Transient Local. Volatile means use incoming data being published as the map source, while transient local allows us to check if we had any cached messages that were published but not received by our subscriber as well as all incoming data."})}),"\n",(0,s.jsx)(n.h2,{id:"nav2-lifecycle-manager",children:(0,s.jsx)(n.strong,{children:"Nav2 Lifecycle Manager"})}),"\n",(0,s.jsx)(n.p,{children:"Navigation nodes are managed nodes meaning that they can be easily controlled to be restarted, paused, or running. They can do so by being at these states:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"Unconfigured"}),"\n",(0,s.jsx)(n.li,{children:"Inactive"}),"\n",(0,s.jsx)(n.li,{children:"Active"}),"\n",(0,s.jsx)(n.li,{children:"Finalized"}),"\n"]}),"\n",(0,s.jsxs)(n.p,{children:["The diagram is taken from the course and depicts how nodes transition from one state to another. Seems to be like a state machine.\n",(0,s.jsx)(n.img,{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/lifecycle.png",alt:"Node Transition"})]}),"\n",(0,s.jsxs)(n.p,{children:["Managed nodes start at the ",(0,s.jsx)(n.code,{children:"unconfigured"})," state and is active usually when running. To transition to ",(0,s.jsx)(n.code,{children:"active"}),", nodes need an external agent that moves them to this state. Several nodes in Nav2, such as ",(0,s.jsx)(n.code,{children:"map_server"}),", ",(0,s.jsx)(n.code,{children:"amcl"}),", ",(0,s.jsx)(n.code,{children:"planner_server"}),", and ",(0,s.jsx)(n.code,{children:"controller_server"}),", are lifecycle enabled meaning they are managed nodes."]}),"\n",(0,s.jsx)(n.p,{children:"These nodes have the required overrides of the lifecycle functions:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"on_configure()"}),"\n",(0,s.jsx)(n.li,{children:"on_activate()"}),"\n",(0,s.jsx)(n.li,{children:"on_deactivate()"}),"\n",(0,s.jsx)(n.li,{children:"on_cleanup()"}),"\n",(0,s.jsx)(n.li,{children:"on_shutdown()"}),"\n",(0,s.jsx)(n.li,{children:"on_error()"}),"\n"]}),"\n",(0,s.jsx)(n.h4,{id:"lifecycle-manager",children:(0,s.jsx)(n.strong,{children:"Lifecycle Manager"})}),"\n",(0,s.jsxs)(n.p,{children:["In Nav2, the external agent that helps transition nodes to an active state is called the ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"}),". The lifecycle manager changes the state of the managed nodes to achieve a controlled startup, shutdown, reset, pause, or resume of the navigation stack."]}),"\n",(0,s.jsx)(n.p,{children:"Referenced from Steve Macenski"}),"\n",(0,s.jsx)(n.p,{children:(0,s.jsx)(n.img,{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/diagram_lifecycle_manager.png",alt:"Figure"})}),"\n",(0,s.jsxs)(n.p,{children:["Nav2 uses a wrapper of ",(0,s.jsx)(n.code,{children:"LifecycleNode"}),", the ",(0,s.jsx)(n.code,{children:"nav2_util LifecycleNode"})," and it hides many abstractions of LifecycleNodes for typical applications. It includes a bond connection for the ",(0,s.jsx)(n.code,{children:"lifecycle manager"})," to ensure that after a node transitions up, it also remains active. When a node crashes, it lets the ",(0,s.jsx)(n.code,{children:"lifecycle manager"})," know and transitions down the system to prevent a critical failure."]}),"\n",(0,s.jsxs)(n.p,{children:["The ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," provides a ROS service from which other ROS nodes can invoke the startup, shutdown, reset, pause, or resume functions. Based on these requests, the ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," calls the necessary lifecycle services in the managed nodes. As shown previously in the ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," node within the launch file, we specify which nodes need management via ",(0,s.jsx)(n.code,{children:"node_names"}),". The ordering matters as that is the order in which they have to be moved to initialized (first to last) and the order in which they are paused and stopped (last to first)."]}),"\n",(0,s.jsxs)(n.p,{children:["It's important that the manager has the ",(0,s.jsx)(n.code,{children:"autostart"})," parameter which allows the ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," to do it's default behavior."]}),"\n",(0,s.jsxs)(n.p,{children:["You interact with the ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," via a service named:"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:'/<lifecycle_manager_node_name>/manage_nodes\n\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 0}" # Start the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 1}" # Pause the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 2}" # Resume the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 3}" # Reset the nodes\nros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 4}" # Shutdown the nodes\n'})}),"\n",(0,s.jsxs)(n.p,{children:["This is because the service ",(0,s.jsx)(n.code,{children:"/manage_nodes"})," uses the message ",(0,s.jsx)(n.code,{children:"nav2_msgs/srv/ManageLifecycleNodes"})," which is as follows:"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-txt",children:"uint8 STARTUP = 0\nuint8 PAUSE = 1\nuint8 RESUME = 2\nuint8 RESET = 3\nuint8 SHUTDOWN = 4\n\nuint8 command\n---\nbool success\n"})}),"\n",(0,s.jsx)(n.h2,{id:"localization",children:(0,s.jsx)(n.strong,{children:"Localization"})}),"\n",(0,s.jsx)(n.p,{children:"Localization is knowing the current position with respect to the environment. This means knowing the position and orientation. This is otherwise known as the pose."}),"\n",(0,s.jsxs)(n.p,{children:["ROS has a very robust algorithm for localization. It uses ",(0,s.jsx)(n.code,{children:"AMCL"})," which is the Adaptive Monte-Carlo Licalization and uses a probabilistic localization system for a robot moving in 2D. It implements the adaptive or KLD sampling Monte Carlo localization approach which uses a particle filter to track a robot's pose against a known map."]}),"\n",(0,s.jsx)(n.p,{children:(0,s.jsxs)(n.strong,{children:["A ROS Robot is localized when somebody publishes a transform between the ",(0,s.jsx)(n.code,{children:"/map"})," frame and the ",(0,s.jsx)(n.code,{children:"/odom"})," frame"]})}),"\n",(0,s.jsxs)(n.p,{children:["That means that the ",(0,s.jsx)(n.code,{children:"/odom"})," frame of the robot knows its relative position to the ",(0,s.jsx)(n.code,{children:"/map"})," frame. Therefore, the robot knows its position on the map since ",(0,s.jsx)(n.code,{children:"/base_link"})," frame is directly connected to the ",(0,s.jsx)(n.code,{children:"/odom"})," frame."]}),"\n",(0,s.jsx)(n.p,{children:"When everything is correct, the AMCL publishes that transform."}),"\n",(0,s.jsx)(n.h3,{id:"ros2-localization",children:(0,s.jsx)(n.strong,{children:"ROS2 Localization"})}),"\n",(0,s.jsx)(n.p,{children:"In order to localize, we need three nodes:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"map_server"}),": provides the map to the localization algorithm"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"localization"}),": the algorithm"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"life cycle manager"}),": state manager"]}),"\n"]}),"\n",(0,s.jsxs)(n.p,{children:["Let's create an ",(0,s.jsx)(n.code,{children:"ament_cmake"})," package and the launch file for all three nodes."]}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsx)(_.A,{label:"localization.launch.py",value:"localization.launch.py",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"from ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\nimport os\n\ndef generate_launch_description():\nnav2_yaml = os.path.join(get_package_share_directory('localization'), 'config', 'amcl_config.yaml')\nmap_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\nprint(map_file)\nreturn LaunchDescription([\nNode(\npackage=\"nav2_map_server\",\nexecutable=\"map_server\",\nname=\"map_server\",\noutput=\"screen\",\nparameters=[{'use_sim_time': True}, {'yaml_filename': map_file}] ## This is the saved map we got from our cartography.\n),\nNode(\npackage=\"nav2_amcl\",\nexecutable=\"amcl\",\nname=\"amcl\",\noutput=\"screen\",\nparameters=[nav2_yaml]\n),\nNode(\npackage=\"nav2_lifecycle_manager\",\nLaunch Fil executable=\"lifecycle_manager\",\nname=\"lifecycle_manager\",\noutput=\"screen\",\nparameters=[{'use_sim_time': True},\n{'autostart': True},\n{'node_names': ['map_server', 'amcl']}]\n)\n])\n\n"})})}),(0,s.jsxs)(_.A,{label:"amcl_config.yaml",value:"amcl_config.yaml",children:[(0,s.jsx)(n.p,{children:"The amcl_config specifies the configurations for the localization algorithm. This goes inside of the config directory of your package."}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'amcl:\n ros__parameters:\n use_sim_time: True\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: "base_footprint"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: "map"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: "likelihood_field"\n max_beams: 60\n max_particles: 8000\n min_particles: 200\n odom_frame_id: "odom"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: "nav2_amcl::DifferentialMotionModel"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n'})})]}),(0,s.jsxs)(_.A,{label:"setup.py/CMakeLists",value:"setup.py/CMakeLists",children:[(0,s.jsx)(n.h4,{id:"for-python",children:(0,s.jsx)(n.strong,{children:"For Python"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),\n(os.path.join('share', package_name, 'config'), glob('config/*')),\n"})}),(0,s.jsx)(n.h4,{id:"for-c",children:(0,s.jsx)(n.strong,{children:"For C++"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-text",children:"install(DIRECTORY\n launch\n config\n DESTINATION $share/{PROJECT_NAME}\n)\n"})})]})]}),"\n",(0,s.jsx)(n.p,{children:"If all is placed correctly, we should be able to receive our old map. From there onwards, you want to configure your RVIZ settings with these below:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"map"}),": Environment"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"TF"}),": Frames of the robot"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Robot Model"}),": Robot structure (uses URDF model)"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Laser Scan"}),": Estimate of robot position relative to actual map"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Pose with Covariance"}),": Status of the localization"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Particle Cloud"}),": See the localization particle distribution"]}),"\n"]}),"\n",(0,s.jsx)(n.admonition,{type:"note",children:(0,s.jsx)(n.p,{children:"Particle cloud uses the reliability policy of best effort and not volatile. If you want to use these configs again, you can save them."})}),"\n",(0,s.jsxs)(n.p,{children:["We can use the ",(0,s.jsx)(n.code,{children:"2D Pose Estimate"})," to tell our ",(0,s.jsx)(n.code,{children:"AMCL"})," system to start localizing the robot. You want to put it at a rough estimate of where the robot is so the algorithm can estimate roughly from the initial state. This'll start publishing the transform between ",(0,s.jsx)(n.code,{children:"map"})," and ",(0,s.jsx)(n.code,{children:"odom"})," topics respectively. When we say transform, it means relationship. The map and odom data are independent from oen another, but there is a mathematical relationship between them using AMCL, and can be used to \"localize\" our robot's position from these data. That's because we have laser scan (environment scanning) and odometry (wheel/position)."]}),"\n",(0,s.jsx)(n.p,{children:"If we start moving our robot, our estimation and localization starts to fit better."}),"\n",(0,s.jsx)("video",{width:"100%",src:d,controls:!0,title:"Localization Video"}),"\n",(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsxs)(n.p,{children:["For 2D Localization, we only need ",(0,s.jsxs)(n.span,{className:"katex",children:[(0,s.jsx)(n.span,{className:"katex-mathml",children:(0,s.jsx)(n.math,{xmlns:"http://www.w3.org/1998/Math/MathML",children:(0,s.jsxs)(n.semantics,{children:[(0,s.jsxs)(n.mrow,{children:[(0,s.jsx)(n.mo,{stretchy:"false",children:"("}),(0,s.jsx)(n.mi,{children:"x"}),(0,s.jsx)(n.mo,{separator:"true",children:","}),(0,s.jsx)(n.mi,{children:"y"}),(0,s.jsx)(n.mo,{separator:"true",children:","}),(0,s.jsx)(n.mi,{children:"\u03b8"}),(0,s.jsx)(n.mo,{stretchy:"false",children:")"})]}),(0,s.jsx)(n.annotation,{encoding:"application/x-tex",children:"(x,y, \\theta)"})]})})}),(0,s.jsx)(n.span,{className:"katex-html","aria-hidden":"true",children:(0,s.jsxs)(n.span,{className:"base",children:[(0,s.jsx)(n.span,{className:"strut",style:{height:"1em",verticalAlign:"-0.25em"}}),(0,s.jsx)(n.span,{className:"mopen",children:"("}),(0,s.jsx)(n.span,{className:"mord mathnormal",children:"x"}),(0,s.jsx)(n.span,{className:"mpunct",children:","}),(0,s.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,s.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.03588em"},children:"y"}),(0,s.jsx)(n.span,{className:"mpunct",children:","}),(0,s.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,s.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.02778em"},children:"\u03b8"}),(0,s.jsx)(n.span,{className:"mclose",children:")"})]})})]})," and are the variables used for setting the robot in the ",(0,s.jsx)(n.code,{children:"map"})," frame. We can compute ",(0,s.jsxs)(n.span,{className:"katex",children:[(0,s.jsx)(n.span,{className:"katex-mathml",children:(0,s.jsx)(n.math,{xmlns:"http://www.w3.org/1998/Math/MathML",children:(0,s.jsxs)(n.semantics,{children:[(0,s.jsxs)(n.mrow,{children:[(0,s.jsx)(n.mo,{stretchy:"false",children:"("}),(0,s.jsx)(n.mi,{children:"x"}),(0,s.jsx)(n.mo,{separator:"true",children:","}),(0,s.jsx)(n.mi,{children:"y"}),(0,s.jsx)(n.mo,{separator:"true",children:","}),(0,s.jsx)(n.mi,{children:"\u03b8"}),(0,s.jsx)(n.mo,{stretchy:"false",children:")"})]}),(0,s.jsx)(n.annotation,{encoding:"application/x-tex",children:"(x,y,\\theta)"})]})})}),(0,s.jsx)(n.span,{className:"katex-html","aria-hidden":"true",children:(0,s.jsxs)(n.span,{className:"base",children:[(0,s.jsx)(n.span,{className:"strut",style:{height:"1em",verticalAlign:"-0.25em"}}),(0,s.jsx)(n.span,{className:"mopen",children:"("}),(0,s.jsx)(n.span,{className:"mord mathnormal",children:"x"}),(0,s.jsx)(n.span,{className:"mpunct",children:","}),(0,s.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,s.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.03588em"},children:"y"}),(0,s.jsx)(n.span,{className:"mpunct",children:","}),(0,s.jsx)(n.span,{className:"mspace",style:{marginRight:"0.1667em"}}),(0,s.jsx)(n.span,{className:"mord mathnormal",style:{marginRight:"0.02778em"},children:"\u03b8"}),(0,s.jsx)(n.span,{className:"mclose",children:")"})]})})]})," by using the AMCL.\nThe Adaptive Monte Carlo Localization algorithm uses particles to localize the robot. Each particle have their own coordinates, orientation value, and a weight. These weights are the likelihood of the particle being a good estimate of the robot's actual pose based on our sensor data. That means that if our weight is higher for a given particle, that particle is more likely to represent the robot's true pose. These particles are then re-sampled whenever the robot moves and with new sensor data, the higher likelihood particles remain and will converge over many iterations to the robot's true pose."]})}),"\n",(0,s.jsx)(n.p,{children:"To get a good localization of our robot, we need to configure out AMCL node from our amcl_config.yaml. 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When you start your localization server, you're given the initial_pose, to which you can set those within the ",(0,s.jsx)(n.code,{children:"amcl_config"}),":"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:"set_initial_pose: true\ninitial_pose:\n x: -4.44264\n y: 2.32243\n yaw: 0.328028\n"})}),"\n",(0,s.jsx)(n.p,{children:"Rebuild the package, and you can start the server and not have to localize the robot."}),"\n",(0,s.jsx)(n.h4,{id:"via-cli",children:(0,s.jsx)(n.strong,{children:"Via CLI"})}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 topic pub -1 /initialpose geometry_msgs/msg/PoseWithCovarianceStamped \"{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}}\"\n"})}),"\n",(0,s.jsx)(n.h3,{id:"global-localization",children:(0,s.jsx)(n.strong,{children:"Global Localization"})}),"\n",(0,s.jsx)(n.p,{children:"Global localization is when neither the person or robot knows where it is on the map. In order to localize itself, it does global localization:"}),"\n",(0,s.jsxs)(n.ol,{children:["\n",(0,s.jsxs)(n.li,{children:["Distribute all the particles of the filter across the map. (Calls the service ",(0,s.jsx)(n.code,{children:"/reinitialize_global_localization"})]}),"\n",(0,s.jsx)(n.li,{children:"Move the robot around until it detects where the it is located. 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It can compute a path as soon as the robot receives a ",(0,s.jsx)(n.code,{children:"2D_Goal_Pose"})," and also has access to a global environment representation and sensor data buffered into it ('Global Costmap`)."]}),(0,s.jsxs)(n.p,{children:["Currently on Galactic, there is only one Planenr algorithm available in ROS2, the ",(0,s.jsx)(n.code,{children:"Nav2Fn_Planner"}),"."]}),(0,s.jsx)(n.p,{children:"In order to launch the planner, we need these in the launch file:"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"package='nav2_planner', these in the ```config``` directory.\n<Tabs>\nexecutable='planner_server',\nname='planner_server',\noutput='screen',\nparameters=[nav2_yaml] # contains all of the configuration parameters\n"})}),(0,s.jsx)(n.h5,{id:"nav2_yaml",children:(0,s.jsx)(n.strong,{children:"nav2_yaml"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n'})})]}),(0,s.jsxs)(_.A,{label:"Controller",value:"Controller",children:[(0,s.jsx)(n.p,{children:"The controller is responsible for performing reactive path planning from the current position to the maximum range of the sensors. From this data, it builds a trajectory to avoid the obstacles it encounters along the way while trying to follow the path generated by the planner. The controller is the one responsible for generating the wheel's commands."}),(0,s.jsx)(n.p,{children:"There are only two planners available in ROS2:"}),(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"dwb_controller"}),": used with ",(0,s.jsx)(n.code,{children:"differential drive"})," robots"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"TEB controller"}),": used with ",(0,s.jsx)(n.code,{children:"car-like"})," robots (doesn't work properly in Galactic)"]}),"\n"]}),(0,s.jsx)(n.p,{children:"In order to launch the controller, we need these in the launch file:"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"package='nav2_controller',\nexecutable='controller_server',\nname='controller_server',\noutput='screen',\nparameters=[controller_yaml] # contains all of the configuration parameters\n"})}),(0,s.jsx)(n.h5,{id:"controller_yaml",children:(0,s.jsx)(n.strong,{children:"controller_yaml"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"]\n controller_plugins: ["FollowPath"]\n\n # Progress checker parameters\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n # Goal checker parameters\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n # DWB parameters\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n - ```dwb_controller```: Used in ```differential drive``` robots acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n'})})]}),(0,s.jsxs)(_.A,{label:"Navigation Controller",value:"Navigation Controller",children:[(0,s.jsxs)(n.p,{children:["The navigation controller coordinates between the planner node and the controller node. This node is called the ",(0,s.jsx)(n.code,{children:"bt_navigator"}),". It basically manages these two nodes."]}),(0,s.jsx)(n.p,{children:"Navigation controller launch file:"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"package='nav2_bt_navigator',\nexecutable='bt_navigator',\nname='bt_navigator',\noutput='screen',\nparameters=[bt_navigator_yaml]\n"})}),(0,s.jsx)(n.h5,{id:"bt_navigator_yaml",children:(0,s.jsx)(n.strong,{children:"bt_navigator_yaml"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})}),(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsxs)(n.p,{children:["The behavior of this node is defined by the XML file dubbed ",(0,s.jsx)(n.code,{children:"behavior.xml"})," which contains the behavior tree. This behavior tree includes when to call the path planner, when to call the controller, and when to activate a recovery behavior. More on behavior trees later on in this note."]})}),(0,s.jsx)(n.p,{children:"behavior.xml"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-xml",children:'\x3c!--\n This Behavior Tree replans the global path periodically at 1 Hz, and has\n recovery actions. Obtained from the official Nav2 package\n--\x3e\n<root main_tree_to_execute="MainTree">\n <BehaviorTree ID="MainTree">\n <RecoveryNode number_of_retries="6" name="NavigateRecovery">\n <PipelineSequence name="NavigateWithReplanning">\n <RateController hz="1.0">\n <RecoveryNode number_of_retries="1" name="ComputePathToPose">\n <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n </RecoveryNode>\n </RateController>\n <RecoveryNode number_of_retries="1" name="FollowPath">\n <FollowPath path="{path}" controller_id="FollowPath"/>\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n </RecoveryNode>\n </PipelineSequence>\n <SequenceStar name="RecoveryActions">\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n <Spin spin_dist="1.57"/>\n <Wait wait_duration="5"/>\n </SequenceStar>\n </RecoveryNode>\n </BehaviorTree>\n</root>\n'})})]}),(0,s.jsxs)(_.A,{label:"Recoveries Server",value:"Recoveries Server",children:[(0,s.jsxs)(n.p,{children:["When a robot cannot find a valid path to the goal provided or gets stuck in the middle, we use recovery behaviors provided by recovery servers. These are simple predefined movements called via behavior trees. When the robot gets stuck, the ",(0,s.jsx)(n.code,{children:"bt_navigator"})," will call the ",(0,s.jsx)(n.code,{children:"recoverieS_server"}),"."]}),(0,s.jsx)(n.p,{children:"To Launch Recovery Servers:"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"package='nav2_behaviors',\nexecutable='behavior_server', these in the ```config``` directory.\n<Tabs>\nname='behavior_server',\noutput='screen',\nparameters=[recovery_yaml]\n"})}),(0,s.jsx)(n.p,{children:"There are three recovery behaviors available in the Nav2 stack:"}),(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.strong,{children:"spin"}),": performs an in-place rotation by a given angle"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.strong,{children:"backup"}),": performs a linear translation by a given distance"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.strong,{children:"wait"}),": brings the robot to a stationary state"]}),"\n"]}),(0,s.jsxs)(n.p,{children:["We can indicate which one of these behaviors we want to load within the config file ",(0,s.jsx)(n.code,{children:"recovery_yaml"}),"."]}),(0,s.jsx)(n.h5,{id:"recovery_yaml",children:(0,s.jsx)(n.strong,{children:"recovery_yaml"})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: odom\n robot_base_frame: base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})})]})]}),"\n",(0,s.jsx)(n.h3,{id:"demo",children:(0,s.jsx)(n.strong,{children:"Demo"})}),"\n",(0,s.jsxs)(n.p,{children:["We'll start by first creating a new package using our favorite CMake build system. We'll then create two directories: ",(0,s.jsx)(n.code,{children:"config"})," and ",(0,s.jsx)(n.code,{children:"launch"}),"."]}),"\n",(0,s.jsx)(n.p,{children:"We then create these and place them in their respective directories."}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsx)(_.A,{value:"pathplanner.launch.py",label:"pathplanner.launch.py",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrom ament_index_python.packages import get_package_share_directory\nimport os\n\ndef generate_launch_description():\n\n planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner.yaml')\n controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')\n recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')\n bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml]\n ),\n Node(\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen', these in the ```config``` directory.\n\n<Tabs> these in the ```config``` directory. \n<Tabs> \n parameters=[controller_yaml],\n ),\n Node(\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml],\n ),\n Node(\n package='nav2_behaviors',\n executable='behavior_server',\n name='behavior_server',\n output='screen',\n parameters=[recovery_yaml],\n ),\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_pathplanner',\n output='screen',\n parameters=[{'autostart': True},\n {'node_names': ['planner_server', 'controller_server', 'behavior_server', 'bt_navigator']}],\n )\n ])\n\n"})})}),(0,s.jsx)(_.A,{value:"planner.yaml",label:"planner.yaml",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n'})})}),(0,s.jsx)(_.A,{value:"controller.yaml",label:"controller.yaml",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"] \n controller_plugins: ["FollowPath"]\n\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\n'})})}),(0,s.jsx)(_.A,{value:"bt_navigator.yaml",label:"bt_navigator.yaml",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})})}),(0,s.jsx)(_.A,{value:"recovery.yaml",label:"recovery.yaml",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: odom\n robot_base_frame: base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})})}),(0,s.jsx)(_.A,{value:"behavior.xml",label:"behavior.xml",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-xml",children:'\x3c!--\n This Behavior Tree replans the global path periodically at 1 Hz, and has\n recovery actions. Obtained from the official Nav2 package\n--\x3e\n<root main_tree_to_execute="MainTree">\n <BehaviorTree ID="MainTree">\n <RecoveryNode number_of_retries="6" name="NavigateRecovery">\n <PipelineSequence name="NavigateWithReplanning">\n <RateController hz="1.0">\n <RecoveryNode number_of_retries="1" name="ComputePathToPose">\n <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/> \n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n </RecoveryNode>\n </RateController>\n <RecoveryNode number_of_retries="1" name="FollowPath">\n <FollowPath path="{path}" controller_id="FollowPath"/>\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n </RecoveryNode>\n </PipelineSequence>\n <SequenceStar name="RecoveryActions">\n <ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>\n <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>\n <Spin spin_dist="1.57"/>\n <Wait wait_duration="5"/>\n </SequenceStar>\n </RecoveryNode>\n </BehaviorTree>\n</root>\n'})})})]}),"\n",(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsx)(n.p,{children:"We have to be running in parallel our localization server, the one responsible for localizing our robot with the map and the one providing the base map environment."})}),"\n",(0,s.jsx)(n.h4,{id:"rviz2-settings",children:(0,s.jsx)(n.strong,{children:"RVIZ2 Settings"})}),"\n",(0,s.jsxs)(n.p,{children:["On top of our settings provided for localization, we add the ",(0,s.jsx)(n.code,{children:"Path"})," display and change LineStyle to ",(0,s.jsx)(n.code,{children:"BillBoards"}),". If everything is set, we can get something cool like below!"]}),"\n",(0,s.jsx)("video",{width:"100%",src:m,controls:!0,title:"Demo Video"}),"\n",(0,s.jsx)(n.h4,{id:"navigation-goal-via-cli",children:(0,s.jsx)(n.strong,{children:"Navigation Goal via CLI"})}),"\n",(0,s.jsxs)(n.p,{children:["We can send a goal via the CLI through the server interface ",(0,s.jsx)(n.code,{children:"/navigate_to_pose"})," or ",(0,s.jsx)(n.code,{children:"goal_pose"}),"."]}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsx)(_.A,{label:"Action",value:"Action",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "pose: {header: {frame_id: map}, pose: {position: {x: 1.52, y: 1.92, z: 0.0}, orientation:{x: 0.0, y: 0.0, z: 0, w: 1.0000000}}}"\n'})})}),(0,s.jsx)(_.A,{label:"Topic",value:"Topic",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-bash",children:"ros2 topic pub -1 /goal_pose geometry_msgs/PoseStamped \"{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {position: {x: 2.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}\"\n"})})}),(0,s.jsxs)(_.A,{label:"ROS2 Node",value:"ROS2 Node",children:[(0,s.jsx)(n.p,{children:"Taken directly from The Construct."}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom nav2_msgs.action import NavigateToPose\nfrom rclpy.action import ActionClient\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import PointStamped\n\nclass NavToPoseActionClient(Node):\n\n def __init__(self):\n super().__init__('Nav_To_Pose_Action_Client')\n self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose')\n self.subscriber_ = self.create_subscription(PointStamped, 'clicked_point', self.callback, 1)\n self.subscriber_ # prevent unused variable warning\n\n def callback(self, msg):\n self.get_logger().info('Recieved Data:\\n X : %f \\n Y : %f \\n Z : %f' % (msg.point.x, msg.point.y, msg.point.z))\n self.send_goal (msg.point.x, msg.point.y, 0.0)\n\n def send_goal(self, x ,y, theta):\n self.get_logger().info('sending goal to action server')\n goal_pose = NavigateToPose.Goal()\n goal_pose.pose.header.frame_id = 'map'\n goal_pose.pose.pose.position.x = x\n goal_pose.pose.pose.position.y = y\n goal_pose.pose.pose.position.z = theta\n\n self.get_logger().info('waiting for action server')\n self._action_client.wait_for_server()\n self.get_logger().info('action server detected')\n\n self._send_goal_future = self._action_client.send_goal_async(\n goal_pose,\n feedback_callback=self.feedback_callback)\n self.get_logger().info('goal sent')\n\n self._send_goal_future.add_done_callback(self.goal_response_callback)\n\n def goal_response_callback(self, future):\n goal_handle = future.result()\n if not goal_handle.accepted:\n self.get_logger().info('Goal rejected :(')\n return\n self.get_logger().info('Goal accepted :)')\n self._get_result_future = goal_handle.get_result_async()\n\n self._get_result_future.add_done_callback(self.get_result_callback)\n\n def get_result_callback(self, future):\n result = future.result().result\n self.get_logger().info('Result: {0}' + str(result))\n rclpy.shutdown()\n\n def feedback_callback(self, feedback_msg):\n feedback = feedback_msg.feedback\n self.get_logger().info('FEEDBACK:' + str(feedback) )\n\ndef main(args=None):\n rclpy.init(args=args)\n\n action_client = NavToPoseActionClient()\n\n rclpy.spin(action_client)\n\n\nif __name__ == '__main__':\n main()\n"})}),(0,s.jsxs)(n.p,{children:["Used via RVIZ and ",(0,s.jsx)(n.code,{children:"Publish Point"})," feature."]})]})]}),"\n",(0,s.jsx)(n.h2,{id:"obstacle-avoidance",children:(0,s.jsx)(n.strong,{children:"Obstacle Avoidance"})}),"\n",(0,s.jsx)(n.p,{children:"The Nav2 stack avoids dynamic and static obstacles by utilizing what's known as costmaps."}),"\n",(0,s.jsx)(n.h3,{id:"costmaps",children:(0,s.jsx)(n.strong,{children:"Costmaps"})}),"\n",(0,s.jsx)(n.p,{children:"A Costmap is a 2D representation of robot-sensed obstacles on a grid map. Each grid cells contain information about the obstacles detected by the sensors. The cost of the cell can be unknown, free, occupied, or inflated. Different colors indicate how likely it is to colide against an obstacle. Using this information, the Nav2 stack can compute their tasks safely and efficiently."}),"\n",(0,s.jsxs)(n.p,{children:["There are two kinds of costmaps: ",(0,s.jsx)(n.code,{children:"global"})," and ",(0,s.jsx)(n.code,{children:"local"}),"."]}),"\n",(0,s.jsxs)(n.ol,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"global"}),": generated from obstacles on a static map and is used by the ",(0,s.jsx)(n.code,{children:"planner"})," to generate long term path."]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"local"}),": created from new obstacles during runtime(sensors) and is used by the ",(0,s.jsx)(n.code,{children:"controller"})," to generate short-term path"]}),"\n"]}),"\n",(0,s.jsx)("img",{src:u().src,width:"100%"}),"\n",(0,s.jsx)(n.h3,{id:"global-costmaps",children:(0,s.jsx)(n.strong,{children:"Global Costmaps"})}),"\n",(0,s.jsxs)(n.p,{children:["To add a ",(0,s.jsx)(n.code,{children:"global costmap"}),", we can add these parameters to the ",(0,s.jsx)(n.code,{children:"planner.yaml"})," file."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "inflation_layer"]\n static_layer:\n plugin: "nav2_costmap_2d::StaticLayer"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n always_send_full_costmap: True\n'})}),"\n",(0,s.jsxs)(n.p,{children:["When we run our ",(0,s.jsx)(n.code,{children:"path_planner_server"})," with these new parameters, we see an added map on top of our base map. When we add a new obstacle, the global costmap is not updated. The differences can be seen below. This means that our planner will not take into consideration the new dynamic obstacle that spawned in and will crash."]}),"\n",(0,s.jsx)(n.admonition,{type:"note",children:(0,s.jsx)(n.p,{children:"The different tones of gray are to illustrate the different regions the robot can use. Dark tones of grey means the robot cannot use that area to path plan as it is too close to an obstacle"})}),"\n",(0,s.jsx)(n.h4,{id:"global-costmap-obstacle-layers",children:(0,s.jsx)(n.strong,{children:"Global Costmap Obstacle Layers"})}),"\n",(0,s.jsxs)(n.p,{children:["Global costmaps are generated as the superposition of different obstacle layers. This means that each layer adds a set of obstacles to the ",(0,s.jsx)(n.code,{children:"global costmap"})," based on how the layer computes the obstacles."]}),"\n",(0,s.jsx)(n.p,{children:"Available Costmap layers:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Static Layer"}),": Adds as obstacles to the ",(0,s.jsx)(n.code,{children:"global costmap"})," any black dot that exists in the static map"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Inflation Layer"}),": Adds an inflation to any obstacle in the ",(0,s.jsx)(n.code,{children:"global costmap"}),", as a safe distance to maintain"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Obstacle Layer"}),": Adds to the ",(0,s.jsx)(n.code,{children:"global costmap"})," any object detected by a 2D sensor"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"Voxel Layer"}),": Adds to the ",(0,s.jsx)(n.code,{children:"global costmap"})," 3D obstacles from PointCloud data."]}),"\n"]}),"\n",(0,s.jsx)(n.p,{children:"We can specify which layers or all in our parameter list via plugins."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'plugins: ["static_layer", "obstacle_layer", "inflation_layer", "voxel_layer"] # Order matters here, inflation is applied after obstacle, etc.\n'})}),"\n",(0,s.jsx)(n.p,{children:"Adding these layers will allow us to account for dynamic obstacles."}),"\n",(0,s.jsx)(n.h4,{id:"general-parameters",children:(0,s.jsx)(n.strong,{children:"General Parameters"})}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsx)(_.A,{value:"global_costmap",label:"global_costmap",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "obstacle_layer", "inflation_layer"]\n'})})}),(0,s.jsx)(_.A,{value:"static_layer",label:"static_layer",children:(0,s.jsxs)(n.p,{children:["Represents a largely unchanging portion of the Costmap, like those generated\nby SLAM. ",(0,s.jsx)(n.code,{children:'yaml static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True '})]})}),(0,s.jsx)(_.A,{value:"inflation_layer",label:"inflation_layer",children:(0,s.jsxs)(n.p,{children:["Adds new values around lethal obstacles to make the Costmap represent robot's\nconfiguration space. ",(0,s.jsx)(n.code,{children:'yaml inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.35 '})]})}),(0,s.jsxs)(_.A,{value:"obstacle_layer",label:"obstacle_layer",children:[(0,s.jsx)(n.p,{children:"Tracks obstacles read by sensor data and marks/raytraces obstacles in 2D."}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",metastring:'obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True',children:'observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0\nclearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0\nraytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 ```\n</TabItem>\n\n<TabItem value="voxel_layer" label="voxel_layer">\nResponsible for including 3D detected obstacles in the 2D costmaps.\n```yaml\nvoxel_layer:\nplugin: "nav2_costmap_2d::VoxelLayer"\nenabled: True\nfootprint_clearing_enabled: true\nmax_obstacle_height: 2.0\npublish_voxel_map: True\norigin_z: 0.0\nz_resolution: 0.05\nz_voxels: 16\nmax_obstacle_height: 2.0\nunknown_threshold: 15\nmark_threshold: 0\nobservation_sources: pointcloud\ncombination_method: 1\npointcloud: # no frame set, uses frame from message\n topic: /intel_realsense_r200_depth/points\n max_obstacle_height: 2.0\n min_obstacle_height: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n clearing: True\n marking: True\n data_type: "PointCloud2"\n'})})]})]}),"\n",(0,s.jsx)(n.h3,{id:"local-costmap",children:(0,s.jsx)(n.strong,{children:"Local Costmap"})}),"\n",(0,s.jsxs)(n.p,{children:["Let's figure out how to add a ",(0,s.jsx)(n.code,{children:"local costmap"}),". It's no different than a ",(0,s.jsx)(n.code,{children:"global costmap"})," but goes inside of ",(0,s.jsx)(n.code,{children:"controller.yaml"})," instead of ",(0,s.jsx)(n.code,{children:"planner.yaml"}),". This is because a ",(0,s.jsx)(n.code,{children:"local costmap"})," is a dynamic version of the ",(0,s.jsx)(n.code,{children:"global costmap"})," using sensors."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'local_costmap:\n local_costmap:\n ros__parameters:\n update_frequency: 5.0\n publish_frequency: 2.0\n global_frame: odom\n robot_base_frame: base_link\n use_sim_time: True\n rolling_window: true\n width: 1\n height: 1\n resolution: 0.05\n robot_radius: 0.15\n plugins: ["voxel_layer", "inflation_layer"]\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n voxel_layer:\n plugin: "nav2_costmap_2d::VoxelLayer"\n enabled: True\n publish_voxel_map: True\n origin_z: 0.0\n z_resolution: 0.05\n z_voxels: 16\n max_obstacle_height: 2.0\n mark_threshold: 0\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: "LaserScan"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n map_subscribe_transient_local: True\n always_send_full_costmap: True\n'})}),"\n",(0,s.jsxs)(n.admonition,{type:"info",children:[(0,s.jsx)(n.p,{children:"The robot's shape can influence what extent the obstacles in the Costmaps will be inflated to. This is then taken into consideration when computing a path to said point. We can specify our robot's shape within our costmap parameters in both local and global."}),(0,s.jsxs)(n.p,{children:["When we use round robots, we use the parameter ",(0,s.jsx)(n.code,{children:"robot_radius"}),". For more complex robots that aren't round, we have to use ",(0,s.jsx)(n.code,{children:"footprint"})," parameter instead that specifies the coordinates for each point of the robot. The ",(0,s.jsx)(n.code,{children:"footprint"})," parameter is the project of the robot on the ground. For example, if a square robot has 65 cm per side, we would specify:"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'footprint: "[[0.325, 0.325], [0.325, -0.325], [-0.325, -0.325], [-0.325, 0.325]]"\n'})}),(0,s.jsxs)(n.p,{children:["We also have to change the ",(0,s.jsx)(n.code,{children:"controller.yaml"})," configuration:"]}),(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"BaseObstacle"})," if using ",(0,s.jsx)(n.code,{children:"robot_radius"})]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.code,{children:"ObstacleFootprint"})," if using ",(0,s.jsx)(n.code,{children:"footprint"})]}),"\n"]}),(0,s.jsxs)(n.p,{children:["Remember that we can only specify one parameter: ",(0,s.jsx)(n.code,{children:"footprint"})," or ",(0,s.jsx)(n.code,{children:"robot_radius"}),"."]})]}),"\n",(0,s.jsx)(n.h3,{id:"demo-1",children:(0,s.jsx)(n.strong,{children:"Demo"})}),"\n",(0,s.jsx)("video",{width:"100%",controls:!0,src:g,title:"Demo Video"}),"\n",(0,s.jsx)(n.h3,{id:"path-planner-package",children:(0,s.jsx)(n.strong,{children:"Path Planner Package"})}),"\n",(0,s.jsxs)(n.p,{children:["Currently, we have two packages: ",(0,s.jsx)(n.code,{children:"localization"})," and ",(0,s.jsx)(n.code,{children:"path_planner"}),". One does the localization and mapping while the other does the path planning. Ideally, for a full navigaiton system, we want a single package with one ",(0,s.jsx)(n.code,{children:"nav2_lifecycle_manager"})," managing all navigation nodes."]}),"\n",(0,s.jsx)(n.p,{children:"How you wanna structure it is up to you, and having separate packages can be good for debugging, but ideally, in real navigation systems for deployment, you want one package for ease of use with one single launch file."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')\n bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')\n planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner_server.yaml')\n recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')\n amcl_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'amcl_config.yaml')\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'yaml_filename':map_file}]\n ),\n\n Node(\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[amcl_yaml]\n ),\n Node(\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml]),\n\n Node(\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml]),\n\n Node(\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml],\n output='screen'),\n\n Node(\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml]),\n\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager',\n output='screen',\n parameters=[{'autostart': True},\n {'node_names': ['map_server',\n 'amcl',\n 'controller_server',\n 'planner_server',\n 'recoveries_server',\n 'bt_navigator']}])\n ])\n"})}),"\n",(0,s.jsx)(n.h2,{id:"multi-robot-navigation",children:(0,s.jsx)(n.strong,{children:"Multi-robot Navigation"})}),"\n",(0,s.jsxs)(n.p,{children:["In the scenario you have multiple robots, each robot will have the same ",(0,s.jsx)(n.code,{children:"/cmd_vel"})," topic name, same ",(0,s.jsx)(n.code,{children:"base_footprint"})," frame name and even the same control node name. This is complicated because the navigation stack won't know which robot it's talking to. We can bypass this by using ",(0,s.jsx)(n.code,{children:"namespaces"})," which are labels we assign to each robot. This means that each robot may have the same name but will have a unique ",(0,s.jsx)(n.code,{children:"namespace"})," for it. ",(0,s.jsx)(n.code,{children:"namespaces"})," are configured at:"]}),"\n",(0,s.jsxs)(n.ol,{children:["\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.strong,{children:"Simulated Robots"}),": At the URDF description file and the Gazebo plugins"]}),"\n",(0,s.jsxs)(n.li,{children:[(0,s.jsx)(n.strong,{children:"Real Robots"}),": At the bring-up routine provided by the vendor"]}),"\n"]}),"\n",(0,s.jsxs)(n.p,{children:["If these are not configured properly, the robots will have difficulty booting into ",(0,s.jsx)(n.code,{children:"namespaces"})," mode. For two robots, we could have the following:"]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-text",children:"/clock\n/parameter_events\n/performance_metrics\n/rosout\n/tb3_0/cmd_vel\n/tb3_0/imu\n/tb3_0/joint_states\n/tb3_0/odom\n/tb3_0/robot_description\n/tb3_0/scan\n/tb3_1/cmd_vel\n/tb3_1/imu\n/tb3_1/joint_states\n/tb3_1/odom\n/tb3_1/robot_description\n/tb3_1/scan\n/tf\n/tf_static\n"})}),"\n",(0,s.jsx)(n.h3,{id:"configuration",children:(0,s.jsx)(n.strong,{children:"Configuration"})}),"\n",(0,s.jsx)(n.p,{children:"To have a multiagent system that uses the same nav stack, we need for each robot:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:(0,s.jsx)(n.code,{children:"localization"})}),"\n",(0,s.jsx)(n.li,{children:(0,s.jsx)(n.code,{children:"controller_server"})}),"\n",(0,s.jsx)(n.li,{children:(0,s.jsx)(n.code,{children:"planner_server"})}),"\n",(0,s.jsx)(n.li,{children:(0,s.jsx)(n.code,{children:"bt_navigator"})}),"\n"]}),"\n",(0,s.jsxs)(n.p,{children:["The only thing that'll be used by all is the ",(0,s.jsx)(n.code,{children:"map_server"})," as all robots will use the same map."]}),"\n",(0,s.jsx)(n.h3,{id:"mapping",children:(0,s.jsx)(n.strong,{children:"Mapping"})}),"\n",(0,s.jsx)(n.p,{children:"It is possible to have multiple robots collaborate to create a single map between them but that is covered later on. This tutorial goes over:"}),"\n",(0,s.jsxs)(n.ol,{children:["\n",(0,s.jsx)(n.li,{children:"One robot from the fleet in charge of making the robot"}),"\n",(0,s.jsxs)(n.li,{children:["A single ",(0,s.jsx)(n.code,{children:"map_server"})," is launched using that map"]}),"\n",(0,s.jsxs)(n.li,{children:["All the navigation systems for each robot will use the same name by asking for the same ",(0,s.jsx)(n.code,{children:"map_server"})]}),"\n"]}),"\n",(0,s.jsx)(n.h4,{id:"multirobot-cartographer",children:(0,s.jsx)(n.strong,{children:"Multirobot cartographer"})}),"\n",(0,s.jsx)(n.p,{children:"There isn't much difference when trying to do multirobot navigation. For mapping, al lwe do is add and modify a few lines of code. For this, we use our cartographer config files and simply add these few lines of code below."}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsx)(_.A,{value:"cartographer_multi.lua",label:"cartographer_multi.lua",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-lua",children:'tracking_frame = "tb3_0/base_footprint",\npublished_frame = "tb3_0/odom",\nodom_frame = "tb3_0/odom"\n'})})}),(0,s.jsx)(_.A,{value:"multi_cartographer.launch.py",label:"multi_cartographer.launch.py",children:(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",metastring:"# cartographer_node remappings=[ ('/cmd_vel', '/tb3_0/cmd_vel'),",children:'(\'/odom\', \'/tb3_0/odom\'), (\'/scan\', \'/tb3_0/scan\'), ] ```\n</TabItem>\n\n</Tabs>\n\n:::warn\nWhen localizing with one single robot as above and having the other stand still, the map will think the idle robot is an obstacle.\n:::\n\n### **Localization**\n\nWe can launch a localization system for each robot. This means launching two `amcl` nodes each configured for their respective robot.\n\n<Tabs>\n<TabItem value="Step 1" label="Step 1">\n- Add a ```namespace``` variable to the launches of ```amcl``` nodes.\n- Create a new launch file named ```multi_localization.launch.py``` to include two ```amcl``` nodes, each with a different namespace, according to the robot it will localize. Note that each node\'s parameters argument must point to **two** config files.\n- Try to use the cleaned map that doesn\'t include the idle robot as an obstacle. You can edit the ```.pgm``` file using ```GIMP```.\n\n```py\nNode(\n namespace="tb3_0",\n package="nav2_amcl",\n executable="amcl",\n name="amcl",\n output="screen",\n parameters=[tb3_0_config],\n ),\nNode(\n namespace="tb3_1",\n package="nav2_amcl",\n executable="amcl",\n name+"amcl",\n output="screen",\n parameters=[tb3_1_config],\n ),\n'})})}),(0,s.jsxs)(_.A,{label:"Step 2",value:"Step 2",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Create two copies of the ",(0,s.jsx)(n.code,{children:"amcl_config.yaml"})," file, with each one of the names referencing the robot it controls. Example: ",(0,s.jsx)(n.code,{children:"tb3_0_amcl_config.yaml"})]}),"\n",(0,s.jsxs)(n.li,{children:["Modify the ",(0,s.jsx)(n.code,{children:"amcl_config.yaml"})," files to make sure it fits the robot needs."]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Modifying the first line to contain the ",(0,s.jsx)(n.strong,{children:"full new name"})," of the node."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["All frames must be modified to include the ",(0,s.jsx)(n.code,{children:"namespace"}),". The only frame that doesn't have to be changed is the ",(0,s.jsx)(n.code,{children:"global_frame_id"})," sincei t's a global single frame for all the robots."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Topics don't need to be modified because the ",(0,s.jsx)(n.code,{children:"namespace"})," arguments of the launch file automatically modifies them. This doesn't apply to frames."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["The ",(0,s.jsx)(n.code,{children:"map_topic"})," parameters must be forced to ",(0,s.jsx)(n.code,{children:"/map"}),". If we don't do this with ",(0,s.jsx)(n.code,{children:"/"}),", then it automatically uses ",(0,s.jsx)(n.code,{children:"tb3_0/map"})," as the topic which isn't the topic the map server publishes."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["Import the two config files into the ",(0,s.jsx)(n.code,{children:"multi_localization.launch.py"})]}),"\n",(0,s.jsx)(n.li,{children:"Assign it to their respective nodes."}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'# tb3_0_amcl_config.yaml\ntb3_0/amcl:\n ros__parameters:\n use_sim_time: True\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: "tb3_0/base_footprint"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: "map"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: "likelihood_field"\n max_beams: 60\n max_particles: 8000\n min_particles: 200\n odom_frame_id: "tb3_0/odom"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: "nav2_amcl::DifferentialMotionModel"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n scan_topic: "/tb3_0/scan"\n map_topic: "/map"\n set_initial_pose: true\n initial_pose:\n x: 0.0\n y: 0.0\n yaw: 0.0\n'})})]}),(0,s.jsxs)(_.A,{label:"Step 3",value:"Step 3",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Add the full node names to the lifecycle manager with their ",(0,s.jsx)(n.code,{children:"namespaces"})]}),"\n"]}),(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsxs)(n.p,{children:["We have to add a new parameter ",(0,s.jsx)(n.code,{children:"{'bond_timeout': 0.0}"})," to prevent launching errors"]})}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_localization',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['map_server', 'tb3_0/amcl', 'tb3_1/amcl']}]\n)\n"})})]}),(0,s.jsxs)(_.A,{label:"Step 4",value:"Step 4",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Modify the ",(0,s.jsx)(n.code,{children:"map_server"})," launch file."]}),"\n",(0,s.jsxs)(n.li,{children:["Specify the ",(0,s.jsx)(n.code,{children:"topic_name"})," and ",(0,s.jsx)(n.code,{children:"frame_id"})," of the ",(0,s.jsx)(n.code,{children:"map_server"}),". These parameters aren't configured when we do a single robot ",(0,s.jsx)(n.code,{children:"map_server"}),"."]}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True}, \n {'topic_name':\"map\"},\n {'frame_id':\"map\"},\n {'yaml_filename':map_file}]\n),\n"})}),(0,s.jsx)(n.p,{children:"The final launch file should be:"}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import os\n\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n tb3_0_nav2_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'tb3_0_amcl_config.yaml')\n tb3_1_nav2_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'tb3_1_amcl_config.yaml')\n map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area_two_robots_clean.yaml')\n\n return LaunchDescription([\n Node(\n package='nav2_map_server',\n executable='map_server',\n name='map_server',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'topic_name':\"map\"},\n {'frame_id':\"map\"},\n {'yaml_filename':map_file}]\n ),\n\n Node(\n namespace='tb3_0',\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[tb3_0_nav2_yaml]\n ),\n Node(\n namespace='tb3_1',\n package='nav2_amcl',\n executable='amcl',\n name='amcl',\n output='screen',\n parameters=[tb3_1_nav2_yaml]\n ),\n\n\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_localization',\n output='screen',\n parameters=[{'use_sim_time': True},\n {'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['map_server', 'tb3_0/amcl', 'tb3_1/amcl']}]\n )\n ])\n"})})]})]}),"\n",(0,s.jsx)(n.h4,{id:"configuring-rviz2",children:(0,s.jsx)(n.strong,{children:"Configuring RVIZ2"})}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Load the RVIZ configuration of the localization unit: ",(0,s.jsx)(n.code,{children:".rviz"})]}),"\n",(0,s.jsxs)(n.li,{children:["Modify the topic of the ",(0,s.jsx)(n.code,{children:"LaserScan"})," to point to the ",(0,s.jsx)(n.code,{children:"tb3_0/scan"})," and indicate the ",(0,s.jsx)(n.code,{children:"Color Transformer"})," as ",(0,s.jsx)(n.code,{children:"FlatColor"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["Add another ",(0,s.jsx)(n.code,{children:"LaserScan"})," and make it ",(0,s.jsx)(n.code,{children:"tb3_1/scan"})," with ",(0,s.jsx)(n.code,{children:"Color Transformer"})," as the same as previous but different color."]}),"\n",(0,s.jsxs)(n.li,{children:["Modify the ",(0,s.jsx)(n.code,{children:"RobotModel"})," display as below:"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["In the ",(0,s.jsx)(n.code,{children:"Description Source"}),", select ",(0,s.jsx)(n.code,{children:"Topic"})," and indicate ",(0,s.jsx)(n.code,{children:"/tb3_0/robot_description"}),"."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["In the ",(0,s.jsx)(n.code,{children:"TF prefix"}),", indicate the namespace of the robot, which for tb3_0 is ",(0,s.jsx)(n.code,{children:"tb3_0"}),"."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["Do the same for ",(0,s.jsx)(n.code,{children:"tb3_1"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["Add the ",(0,s.jsx)(n.code,{children:"Panel"})," of ",(0,s.jsx)(n.code,{children:"Tool Properties"})," and modify it such that the topics for ",(0,s.jsx)(n.code,{children:"2D Pose Estimate"}),". (You do this to localize each robot individually)"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Should always be ",(0,s.jsx)(n.code,{children:"/namespace/topic_name"}),"."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["You should relaunch the simulation because the robots will ",(0,s.jsx)(n.strong,{children:"drift"})," if given a long time of idling in the simulation. Then localize by doing the ",(0,s.jsx)(n.code,{children:"2D Pose Estimate"}),"."]}),"\n"]}),"\n",(0,s.jsx)(n.p,{children:"After, we should get something like this:"}),"\n",(0,s.jsx)("img",{src:j().src,width:"100%"}),"\n",(0,s.jsx)("img",{src:"https://s3.eu-west-1.amazonaws.com/notebooks.ws/ros2-navigation-humble-148/images/global_tf_localized.png"}),"\n",(0,s.jsx)(n.h3,{id:"path-planning-2",children:(0,s.jsx)(n.strong,{children:"Path Planning"})}),"\n",(0,s.jsx)(n.p,{children:"To path plan for multiple robots, we need n path planning node systems. This means for our two robot, we need:"}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["two ",(0,s.jsx)(n.code,{children:"controller_server"})," nodes"]}),"\n",(0,s.jsxs)(n.li,{children:["two ",(0,s.jsx)(n.code,{children:"planner_server"})," nodes"]}),"\n",(0,s.jsxs)(n.li,{children:["two ",(0,s.jsx)(n.code,{children:"recoveries_server"})," nodes"]}),"\n",(0,s.jsxs)(n.li,{children:["two ",(0,s.jsx)(n.code,{children:"bt_navigator"})," nodes"]}),"\n"]}),"\n",(0,s.jsxs)(h.A,{children:[(0,s.jsxs)(_.A,{label:"Step 1",value:"Step 1",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Add a ",(0,s.jsx)(n.code,{children:"namespace"})," to the launches of the nodes."]}),"\n"]}),(0,s.jsxs)(n.p,{children:["Example below for one single node, the ",(0,s.jsx)(n.code,{children:"planner_server"}),". We need to do this for the 4 nodes, for each robot, meaning we should have 8 nodes in total for the path planning system."]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"Node(\n namespace='tb3_0',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb1_0]\n),\n"})})]}),(0,s.jsxs)(_.A,{label:"Step 2",value:"Step 2",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"Create respective config files for each robot."}),"\n",(0,s.jsxs)(n.li,{children:["This means two of each yamls for ",(0,s.jsx)(n.code,{children:"planner_server"}),", ",(0,s.jsx)(n.code,{children:"controller"}),", ",(0,s.jsx)(n.code,{children:"bt_navigator"}),", ",(0,s.jsx)(n.code,{children:"recovery"})," files."]}),"\n",(0,s.jsxs)(n.li,{children:["Modify the content of each file and name it with good convention such as ",(0,s.jsx)(n.code,{children:"tb3_0_planner_server.yaml"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["First line must contain the full new name of the node: ",(0,s.jsx)(n.code,{children:"tb3_0/planner_server"})]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["All frames of the config must be modified to include the ",(0,s.jsx)(n.code,{children:"namespace"}),". The ",(0,s.jsx)(n.code,{children:"global_frame_id"})," doesn't need to since it's a single global frame."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Topics don't need to be modified since they're done via launch file with the argument ",(0,s.jsx)(n.code,{children:"namespace"}),"."]}),"\n"]}),"\n"]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["The ",(0,s.jsx)(n.code,{children:"map_topic"})," must be forced to ",(0,s.jsx)(n.code,{children:"/map"})," or else the map server will be publishing to ",(0,s.jsx)(n.code,{children:"tb3_0/map"}),"."]}),"\n"]}),"\n"]}),"\n"]}),(0,s.jsxs)(h.A,{children:[(0,s.jsxs)(_.A,{label:"planner_server",value:"planner_server",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Change ",(0,s.jsx)(n.code,{children:"global_costmap"})," to include the namespace: ",(0,s.jsx)(n.code,{children:"tb3_0/global_costmap"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["Do the same for ",(0,s.jsx)(n.code,{children:"robot_base_frame"}),": ",(0,s.jsx)(n.code,{children:"robot_base_frame: tb3_0/base_link"}),"."]}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'tb3_0/planner_server:\n ros__parameters:\n expected_planner_frequency: 10.0\n use_sim_time: True\n planner_plugins: ["GridBased"]\n GridBased:\n plugin: "nav2_navfn_planner/NavfnPlanner"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n\ntb3_0/global_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n # This has to be set\n map_topic: /map\n robot_base_frame: tb3_0/base_link\n use_sim_time: True\n robot_radius: 0.15\n resolution: 0.05\n track_unknown_space: true\n plugins: ["static_layer", "obstacle_layer", "inflation_layer"]\n static_layer:\n plugin: "nav2_costmap_2d::StaticLayer"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: "nav2_costmap_2d::InflationLayer"\n cost_scaling_factor: 3.0\n inflation_radius: 0.35\n always_send_full_costmap: True\n obstacle_layer:\n plugin: "nav2_costmap_2d::ObstacleLayer"\n enabled: True\n observation_sources: scan\n scan:\n # The scan is let as is because with namespace on topc it remaps properly , NO f.slash\n topic: /tb3_0/scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: "LaserScan"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n'})})]}),(0,s.jsxs)(_.A,{label:"controller.yaml",value:"controller.yaml",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"Same as planner_server"}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'tb3_0/controller_server:\n ros__parameters:\n use_sim_time: True\n controller_frequency: 10.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: "progress_checker"\n goal_checker_plugins: ["general_goal_checker"] \n controller_plugins: ["FollowPath"]\n\n # Progress checker parameters\n progress_checker:\n plugin: "nav2_controller::SimpleProgressChecker"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n # Goal checker parameters\n general_goal_checker:\n stateful: True\n plugin: "nav2_controller::SimpleGoalChecker"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n # DWB parameters\n FollowPath:\n plugin: "dwb_core::DWBLocalPlanner"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\ntb3_0/local_costmap:\nlocal_costmap:\nros\\_\\_parameters:\nupdate_frequency: 5.0\npublish_frequency: 2.0\nglobal_frame: tb3_0/odom\nrobot_base_frame: tb3_0/base_link\nuse_sim_time: True\nrolling_window: true\nwidth: 1\nheight: 1\nresolution: 0.05\nrobot_radius: 0.15\nplugins: ["voxel_layer", "inflation_layer"]\ninflation_layer:\nplugin: "nav2_costmap_2d::InflationLayer"\ncost_scaling_factor: 3.0\ninflation_radius: 0.35\nvoxel_layer:\nplugin: "nav2_costmap_2d::VoxelLayer"\nenabled: True\npublish_voxel_map: True\norigin_z: 0.0\nz_resolution: 0.05\nz_voxels: 16\nmax_obstacle_height: 2.0\nmark_threshold: 0\nobservation_sources: scan\nscan:\ntopic: /tb3_0/scan\nmax_obstacle_height: 2.0\nclearing: True\nmarking: True\ndata_type: "LaserScan"\nraytrace_max_range: 3.0\nraytrace_min_range: 0.0\nobstacle_max_range: 2.5\nobstacle_min_range: 0.0\nstatic_layer:\nmap_subscribe_transient_local: True\nalways_send_full_costmap: True\n\n'})})]}),(0,s.jsxs)(_.A,{label:"bt_navigator.yaml",value:"bt_navigator.yaml",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Set the ",(0,s.jsx)(n.code,{children:"base_frame"})," to include ",(0,s.jsx)(n.code,{children:"namespace"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["Set the ",(0,s.jsx)(n.code,{children:"default_nav_to_pose_bt_xml"})," via absolute path. If you wanna do relative, you can. ",(0,s.jsx)(n.code,{children:'default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"'})]}),"\n",(0,s.jsxs)(n.li,{children:["Also remove the publication of behavior status of Groot or else the Groot introspection port for one ",(0,s.jsx)(n.code,{children:"bt-navigator"})," will collide with the port of the other. ",(0,s.jsx)(n.a,{href:"https://github.com/ros-navigation/navigation2/issues/2386",children:"Reference"})]}),"\n",(0,s.jsxs)(n.li,{children:["\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["To disconnect, add to eahc of the ",(0,s.jsx)(n.code,{children:"bt-navigator"}),": ",(0,s.jsx)(n.code,{children:"enable_groot_monitoring: false"})]}),"\n"]}),"\n"]}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'tb3_0/bt_navigator:\n ros__parameters:\n use_sim_time: True\n global_frame: map\n robot_base_frame: tb3_0/base_link\n odom_topic: tb3_0/odom\n bt_loop_duration: 10\n default_server_timeout: 20\n default_nav_to_pose_bt_xml: "/home/user/ros2_ws/src/path_planner_server/config/behavior.xml"\n enable_groot_monitoring: false\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_goal_updated_controller_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n'})}),(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsxs)(n.p,{children:["We use the same ",(0,s.jsx)(n.code,{children:"behavior.xml"})," for both robots."]})})]}),(0,s.jsxs)(_.A,{label:"recovery.yaml",value:"recovery.yaml",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"Same steps as first two."}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-yaml",children:'tb3_0/behavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: ["spin", "backup", "wait"]\n spin:\n plugin: "nav2_behaviors/Spin"\n backup:\n plugin: "nav2_behaviors/BackUp"\n wait:\n plugin: "nav2_behaviors/Wait"\n global_frame: tb3_0/odom\n robot_base_frame: tb3_0/base_link\n transform_timeout: 0.1\n use_sim_time: true\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n'})})]})]})]}),(0,s.jsxs)(_.A,{label:"Step 3",value:"Step 3",children:[(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsx)(n.li,{children:"Add the nodes to the lifecycle manager"}),"\n"]}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager_pathplanner',\n output='screen',\n parameters=[{'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': [\n 'tb3_0/planner_server',\n 'tb3_0/controller_server',\n 'tb3_0/recoveries_server',\n 'tb3_0/bt_navigator',\n 'tb3_1/planner_server',\n 'tb3_1/controller_server',\n 'tb3_1/recoveries_server',\n 'tb3_1/bt_navigator'\n ]}])\n"})}),(0,s.jsx)(n.p,{children:"The final launch file should look like this."}),(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-py",children:"import os\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n\n controller_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_controller.yaml')\n planner_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_planner_server.yaml')\n recovery_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_recovery.yaml')\n bt_navigator_yaml_tb3_0 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_bt_navigator.yaml')\n\n controller_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_controller.yaml')\n planner_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_planner_server.yaml')\n recovery_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_recovery.yaml')\n bt_navigator_yaml_tb3_1 = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_bt_navigator.yaml')\n\n\n return LaunchDescription([\n\n ## TB3_0\n Node(\n namespace='tb3_0',\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml_tb3_0]),\n\n Node(\n namespace='tb3_0',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb3_0]),\n\n Node(\n namespace='tb3_0',\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml_tb3_0],\n output='screen'),\n\n Node(\n namespace='tb3_0',\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml_tb3_0]),\n\n # ## TB3_1\n Node(\n namespace='tb3_1',\n package='nav2_controller',\n executable='controller_server',\n name='controller_server',\n output='screen',\n parameters=[controller_yaml_tb3_1]),\n\n Node(\n namespace='tb3_1',\n package='nav2_planner',\n executable='planner_server',\n name='planner_server',\n output='screen',\n parameters=[planner_yaml_tb3_1]),\n\n Node(\n namespace='tb3_1',\n package='nav2_behaviors',\n executable='behavior_server',\n name='recoveries_server',\n parameters=[recovery_yaml_tb3_1],\n output='screen'),\n\n Node(\n namespace='tb3_1',\n package='nav2_bt_navigator',\n executable='bt_navigator',\n name='bt_navigator',\n output='screen',\n parameters=[bt_navigator_yaml_tb3_1]),\n\n\n ## LIFECICLE MANAGER\n Node(\n package='nav2_lifecycle_manager',\n executable='lifecycle_manager',\n name='lifecycle_manager',\n output='screen',\n\n parameters=[{'autostart': True},\n {'bond_timeout':0.0},\n {'node_names': ['tb3_0/controller_server',\n 'tb3_0/planner_server',\n 'tb3_0/recoveries_server',\n 'tb3_0/bt_navigator',\n 'tb3_1/controller_server',\n 'tb3_1/planner_server',\n 'tb3_1/recoveries_server',\n 'tb3_1/bt_navigator',\n ]}])\n ])\n\n"})})]})]}),"\n",(0,s.jsx)(n.admonition,{type:"info",children:(0,s.jsx)(n.p,{children:"The order is localization -> path_planning -> rviz2 for launches."})}),"\n",(0,s.jsx)(n.h3,{id:"configuring-rviz2-1",children:(0,s.jsx)(n.strong,{children:"Configuring RVIZ2"})}),"\n",(0,s.jsxs)(n.ul,{children:["\n",(0,s.jsxs)(n.li,{children:["Add a ",(0,s.jsx)(n.code,{children:"Path"})," display configured for the ",(0,s.jsx)(n.code,{children:"/tb3_0/plan"})," topic and select the ",(0,s.jsx)(n.code,{children:"Line Style"})," as ",(0,s.jsx)(n.code,{children:"Billboards"})," with Red as it's color."]}),"\n",(0,s.jsxs)(n.li,{children:["Add another ",(0,s.jsx)(n.code,{children:"Path"})," for the ",(0,s.jsx)(n.code,{children:"/tb3_1/plan"})," and choose a different color for it."]}),"\n",(0,s.jsxs)(n.li,{children:["Add a ",(0,s.jsx)(n.code,{children:"Map"})," display and configure the topic for the global costmap: ",(0,s.jsx)(n.code,{children:"/tb3_0/global_costmap/costmap"})]}),"\n",(0,s.jsxs)(n.li,{children:["Add another ",(0,s.jsx)(n.code,{children:"Map"})," for ",(0,s.jsx)(n.code,{children:"/tb3_1/global_costmap/costmap"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["Add another ",(0,s.jsx)(n.code,{children:"Map"})," for the ",(0,s.jsx)(n.strong,{children:"local"})," costmap for again each of the topics: ",(0,s.jsx)(n.code,{children:"/tb_3_0/local_costmap/costmap"})," and ",(0,s.jsx)(n.code,{children:"/tb3_1/local_costmap/costmap"}),"."]}),"\n",(0,s.jsxs)(n.li,{children:["All the ",(0,s.jsx)(n.code,{children:"cost_maps"})," change the color scheme from ",(0,s.jsx)(n.code,{children:"map"})," to ",(0,s.jsx)(n.code,{children:"cost_map"})," to see the nice colors."]}),"\n",(0,s.jsxs)(n.li,{children:["To make the robot move, use the ",(0,s.jsx)(n.code,{children:"Tool Properties"})," and change the ",(0,s.jsx)(n.code,{children:"2D Goal Pose"})," to be ",(0,s.jsx)(n.code,{children:"/tb3_0/goal_pose"})," and then use the ",(0,s.jsx)(n.code,{children:"2D Goal Pose"}),". For the other robot, use the other namespace ",(0,s.jsx)(n.code,{children:"/tb3_1/goal_pose"}),"."]}),"\n"]}),"\n",(0,s.jsx)(n.h3,{id:"single-launch",children:(0,s.jsx)(n.strong,{children:"Single Launch"})}),"\n",(0,s.jsxs)(n.p,{children:["To make this simpler, we can create several launch files to concentrate everything into a single launch. Inside of our ",(0,s.jsx)(n.code,{children:"path_planner_server"}),", we can create the launch ",(0,s.jsx)(n.code,{children:"multi_main.launch.xml"}),". Inside the ",(0,s.jsx)(n.code,{children:"cartographer_slam"}),", we also create the launch file ",(0,s.jsx)(n.code,{children:"start_rviz.launch.py"})," which'll launch ",(0,s.jsx)(n.code,{children:"RVIZ2"})," without terminal commands. 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yet.","source":"@site/docs/Robotics/ROS2/perception.mdx","sourceDirName":"Robotics/ROS2","slug":"/Robotics/ROS2/perception","permalink":"/docs/Robotics/ROS2/perception","draft":false,"unlisted":false,"tags":[],"version":"current","lastUpdatedAt":1704614400000,"sidebarPosition":2,"frontMatter":{"id":"perception","title":"Perception","hide_title":true,"sidebar_position":2,"last_update":{"date":"1/7/2024","author":"Kevin Shin"}},"sidebar":"noteSidebar","previous":{"title":"Nav2","permalink":"/docs/Robotics/ROS2/nav2"},"next":{"title":"Testing","permalink":"/docs/Robotics/ROS2/testing-ros2"}}');var r=t(4848),i=t(8453),o=t(9489),a=t(7227);const l=t.p+"assets/images/pixels-deea6f0211d05ded36309eb8dafe0bcf.gif";var c=t(2956),d=t.n(c);const h=t.p+"assets/images/pc_marker_node-c750317a56f4a5fd7870a24a65cd23fd.gif";var p=t(9020),u=t.n(p),m=t(3030),g=t.n(m);const f={id:"perception",title:"Perception",hide_title:!0,sidebar_position:2,last_update:{date:"1/7/2024",author:"Kevin Shin"}},b=void 0,x={},_=[{value:"Getting Started",id:"getting-started",level:2},{value:"Sensor Data",id:"sensor-data",level:2},{value:"Laser Messages",id:"laser-messages",level:3},{value:"Image Messages",id:"image-messages",level:3},{value:"Point Cloud Messages",id:"point-cloud-messages",level:3},{value:"Point Cloud Marker written by The Construct",id:"point-cloud-marker-written-by-the-construct",level:5},{value:"Image Processing",id:"image-processing",level:2},{value:"OpenCV",id:"opencv",level:3},{value:"cv_bridge",id:"cv_bridge",level:3},{value:"Color Spaces",id:"color-spaces",level:3},{value:"RGB vs HSV",id:"rgb-vs-hsv",level:4},{value:"Advantages of HSV over RGB for Image Processing",id:"advantages-of-hsv-over-rgb-for-image-processing",level:4},{value:"Blob Tracking",id:"blob-tracking",level:2},{value:"Blob Tracker Node",id:"blob-tracker-node",level:3}];function v(e){const n={a:"a",admonition:"admonition",code:"code",h2:"h2",h3:"h3",h4:"h4",h5:"h5",li:"li",p:"p",pre:"pre",strong:"strong",ul:"ul",...(0,i.R)(),...e.components};return(0,r.jsxs)(r.Fragment,{children:[(0,r.jsxs)(n.admonition,{type:"danger",children:[(0,r.jsx)(n.p,{children:"This has not been proof-read or modified for simpler reading yet."}),(0,r.jsx)(n.p,{children:"12/23/24"})]}),"\n",(0,r.jsx)(n.h2,{id:"getting-started",children:"Getting Started"}),"\n",(0,r.jsxs)(n.p,{children:["These are my notes from the ROS2 Perception course available on ",(0,r.jsx)(n.a,{href:"https://app.theconstruct.ai",children:"The Construct"}),". Since this is a robotics note, you will need a physical robot to follow along. I am using the simulator on the website to interact with the tech stack."]}),"\n",(0,r.jsx)(n.p,{children:"This note will cover:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsx)(n.li,{children:"Integrating and processing sensor data in ROS2"}),"\n",(0,r.jsx)(n.li,{children:"Implementing image processing algorithms using OpenCV"}),"\n",(0,r.jsx)(n.li,{children:"Working with Point Cloud Data and Point Cloud Library (PCL)"}),"\n",(0,r.jsx)(n.li,{children:"Exploring human-robot interaction with face detection and recognition"}),"\n",(0,r.jsx)(n.li,{children:"Applying AI perception techniques using deep learning frameworks"}),"\n"]}),"\n",(0,r.jsx)(n.h2,{id:"sensor-data",children:"Sensor Data"}),"\n",(0,r.jsx)(n.p,{children:"Sensors make up robotics, and it's important to understand how they work and how to work with them. As robots have various sensors, our goal is to utilize them in order to apply perception and decision making algorithms. Therefore, combining information from multiple sensors such as cameras, LIDAR, radar, and other specialized devices can help us construct a more detailed and accurate representation of the environment that'll aid us in our algorithms."}),"\n",(0,r.jsx)(n.p,{children:"In ROS2, there are different kinds of messages that help robots understand the world. The three main messages though are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/LaserScan"})," - Maps out surroundings using LIDAR which gives robot the ability to localize themselves and avoid collisions"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," - Captures images with a camera and helps in recognizing objects via computer vision."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/PointCloud2"})," - Captures detailed information about shapes and structures in the environment to create 3D maps."]}),"\n"]}),"\n",(0,r.jsx)(n.h3,{id:"laser-messages",children:"Laser Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/LaserScan"})," is a standard message type commonly used for representing laser scan data generated by laser range finders or LIDAR sensors. Laser scan data represents the distance measurements captured by a LIDAR. More information can be found on the ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/LaserScan.html",children:"official documentation"})]}),"\n",(0,r.jsx)(n.p,{children:"There are other fields but the most important ones are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"angle_min"})," and ",(0,r.jsx)(n.code,{children:"angle_max"})," - represents minimum and maximum angles of the laser scan, which defines the angular range over which the laser sensor collected data"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"angle_increment"})," - specifies the angular distance between consecutive measurements in the scan and helps to determine the angular resolution of the sensor."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"range_min"})," and ",(0,r.jsx)(n.code,{children:"range_max"})," - defines the minimum and maximum range of the sensor"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"range"})," - an array containing the measured distances from the sensor to objects in its field of view where each element corresponds to a specific angle within the angular ranged defined by the ",(0,r.jsx)(n.code,{children:"angle_min"}),", ",(0,r.jsx)(n.code,{children:"angle_max"}),", and ",(0,r.jsx)(n.code,{children:"angle_increment"}),"."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"intensities"})," - an array that provides intensity information along with range data. (THis could be empty as not all laser scanners provide intensity data)"]}),"\n"]}),"\n",(0,r.jsx)(n.h3,{id:"image-messages",children:"Image Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," is another standard message type used for representing images. Images captured by sensors such as cameras are represented as a grid of pixels where each pixel contains information about its color and intensity. The grid is a compactly encoded one dimensional array that's stored in the data field. More can be found ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html",children:"here"})]}),"\n",(0,r.jsx)(n.p,{children:"The most important ones are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"height"})," and ",(0,r.jsx)(n.code,{children:"width"})," - represents the dimensions of the image. Height = rows, width = columns"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"encoding"})," - represents the format used to represent the image data. Commmon encodings are below:"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"bgr8"})," - 8-bit BGR (Blue-Green-Red) encoding where each pixel is represented by three bytes"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"rgb8"})," - 8-bit RGB (Red-Green-Blue) encoding similar to ",(0,r.jsx)(n.code,{children:"bgr8"})," but with a different byte order"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"mono8"})," - 8-bit grayscale encoding, wehre each pixel is represented by a single byte indicating its intensity"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"step"})," - specifies the number of bytes occupied by each row of the image data (row length) in bytes. The formula would thus be byte_depth * row length (width) = step."]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"data"})," - contains the raw image data and is represented as an array of bytes, not pixels where each byte represents a component of the image data according to the specified encoding."]}),"\n"]}),"\n"]}),"\n",(0,r.jsx)(n.admonition,{type:"note",children:(0,r.jsx)(n.p,{children:"Images generally use the top left corner of an image as the origin (0.0). This aligns with computer graphic standards and is the usual convention. Also note that the values of each color component ranges from 0 to 255, with 0 being no color and 255 representing maximum intensity."})}),"\n",(0,r.jsx)("img",{src:l,width:"100%"}),"\n",(0,r.jsxs)(n.p,{children:["The data for the above grid would be: ",(0,r.jsx)(n.code,{children:"data"})," = ",(0,r.jsx)(n.code,{children:"[ B1, G1, R1, B2, G2, R2, B3, G3, R3, B4, G4, R4]"})," since it uses ",(0,r.jsx)(n.code,{children:"bgr8"})]}),"\n",(0,r.jsx)(n.h3,{id:"point-cloud-messages",children:"Point Cloud Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/PointCloud2"})," is a common data structure used to represent 3D point cloud data. Point clouds are collections of points in 3D space and are captured b y sensors such as 3D LIDARS or depth cameras. It consists of a collection of points in 3D space, each point having attributes such as its X, Y, and Z coordinates, intensity, color, or other relevant info. More info can be found ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html",children:"here"})]}),"\n",(0,r.jsx)(n.p,{children:"The most important fields are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"height"})," and ",(0,r.jsx)(n.code,{children:"width"})," - represents the dimensions of the point cloud. Total number of points is ",(0,r.jsx)(n.strong,{children:"height * width"})]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"fields"})," - describes the individual data fields associated with each point, such as x, y, z coordinates, intensity, colors, etc. Specifies what attributes each point has."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"point_step"})," - represents the size of each point in bytes"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"row_step"})," - length of a row in bytes"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"data"})," - represents the raw binary data containing the point cloud and is 1D array. (Binary Format and size is ",(0,r.jsx)(n.strong,{children:"row_step x height"}),")"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"is_dense"})," - boolean indicating if the point if dense or sparse"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"A sample PointCloud2 message:"}),"\n",(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-txt",children:"- 0\n- 0\n- '...'\nis_dense: true\n---\nheader:\n stamp:\n sec: 414\n nanosec: 253000000\n frame_id: deepmind_robot1_camera_depth_optical_frame\nheight: 1\nwidth: 307200\nfields:\n- name: x\n offset: 0\n datatype: 7\n count: 1\n- name: y\n offset: 4\n datatype: 7\n count: 1\n- name: z\n offset: 8\n datatype: 7\n count: 1\n- name: rgb\n offset: 16\n datatype: 7\n count: 1\nis_bigendian: false\npoint_step: 32\nrow_step: 9830400\ndata:\n- 20\n- 159\n- 146\n- 191\n"})}),"\n",(0,r.jsx)(n.p,{children:"Given the following specifications:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"point_step"})," = 32"]}),"\n",(0,r.jsx)(n.li,{children:(0,r.jsx)(n.code,{children:"fields"})}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"x"})," - (offset = 0, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"y"})," - (offset = 4, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"z"})," - (offset = 8, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"rgb"})," - (offset - 16, datatype = 7)"]}),"\n"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.p,{children:["Datatype = 7 denotes ",(0,r.jsx)(n.strong,{children:"float32"}),". The bytes 12 to 15 are unused as well as the bytes after 19 until the end of the 32-byte point representation. This repeats for each point in the point cloud data."]}),"\n",(0,r.jsx)("img",{src:d().src,width:"100%"}),"\n",(0,r.jsx)(n.h5,{id:"point-cloud-marker-written-by-the-construct",children:"Point Cloud Marker written by The Construct"}),"\n",(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:'import rclpy\nfrom rclpy.node import Node\nfrom sensor_msgs.msg import PointCloud2\nfrom visualization_msgs.msg import Marker, MarkerArray\nfrom geometry_msgs.msg import Point\nimport struct\nfrom typing import List\n\nclass PointCloudMarker(Node):\n\n def __init__(self) -> None:\n super().__init__(\'point_cloud_marker\')\n self.subscription = self.create_subscription(\n PointCloud2,\n \'/deepmind_robot1_depth_sensor/points\',\n self.point_cloud_callback,\n 10)\n self.marker_publisher = self.create_publisher(MarkerArray, \'visualization_marker_array\', 10)\n\n def point_cloud_callback(self, msg: PointCloud2) -> None:\n\n # Extract points from the point cloud message uniformly\n points = self.extract_points(msg)\n\n # Create markers for the extracted points\n marker_array = self.create_markers(msg, points)\n\n # Publish the marker array\n self.marker_publisher.publish(marker_array)\n\n def extract_points(self, msg: PointCloud2) -> List[Point]:\n """Extract points uniformly from the point cloud message"""\n points = []\n num_points = 50\n step_size = len(msg.data) // num_points # Divide the data into 50 equal parts\n\n for i in range(0, len(msg.data), step_size):\n if len(points) >= num_points:\n break\n\n index = i\n x = self.read_float32(msg.data, index)\n y = self.read_float32(msg.data, index + 4)\n z = self.read_float32(msg.data, index + 8)\n p = Point()\n p.x, p.y, p.z = x, y, z\n points.append(p)\n\n return points\n\n def create_markers(self, msg: PointCloud2, points: List[Point]) -> MarkerArray:\n """Create markers for the extracted points"""\n marker_array = MarkerArray()\n for idx, point in enumerate(points):\n marker = Marker()\n marker.header = msg.header\n marker.type = Marker.SPHERE\n marker.action = Marker.ADD\n marker.scale.x = 0.1\n marker.scale.y = 0.1\n marker.scale.z = 0.1\n marker.color.r = 1.0\n marker.color.a = 1.0\n marker.pose.position = point\n marker.id = idx\n marker_array.markers.append(marker)\n\n return marker_array\n\n def read_float32(self, data: bytes, index: int) -> float:\n """Helper function to read float32 from byte array"""\n return struct.unpack_from(\'f\', data, index)[0]\n\ndef main(args=None) -> None:\n rclpy.init(args=args)\n point_cloud_marker = PointCloudMarker()\n rclpy.spin(point_cloud_marker)\n point_cloud_marker.destroy_node()\n rclpy.shutdown()\n\nif __name__ == \'__main__\':\n main()\n'})}),"\n",(0,r.jsx)("img",{src:h,width:"100%"}),"\n",(0,r.jsx)(n.h2,{id:"image-processing",children:"Image Processing"}),"\n",(0,r.jsx)(n.p,{children:"Image processing is used to improve the quality of an image or extract useful information from it. This part will use OpenCV and cv_bridge to for efficient conversion/integration between ROS2 messages and OpenCV images."}),"\n",(0,r.jsx)(n.h3,{id:"opencv",children:"OpenCV"}),"\n",(0,r.jsx)(n.p,{children:"If you don't know what OpenCV is, then you definitely need to read up on it. It's the premise for all computer vision things. It's an open source computer vision and machine learning software library that provides an infrastructure for computer vision applications. You can do various things such as image recognition, object detection, facial recognition, and video tracking."}),"\n",(0,r.jsx)(n.p,{children:"Here are some of the features OpenCV provides:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Filtering"})," - Offers filters such as Gaussian blur, median blur, and bilateral filter for noise reduction and image smoothing."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Feature Extraction"})," - Offers algorithms like SIFT, SURF, and ORB for feature extraction and keypoint detection which are crucial for tasks like object recognition and tracking."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Object Detection"})," - Has pretained models and algorithms such as Haar cascades, HOG descriptors, and deep learning based methods for object detection and classification."]}),"\n"]}),"\n",(0,r.jsxs)(n.p,{children:["OpenCV functions can be directly applied to the image data extracted from ",(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," which makes it easy to use in ROS2 projects."]}),"\n",(0,r.jsx)(n.h3,{id:"cv_bridge",children:"cv_bridge"}),"\n",(0,r.jsxs)(n.p,{children:["Before using OpenCV functions, image data needs to be converted from the ROS2 message format to a format compatible with OpenCV. This is done through the ",(0,r.jsx)(n.strong,{children:"cv_bridge"})," package, which converts between ROS2 image messages (sensor_msgs/Image) and OpenCV data structures (cv::mat). This allows developer to focus on the actual development instead of the conversion and integration of different tools."]}),"\n",(0,r.jsx)("img",{src:u().src,width:"100%"}),"\n",(0,r.jsx)(n.h3,{id:"color-spaces",children:"Color Spaces"}),"\n",(0,r.jsx)(n.p,{children:"A color space is a mathematical model that describes how colors can be represented as tuples of numbers, typically as coordinates or vectors in a multidimensional space. Different colors have different purposes and each have their tradeoffs depending on the problem at hand."}),"\n",(0,r.jsx)(n.p,{children:"Some important color spaces:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"RGB"})," (Red, Green, Blue)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"HSV"})," (Hue, Saturation, Value)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"HSL"})," (Hue, Saturation, Lightness)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"YUV/YCbCR"})," (Luma, Chroma)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"LAB"})," (CIELAB)"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"Choosing the right color space can impact the success and efficiency of our image processing algorithms. As developers always say, choose the right tool for the job."}),"\n",(0,r.jsx)(n.h4,{id:"rgb-vs-hsv",children:"RGB vs HSV"}),"\n",(0,r.jsx)(n.p,{children:"RGB is one of the most common colors used in digital imaging and as the acronym suggests, it stands for (Red, Green, Blue). Each value ranges from 0 to 255 and represents the intensity of each color channel. Generally, RGB is great at representing colors on electronic displays and digital cameras."}),"\n",(0,r.jsx)(n.p,{children:"HSV is an alternative color space which uses (Hue, Saturation, and Value). Hue represents the type of color (red, green, blue) and is measured in degrees on a color wheel. Saturation determines the intensity or the purity of the color. Higher saturation values indicates more vivid colors. Value represents the brightness or intensity of the color. HSV is designed to more closely align with how humans perceive and describe colors."}),"\n",(0,r.jsx)(n.h4,{id:"advantages-of-hsv-over-rgb-for-image-processing",children:"Advantages of HSV over RGB for Image Processing"}),"\n",(0,r.jsx)(n.p,{children:"HSV is often preferred over RGB in color segmentation which is when we identify specific objects or regions of interests in an image. The HSV color space simplifies the process of defining color ranges and thresholds for segmentation. This is because thresholding based on hue and saturation help isolate specific colors or color ranges while minimizing the impact of variations in lighting conditions."}),"\n",(0,r.jsx)(n.p,{children:"HSV is also more robust to changes in lighting conditions compared to RGB. Decoupling color information from brightness (value) allows us to handle different variations in illumination without affecting color perception."}),"\n",(0,r.jsx)(n.h2,{id:"blob-tracking",children:"Blob Tracking"}),"\n",(0,r.jsx)(n.p,{children:"Blob tracking is a technique used to detect and track regions of interests (blob) in a sequence of images or frames in a video stream. A blob typically represents a group of connected pixels with similar properties, such as color, intensity, or texture."}),"\n",(0,r.jsx)(n.h3,{id:"blob-tracker-node",children:"Blob Tracker Node"}),"\n",(0,r.jsx)(n.p,{children:"The simulation goal is for our robot to detect orange blobs which is situated at the exit. This allows our robot to navigate towards the exit."}),"\n",(0,r.jsx)(n.p,{children:"We need to create two things:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"blob_point_pub.py"})," - Detect blob and publish the position"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"blob_tracker.py"})," - Guide the robot towards the exit door"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"We have to first isolate out the blob which requires filtering based on HSV color. The simulation provides us some fancy code that allows us to isolate the HSV."}),"\n",(0,r.jsx)("img",{src:g().src,width:"100%"}),"\n",(0,r.jsx)(n.p,{children:"We can then proceed to create our two necessary files."}),"\n",(0,r.jsxs)(o.A,{children:[(0,r.jsx)(a.A,{label:"blob_point_pub.py",value:"blob_point_pub.py",children:(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:'import rclpy\nfrom rclpy.node import Node\nfrom sensor_msgs.msg import Image\nfrom geometry_msgs.msg import Point\nimport cv2\nimport numpy as np\nfrom cv_bridge import CvBridge\nfrom typing import List, Tuple\n\nclass BlobPointPublisher(Node):\ndef **init**(self) -> None:\nsuper().**init**(\'blob_point_publisher\')\nself.subscription = self.create_subscription(\nImage,\n\'/deepmind_robot1/deepmind_robot1_camera/image_raw\', \n self.image_callback, 10)\nself.publisher = self.create_publisher(Point, \'/point_blob\', 10)\nself.cv_bridge = CvBridge()\n\n def image_callback(self, msg: Image) -> None:\n try:\n # Convert ROS Image message to OpenCV format\n cv_image = self.cv_bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")\n except Exception as e:\n self.get_logger().error("Error converting ROS Image to OpenCV format: {0}".format(e))\n return\n\n # Convert BGR image to HSV\n hsv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)\n\n # Define lower and upper bounds for orange color in HSV\n lower_orange = np.array([3, 0, 233])\n upper_orange = np.array([9, 255, 255])\n\n # Create a binary mask for orange color\n mask = cv2.inRange(hsv_image, lower_orange, upper_orange)\n\n # Draw coordinate frame\n self.draw_frame(cv_image)\n\n # Find contours in the mask\n contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)\n\n # Draw a red circle around the blob contour\n for contour in contours:\n self.draw_blob_contour_circle(cv_image, contour)\n\n # If no contours are found, return\n if not contours:\n return\n\n # Find the largest contour\n blob_contour = max(contours, key=cv2.contourArea)\n\n # Calculate centroid of the contour\n moment = cv2.moments(blob_contour)\n if moment["m00"] != 0: # Area of the object\n blob_x = float(moment["m10"] / moment["m00"]) # x-coordinate of centroid\n blob_y = float(moment["m01"] / moment["m00"]) # y-coordinate of centroid\n\n # x and y coordinates of the blob are computed relative to the center of the image\n x, y = self.get_blob_relative_position(cv_image, blob_x, blob_y)\n\n # Publish Blob\n self.publish_blob(x, y)\n\n # Draw detected blobs\n self.draw_keypoints(cv_image, [(blob_x, blob_y)])\n\n # Display the image (optional)\n cv2.imshow("Image", cv_image)\n cv2.waitKey(1)\n\n def draw_frame(self,\n image: np.ndarray,\n dimension=0.1, #- dimension relative to frame size\n line=2 #- line\'s thickness\n ) -> None:\n """ Draw X Y coordinate frame at the center of the image"""\n\n rows = image.shape[0]\n cols = image.shape[1]\n size = min([rows, cols])\n center_x = int(cols/2.0)\n center_y = int(rows/2.0)\n\n line_length = int(size*dimension)\n\n #-- X\n image = cv2.line(image, (center_x, center_y), (center_x+line_length, center_y), (0,0,255), line)\n #-- Y\n image = cv2.line(image, (center_x, center_y), (center_x, center_y+line_length), (0,255,0), line)\n\n\n def draw_blob_contour_circle(self, img: np.ndarray, contour: np.ndarray) -> None:\n """ Draw a red circle around the detected blob """\n # Get the bounding rectangle of the contour\n x, y, w, h = cv2.boundingRect(contour)\n\n # Calculate the center of the rectangle\n center_x = x + w // 2\n center_y = y + h // 2\n\n # Calculate the radius of the circle based on the contour size\n radius = max(w, h) // 2\n\n # Draw a red circle around the center\n cv2.circle(img, (center_x, center_y), radius, (0, 0, 255), 2)\n\n\n def get_blob_relative_position(self, image: np.ndarray, x: float, y: float) -> Tuple[float, float]:\n """ Get blob position relative to the coordinate frame placed at the center of the image"""\n # The shape attribute of a NumPy array returns a tuple representing the dimensions of the array.\n # For an image, the shape tuple consists of 3 elements: (height, width, channels).\n\n rows = float(image.shape[0]) # height\n cols = float(image.shape[1]) # width\n\n # Coordinates of the center of the image\n center_x = 0.5*cols\n center_y = 0.5*rows\n\n # The x and y coordinates of the keypoint are computed relative to the center of the image\n x = (x - center_x)/(center_x)\n y = (y - center_y)/(center_y)\n\n return x,y\n\n def publish_blob(self, x: float, y: float) -> None:\n """ Publish the blob position to /point_blob """\n # Create a Point message\n point_msg = Point()\n point_msg.x = x\n point_msg.y = y\n\n # Publish the Point message\n self.publisher.publish(point_msg)\n\n\n def draw_keypoints(self, img: np.ndarray, keypoints: List[Tuple[float, float]]) -> None:\n """ Draw the detected blob keypoints in red """\n # Draw red circles at the detected blob keypoints\n for kp in keypoints:\n # Convert keypoints to integers\n kp = (int(kp[0]), int(kp[1]))\n cv2.circle(img, kp, 5, (0, 0, 255), -1)\n\ndef main(args=None) -> None:\nrclpy.init(args=args)\nblob_point_publisher = BlobPointPublisher()\nrclpy.spin(blob_point_publisher)\nblob_point_publisher.destroy_node()\nrclpy.shutdown()\n\nif **name** == \'**main**\':\nmain()\n\n'})})}),(0,r.jsx)(a.A,{label:"blob_tracker.py",value:"blob_tracker.py",children:(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Point, Twist\n\nclass BlobTracker(Node):\n def __init__(self) -> None:\n super().__init__('blob_tracker')\n self.subscription = self.create_subscription(\n Point,\n '/point_blob',\n self.blob_callback,\n 10)\n self.publisher = self.create_publisher(Twist, '/cmd_vel', 10)\n\n self.angular_gain = 0.3\n self.no_blob_detected = True\n self.timer = self.create_timer(1.0, self.rotate_continuous)\n\n def blob_callback(self, msg: Point) -> None:\n # Extract blob coordinates\n blob_x = msg.x\n blob_y = msg.y\n\n # Define linear velocity\n linear_x = 0.3\n\n if blob_x != 0.0 or blob_y != 0.0:\n # Adjust angular velocity based on blob's position\n angular_vel = -self.angular_gain * blob_x\n # Clip angular velocity to [-1, 1] range\n angular_vel = max(min(angular_vel, 1.0), -1.0)\n\n # Adjust linear velocity based on blob's position\n if blob_y < 0.8:\n linear_vel = linear_x\n else:\n linear_vel = 0.0 # Stop the robot\n self.no_blob_detected = False\n else:\n return\n\n self.pub_velocities(linear_vel, angular_vel)\n\n def rotate_continuous(self) -> None:\n # Rotate continuously\n if self.no_blob_detected:\n twist_msg = Twist()\n twist_msg.angular.z = 0.3 # Adjust angular velocity as needed\n self.publisher.publish(twist_msg)\n self.get_logger().warn(\"No blobs detected yet ... Rotating continuously\")\n\n def pub_velocities(self, linear: float, angular: float) -> None:\n # Create Twist message with linear and angular velocities\n twist_msg = Twist()\n twist_msg.linear.x = linear\n twist_msg.angular.z = angular\n\n # Publish the Twist message\n self.publisher.publish(twist_msg)\n self.get_logger().info(f\"Linear vel: {linear:.2f}, Angular vel: {angular:.2f}\")\n\n\ndef main(args=None) -> None:\n rclpy.init(args=args)\n blob_tracker = BlobTracker()\n rclpy.spin(blob_tracker)\n blob_tracker.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})})]})]})}function y(e={}){const{wrapper:n}={...(0,i.R)(),...e.components};return n?(0,r.jsx)(n,{...e,children:(0,r.jsx)(v,{...e})}):v(e)}},7227:(e,n,t)=>{"use strict";t.d(n,{A:()=>o});t(6540);var s=t(4164);const r={tabItem:"tabItem_Ymn6"};var i=t(4848);function o(e){let{children:n,hidden:t,className:o}=e;return(0,i.jsx)("div",{role:"tabpanel",className:(0,s.A)(r.tabItem,o),hidden:t,children:n})}},9489:(e,n,t)=>{"use strict";t.d(n,{A:()=>j});var s=t(6540),r=t(4164),i=t(4245),o=t(6347),a=t(6494),l=t(2814),c=t(5167),d=t(9900);function h(e){return s.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,s.isValidElement)(e)&&function(e){const{props:n}=e;return!!n&&"object"==typeof n&&"value"in n}(e))return e;throw new Error(`Docusaurus error: Bad <Tabs> child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the <Tabs> component should be <TabItem>, and every <TabItem> should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function p(e){const{values:n,children:t}=e;return(0,s.useMemo)((()=>{const e=n??function(e){return h(e).map((e=>{let{props:{value:n,label:t,attributes:s,default:r}}=e;return{value:n,label:t,attributes:s,default:r}}))}(t);return function(e){const n=(0,c.XI)(e,((e,n)=>e.value===n.value));if(n.length>0)throw new Error(`Docusaurus error: Duplicate values "${n.map((e=>e.value)).join(", ")}" found in <Tabs>. 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yet.","source":"@site/docs/Robotics/ROS2/perception.mdx","sourceDirName":"Robotics/ROS2","slug":"/Robotics/ROS2/perception","permalink":"/docs/Robotics/ROS2/perception","draft":false,"unlisted":false,"tags":[],"version":"current","lastUpdatedAt":1704614400000,"sidebarPosition":2,"frontMatter":{"id":"perception","title":"Perception","hide_title":true,"sidebar_position":2,"last_update":{"date":"1/7/2024","author":"Kevin Shin"}},"sidebar":"noteSidebar","previous":{"title":"Nav2","permalink":"/docs/Robotics/ROS2/nav2"},"next":{"title":"Testing","permalink":"/docs/Robotics/ROS2/testing-ros2"}}');var r=t(4848),i=t(8453),o=t(1470),a=t(9365);const l=t.p+"assets/images/pixels-deea6f0211d05ded36309eb8dafe0bcf.gif";var c=t(2956),d=t.n(c);const h=t.p+"assets/images/pc_marker_node-c750317a56f4a5fd7870a24a65cd23fd.gif";var p=t(9020),u=t.n(p),m=t(3030),g=t.n(m);const f={id:"perception",title:"Perception",hide_title:!0,sidebar_position:2,last_update:{date:"1/7/2024",author:"Kevin Shin"}},b=void 0,x={},_=[{value:"Getting Started",id:"getting-started",level:2},{value:"Sensor Data",id:"sensor-data",level:2},{value:"Laser Messages",id:"laser-messages",level:3},{value:"Image Messages",id:"image-messages",level:3},{value:"Point Cloud Messages",id:"point-cloud-messages",level:3},{value:"Point Cloud Marker written by The Construct",id:"point-cloud-marker-written-by-the-construct",level:5},{value:"Image Processing",id:"image-processing",level:2},{value:"OpenCV",id:"opencv",level:3},{value:"cv_bridge",id:"cv_bridge",level:3},{value:"Color Spaces",id:"color-spaces",level:3},{value:"RGB vs HSV",id:"rgb-vs-hsv",level:4},{value:"Advantages of HSV over RGB for Image Processing",id:"advantages-of-hsv-over-rgb-for-image-processing",level:4},{value:"Blob Tracking",id:"blob-tracking",level:2},{value:"Blob Tracker Node",id:"blob-tracker-node",level:3}];function v(e){const n={a:"a",admonition:"admonition",code:"code",h2:"h2",h3:"h3",h4:"h4",h5:"h5",li:"li",p:"p",pre:"pre",strong:"strong",ul:"ul",...(0,i.R)(),...e.components};return(0,r.jsxs)(r.Fragment,{children:[(0,r.jsxs)(n.admonition,{type:"danger",children:[(0,r.jsx)(n.p,{children:"This has not been proof-read or modified for simpler reading yet."}),(0,r.jsx)(n.p,{children:"12/23/24"})]}),"\n",(0,r.jsx)(n.h2,{id:"getting-started",children:"Getting Started"}),"\n",(0,r.jsxs)(n.p,{children:["These are my notes from the ROS2 Perception course available on ",(0,r.jsx)(n.a,{href:"https://app.theconstruct.ai",children:"The Construct"}),". Since this is a robotics note, you will need a physical robot to follow along. I am using the simulator on the website to interact with the tech stack."]}),"\n",(0,r.jsx)(n.p,{children:"This note will cover:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsx)(n.li,{children:"Integrating and processing sensor data in ROS2"}),"\n",(0,r.jsx)(n.li,{children:"Implementing image processing algorithms using OpenCV"}),"\n",(0,r.jsx)(n.li,{children:"Working with Point Cloud Data and Point Cloud Library (PCL)"}),"\n",(0,r.jsx)(n.li,{children:"Exploring human-robot interaction with face detection and recognition"}),"\n",(0,r.jsx)(n.li,{children:"Applying AI perception techniques using deep learning frameworks"}),"\n"]}),"\n",(0,r.jsx)(n.h2,{id:"sensor-data",children:"Sensor Data"}),"\n",(0,r.jsx)(n.p,{children:"Sensors make up robotics, and it's important to understand how they work and how to work with them. As robots have various sensors, our goal is to utilize them in order to apply perception and decision making algorithms. Therefore, combining information from multiple sensors such as cameras, LIDAR, radar, and other specialized devices can help us construct a more detailed and accurate representation of the environment that'll aid us in our algorithms."}),"\n",(0,r.jsx)(n.p,{children:"In ROS2, there are different kinds of messages that help robots understand the world. The three main messages though are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/LaserScan"})," - Maps out surroundings using LIDAR which gives robot the ability to localize themselves and avoid collisions"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," - Captures images with a camera and helps in recognizing objects via computer vision."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"sensor_msgs/PointCloud2"})," - Captures detailed information about shapes and structures in the environment to create 3D maps."]}),"\n"]}),"\n",(0,r.jsx)(n.h3,{id:"laser-messages",children:"Laser Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/LaserScan"})," is a standard message type commonly used for representing laser scan data generated by laser range finders or LIDAR sensors. Laser scan data represents the distance measurements captured by a LIDAR. More information can be found on the ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/LaserScan.html",children:"official documentation"})]}),"\n",(0,r.jsx)(n.p,{children:"There are other fields but the most important ones are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"angle_min"})," and ",(0,r.jsx)(n.code,{children:"angle_max"})," - represents minimum and maximum angles of the laser scan, which defines the angular range over which the laser sensor collected data"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"angle_increment"})," - specifies the angular distance between consecutive measurements in the scan and helps to determine the angular resolution of the sensor."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"range_min"})," and ",(0,r.jsx)(n.code,{children:"range_max"})," - defines the minimum and maximum range of the sensor"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"range"})," - an array containing the measured distances from the sensor to objects in its field of view where each element corresponds to a specific angle within the angular ranged defined by the ",(0,r.jsx)(n.code,{children:"angle_min"}),", ",(0,r.jsx)(n.code,{children:"angle_max"}),", and ",(0,r.jsx)(n.code,{children:"angle_increment"}),"."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"intensities"})," - an array that provides intensity information along with range data. (THis could be empty as not all laser scanners provide intensity data)"]}),"\n"]}),"\n",(0,r.jsx)(n.h3,{id:"image-messages",children:"Image Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," is another standard message type used for representing images. Images captured by sensors such as cameras are represented as a grid of pixels where each pixel contains information about its color and intensity. The grid is a compactly encoded one dimensional array that's stored in the data field. More can be found ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html",children:"here"})]}),"\n",(0,r.jsx)(n.p,{children:"The most important ones are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"height"})," and ",(0,r.jsx)(n.code,{children:"width"})," - represents the dimensions of the image. Height = rows, width = columns"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"encoding"})," - represents the format used to represent the image data. Commmon encodings are below:"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"bgr8"})," - 8-bit BGR (Blue-Green-Red) encoding where each pixel is represented by three bytes"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"rgb8"})," - 8-bit RGB (Red-Green-Blue) encoding similar to ",(0,r.jsx)(n.code,{children:"bgr8"})," but with a different byte order"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"mono8"})," - 8-bit grayscale encoding, wehre each pixel is represented by a single byte indicating its intensity"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"step"})," - specifies the number of bytes occupied by each row of the image data (row length) in bytes. The formula would thus be byte_depth * row length (width) = step."]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.p,{children:[(0,r.jsx)(n.code,{children:"data"})," - contains the raw image data and is represented as an array of bytes, not pixels where each byte represents a component of the image data according to the specified encoding."]}),"\n"]}),"\n"]}),"\n",(0,r.jsx)(n.admonition,{type:"note",children:(0,r.jsx)(n.p,{children:"Images generally use the top left corner of an image as the origin (0.0). This aligns with computer graphic standards and is the usual convention. Also note that the values of each color component ranges from 0 to 255, with 0 being no color and 255 representing maximum intensity."})}),"\n",(0,r.jsx)("img",{src:l,width:"100%"}),"\n",(0,r.jsxs)(n.p,{children:["The data for the above grid would be: ",(0,r.jsx)(n.code,{children:"data"})," = ",(0,r.jsx)(n.code,{children:"[ B1, G1, R1, B2, G2, R2, B3, G3, R3, B4, G4, R4]"})," since it uses ",(0,r.jsx)(n.code,{children:"bgr8"})]}),"\n",(0,r.jsx)(n.h3,{id:"point-cloud-messages",children:"Point Cloud Messages"}),"\n",(0,r.jsxs)(n.p,{children:["The ",(0,r.jsx)(n.code,{children:"sensor_msgs/PointCloud2"})," is a common data structure used to represent 3D point cloud data. Point clouds are collections of points in 3D space and are captured b y sensors such as 3D LIDARS or depth cameras. It consists of a collection of points in 3D space, each point having attributes such as its X, Y, and Z coordinates, intensity, color, or other relevant info. More info can be found ",(0,r.jsx)(n.a,{href:"https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html",children:"here"})]}),"\n",(0,r.jsx)(n.p,{children:"The most important fields are:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"height"})," and ",(0,r.jsx)(n.code,{children:"width"})," - represents the dimensions of the point cloud. Total number of points is ",(0,r.jsx)(n.strong,{children:"height * width"})]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"fields"})," - describes the individual data fields associated with each point, such as x, y, z coordinates, intensity, colors, etc. Specifies what attributes each point has."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"point_step"})," - represents the size of each point in bytes"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"row_step"})," - length of a row in bytes"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"data"})," - represents the raw binary data containing the point cloud and is 1D array. (Binary Format and size is ",(0,r.jsx)(n.strong,{children:"row_step x height"}),")"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"is_dense"})," - boolean indicating if the point if dense or sparse"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"A sample PointCloud2 message:"}),"\n",(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-txt",children:"- 0\n- 0\n- '...'\nis_dense: true\n---\nheader:\n stamp:\n sec: 414\n nanosec: 253000000\n frame_id: deepmind_robot1_camera_depth_optical_frame\nheight: 1\nwidth: 307200\nfields:\n- name: x\n offset: 0\n datatype: 7\n count: 1\n- name: y\n offset: 4\n datatype: 7\n count: 1\n- name: z\n offset: 8\n datatype: 7\n count: 1\n- name: rgb\n offset: 16\n datatype: 7\n count: 1\nis_bigendian: false\npoint_step: 32\nrow_step: 9830400\ndata:\n- 20\n- 159\n- 146\n- 191\n"})}),"\n",(0,r.jsx)(n.p,{children:"Given the following specifications:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"point_step"})," = 32"]}),"\n",(0,r.jsx)(n.li,{children:(0,r.jsx)(n.code,{children:"fields"})}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"x"})," - (offset = 0, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"y"})," - (offset = 4, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"z"})," - (offset = 8, datatype = 7)"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.li,{children:["\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.code,{children:"rgb"})," - (offset - 16, datatype = 7)"]}),"\n"]}),"\n"]}),"\n"]}),"\n",(0,r.jsxs)(n.p,{children:["Datatype = 7 denotes ",(0,r.jsx)(n.strong,{children:"float32"}),". The bytes 12 to 15 are unused as well as the bytes after 19 until the end of the 32-byte point representation. This repeats for each point in the point cloud data."]}),"\n",(0,r.jsx)("img",{src:d().src,width:"100%"}),"\n",(0,r.jsx)(n.h5,{id:"point-cloud-marker-written-by-the-construct",children:"Point Cloud Marker written by The Construct"}),"\n",(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:'import rclpy\nfrom rclpy.node import Node\nfrom sensor_msgs.msg import PointCloud2\nfrom visualization_msgs.msg import Marker, MarkerArray\nfrom geometry_msgs.msg import Point\nimport struct\nfrom typing import List\n\nclass PointCloudMarker(Node):\n\n def __init__(self) -> None:\n super().__init__(\'point_cloud_marker\')\n self.subscription = self.create_subscription(\n PointCloud2,\n \'/deepmind_robot1_depth_sensor/points\',\n self.point_cloud_callback,\n 10)\n self.marker_publisher = self.create_publisher(MarkerArray, \'visualization_marker_array\', 10)\n\n def point_cloud_callback(self, msg: PointCloud2) -> None:\n\n # Extract points from the point cloud message uniformly\n points = self.extract_points(msg)\n\n # Create markers for the extracted points\n marker_array = self.create_markers(msg, points)\n\n # Publish the marker array\n self.marker_publisher.publish(marker_array)\n\n def extract_points(self, msg: PointCloud2) -> List[Point]:\n """Extract points uniformly from the point cloud message"""\n points = []\n num_points = 50\n step_size = len(msg.data) // num_points # Divide the data into 50 equal parts\n\n for i in range(0, len(msg.data), step_size):\n if len(points) >= num_points:\n break\n\n index = i\n x = self.read_float32(msg.data, index)\n y = self.read_float32(msg.data, index + 4)\n z = self.read_float32(msg.data, index + 8)\n p = Point()\n p.x, p.y, p.z = x, y, z\n points.append(p)\n\n return points\n\n def create_markers(self, msg: PointCloud2, points: List[Point]) -> MarkerArray:\n """Create markers for the extracted points"""\n marker_array = MarkerArray()\n for idx, point in enumerate(points):\n marker = Marker()\n marker.header = msg.header\n marker.type = Marker.SPHERE\n marker.action = Marker.ADD\n marker.scale.x = 0.1\n marker.scale.y = 0.1\n marker.scale.z = 0.1\n marker.color.r = 1.0\n marker.color.a = 1.0\n marker.pose.position = point\n marker.id = idx\n marker_array.markers.append(marker)\n\n return marker_array\n\n def read_float32(self, data: bytes, index: int) -> float:\n """Helper function to read float32 from byte array"""\n return struct.unpack_from(\'f\', data, index)[0]\n\ndef main(args=None) -> None:\n rclpy.init(args=args)\n point_cloud_marker = PointCloudMarker()\n rclpy.spin(point_cloud_marker)\n point_cloud_marker.destroy_node()\n rclpy.shutdown()\n\nif __name__ == \'__main__\':\n main()\n'})}),"\n",(0,r.jsx)("img",{src:h,width:"100%"}),"\n",(0,r.jsx)(n.h2,{id:"image-processing",children:"Image Processing"}),"\n",(0,r.jsx)(n.p,{children:"Image processing is used to improve the quality of an image or extract useful information from it. This part will use OpenCV and cv_bridge to for efficient conversion/integration between ROS2 messages and OpenCV images."}),"\n",(0,r.jsx)(n.h3,{id:"opencv",children:"OpenCV"}),"\n",(0,r.jsx)(n.p,{children:"If you don't know what OpenCV is, then you definitely need to read up on it. It's the premise for all computer vision things. It's an open source computer vision and machine learning software library that provides an infrastructure for computer vision applications. You can do various things such as image recognition, object detection, facial recognition, and video tracking."}),"\n",(0,r.jsx)(n.p,{children:"Here are some of the features OpenCV provides:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Filtering"})," - Offers filters such as Gaussian blur, median blur, and bilateral filter for noise reduction and image smoothing."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Feature Extraction"})," - Offers algorithms like SIFT, SURF, and ORB for feature extraction and keypoint detection which are crucial for tasks like object recognition and tracking."]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"Object Detection"})," - Has pretained models and algorithms such as Haar cascades, HOG descriptors, and deep learning based methods for object detection and classification."]}),"\n"]}),"\n",(0,r.jsxs)(n.p,{children:["OpenCV functions can be directly applied to the image data extracted from ",(0,r.jsx)(n.code,{children:"sensor_msgs/Image"})," which makes it easy to use in ROS2 projects."]}),"\n",(0,r.jsx)(n.h3,{id:"cv_bridge",children:"cv_bridge"}),"\n",(0,r.jsxs)(n.p,{children:["Before using OpenCV functions, image data needs to be converted from the ROS2 message format to a format compatible with OpenCV. This is done through the ",(0,r.jsx)(n.strong,{children:"cv_bridge"})," package, which converts between ROS2 image messages (sensor_msgs/Image) and OpenCV data structures (cv::mat). This allows developer to focus on the actual development instead of the conversion and integration of different tools."]}),"\n",(0,r.jsx)("img",{src:u().src,width:"100%"}),"\n",(0,r.jsx)(n.h3,{id:"color-spaces",children:"Color Spaces"}),"\n",(0,r.jsx)(n.p,{children:"A color space is a mathematical model that describes how colors can be represented as tuples of numbers, typically as coordinates or vectors in a multidimensional space. Different colors have different purposes and each have their tradeoffs depending on the problem at hand."}),"\n",(0,r.jsx)(n.p,{children:"Some important color spaces:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"RGB"})," (Red, Green, Blue)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"HSV"})," (Hue, Saturation, Value)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"HSL"})," (Hue, Saturation, Lightness)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"YUV/YCbCR"})," (Luma, Chroma)"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"LAB"})," (CIELAB)"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"Choosing the right color space can impact the success and efficiency of our image processing algorithms. As developers always say, choose the right tool for the job."}),"\n",(0,r.jsx)(n.h4,{id:"rgb-vs-hsv",children:"RGB vs HSV"}),"\n",(0,r.jsx)(n.p,{children:"RGB is one of the most common colors used in digital imaging and as the acronym suggests, it stands for (Red, Green, Blue). Each value ranges from 0 to 255 and represents the intensity of each color channel. Generally, RGB is great at representing colors on electronic displays and digital cameras."}),"\n",(0,r.jsx)(n.p,{children:"HSV is an alternative color space which uses (Hue, Saturation, and Value). Hue represents the type of color (red, green, blue) and is measured in degrees on a color wheel. Saturation determines the intensity or the purity of the color. Higher saturation values indicates more vivid colors. Value represents the brightness or intensity of the color. HSV is designed to more closely align with how humans perceive and describe colors."}),"\n",(0,r.jsx)(n.h4,{id:"advantages-of-hsv-over-rgb-for-image-processing",children:"Advantages of HSV over RGB for Image Processing"}),"\n",(0,r.jsx)(n.p,{children:"HSV is often preferred over RGB in color segmentation which is when we identify specific objects or regions of interests in an image. The HSV color space simplifies the process of defining color ranges and thresholds for segmentation. This is because thresholding based on hue and saturation help isolate specific colors or color ranges while minimizing the impact of variations in lighting conditions."}),"\n",(0,r.jsx)(n.p,{children:"HSV is also more robust to changes in lighting conditions compared to RGB. Decoupling color information from brightness (value) allows us to handle different variations in illumination without affecting color perception."}),"\n",(0,r.jsx)(n.h2,{id:"blob-tracking",children:"Blob Tracking"}),"\n",(0,r.jsx)(n.p,{children:"Blob tracking is a technique used to detect and track regions of interests (blob) in a sequence of images or frames in a video stream. A blob typically represents a group of connected pixels with similar properties, such as color, intensity, or texture."}),"\n",(0,r.jsx)(n.h3,{id:"blob-tracker-node",children:"Blob Tracker Node"}),"\n",(0,r.jsx)(n.p,{children:"The simulation goal is for our robot to detect orange blobs which is situated at the exit. This allows our robot to navigate towards the exit."}),"\n",(0,r.jsx)(n.p,{children:"We need to create two things:"}),"\n",(0,r.jsxs)(n.ul,{children:["\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"blob_point_pub.py"})," - Detect blob and publish the position"]}),"\n",(0,r.jsxs)(n.li,{children:[(0,r.jsx)(n.strong,{children:"blob_tracker.py"})," - Guide the robot towards the exit door"]}),"\n"]}),"\n",(0,r.jsx)(n.p,{children:"We have to first isolate out the blob which requires filtering based on HSV color. The simulation provides us some fancy code that allows us to isolate the HSV."}),"\n",(0,r.jsx)("img",{src:g().src,width:"100%"}),"\n",(0,r.jsx)(n.p,{children:"We can then proceed to create our two necessary files."}),"\n",(0,r.jsxs)(o.A,{children:[(0,r.jsx)(a.A,{label:"blob_point_pub.py",value:"blob_point_pub.py",children:(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:'import rclpy\nfrom rclpy.node import Node\nfrom sensor_msgs.msg import Image\nfrom geometry_msgs.msg import Point\nimport cv2\nimport numpy as np\nfrom cv_bridge import CvBridge\nfrom typing import List, Tuple\n\nclass BlobPointPublisher(Node):\ndef **init**(self) -> None:\nsuper().**init**(\'blob_point_publisher\')\nself.subscription = self.create_subscription(\nImage,\n\'/deepmind_robot1/deepmind_robot1_camera/image_raw\', \n self.image_callback, 10)\nself.publisher = self.create_publisher(Point, \'/point_blob\', 10)\nself.cv_bridge = CvBridge()\n\n def image_callback(self, msg: Image) -> None:\n try:\n # Convert ROS Image message to OpenCV format\n cv_image = self.cv_bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")\n except Exception as e:\n self.get_logger().error("Error converting ROS Image to OpenCV format: {0}".format(e))\n return\n\n # Convert BGR image to HSV\n hsv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)\n\n # Define lower and upper bounds for orange color in HSV\n lower_orange = np.array([3, 0, 233])\n upper_orange = np.array([9, 255, 255])\n\n # Create a binary mask for orange color\n mask = cv2.inRange(hsv_image, lower_orange, upper_orange)\n\n # Draw coordinate frame\n self.draw_frame(cv_image)\n\n # Find contours in the mask\n contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)\n\n # Draw a red circle around the blob contour\n for contour in contours:\n self.draw_blob_contour_circle(cv_image, contour)\n\n # If no contours are found, return\n if not contours:\n return\n\n # Find the largest contour\n blob_contour = max(contours, key=cv2.contourArea)\n\n # Calculate centroid of the contour\n moment = cv2.moments(blob_contour)\n if moment["m00"] != 0: # Area of the object\n blob_x = float(moment["m10"] / moment["m00"]) # x-coordinate of centroid\n blob_y = float(moment["m01"] / moment["m00"]) # y-coordinate of centroid\n\n # x and y coordinates of the blob are computed relative to the center of the image\n x, y = self.get_blob_relative_position(cv_image, blob_x, blob_y)\n\n # Publish Blob\n self.publish_blob(x, y)\n\n # Draw detected blobs\n self.draw_keypoints(cv_image, [(blob_x, blob_y)])\n\n # Display the image (optional)\n cv2.imshow("Image", cv_image)\n cv2.waitKey(1)\n\n def draw_frame(self,\n image: np.ndarray,\n dimension=0.1, #- dimension relative to frame size\n line=2 #- line\'s thickness\n ) -> None:\n """ Draw X Y coordinate frame at the center of the image"""\n\n rows = image.shape[0]\n cols = image.shape[1]\n size = min([rows, cols])\n center_x = int(cols/2.0)\n center_y = int(rows/2.0)\n\n line_length = int(size*dimension)\n\n #-- X\n image = cv2.line(image, (center_x, center_y), (center_x+line_length, center_y), (0,0,255), line)\n #-- Y\n image = cv2.line(image, (center_x, center_y), (center_x, center_y+line_length), (0,255,0), line)\n\n\n def draw_blob_contour_circle(self, img: np.ndarray, contour: np.ndarray) -> None:\n """ Draw a red circle around the detected blob """\n # Get the bounding rectangle of the contour\n x, y, w, h = cv2.boundingRect(contour)\n\n # Calculate the center of the rectangle\n center_x = x + w // 2\n center_y = y + h // 2\n\n # Calculate the radius of the circle based on the contour size\n radius = max(w, h) // 2\n\n # Draw a red circle around the center\n cv2.circle(img, (center_x, center_y), radius, (0, 0, 255), 2)\n\n\n def get_blob_relative_position(self, image: np.ndarray, x: float, y: float) -> Tuple[float, float]:\n """ Get blob position relative to the coordinate frame placed at the center of the image"""\n # The shape attribute of a NumPy array returns a tuple representing the dimensions of the array.\n # For an image, the shape tuple consists of 3 elements: (height, width, channels).\n\n rows = float(image.shape[0]) # height\n cols = float(image.shape[1]) # width\n\n # Coordinates of the center of the image\n center_x = 0.5*cols\n center_y = 0.5*rows\n\n # The x and y coordinates of the keypoint are computed relative to the center of the image\n x = (x - center_x)/(center_x)\n y = (y - center_y)/(center_y)\n\n return x,y\n\n def publish_blob(self, x: float, y: float) -> None:\n """ Publish the blob position to /point_blob """\n # Create a Point message\n point_msg = Point()\n point_msg.x = x\n point_msg.y = y\n\n # Publish the Point message\n self.publisher.publish(point_msg)\n\n\n def draw_keypoints(self, img: np.ndarray, keypoints: List[Tuple[float, float]]) -> None:\n """ Draw the detected blob keypoints in red """\n # Draw red circles at the detected blob keypoints\n for kp in keypoints:\n # Convert keypoints to integers\n kp = (int(kp[0]), int(kp[1]))\n cv2.circle(img, kp, 5, (0, 0, 255), -1)\n\ndef main(args=None) -> None:\nrclpy.init(args=args)\nblob_point_publisher = BlobPointPublisher()\nrclpy.spin(blob_point_publisher)\nblob_point_publisher.destroy_node()\nrclpy.shutdown()\n\nif **name** == \'**main**\':\nmain()\n\n'})})}),(0,r.jsx)(a.A,{label:"blob_tracker.py",value:"blob_tracker.py",children:(0,r.jsx)(n.pre,{children:(0,r.jsx)(n.code,{className:"language-py",children:"import rclpy\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import Point, Twist\n\nclass BlobTracker(Node):\n def __init__(self) -> None:\n super().__init__('blob_tracker')\n self.subscription = self.create_subscription(\n Point,\n '/point_blob',\n self.blob_callback,\n 10)\n self.publisher = self.create_publisher(Twist, '/cmd_vel', 10)\n\n self.angular_gain = 0.3\n self.no_blob_detected = True\n self.timer = self.create_timer(1.0, self.rotate_continuous)\n\n def blob_callback(self, msg: Point) -> None:\n # Extract blob coordinates\n blob_x = msg.x\n blob_y = msg.y\n\n # Define linear velocity\n linear_x = 0.3\n\n if blob_x != 0.0 or blob_y != 0.0:\n # Adjust angular velocity based on blob's position\n angular_vel = -self.angular_gain * blob_x\n # Clip angular velocity to [-1, 1] range\n angular_vel = max(min(angular_vel, 1.0), -1.0)\n\n # Adjust linear velocity based on blob's position\n if blob_y < 0.8:\n linear_vel = linear_x\n else:\n linear_vel = 0.0 # Stop the robot\n self.no_blob_detected = False\n else:\n return\n\n self.pub_velocities(linear_vel, angular_vel)\n\n def rotate_continuous(self) -> None:\n # Rotate continuously\n if self.no_blob_detected:\n twist_msg = Twist()\n twist_msg.angular.z = 0.3 # Adjust angular velocity as needed\n self.publisher.publish(twist_msg)\n self.get_logger().warn(\"No blobs detected yet ... Rotating continuously\")\n\n def pub_velocities(self, linear: float, angular: float) -> None:\n # Create Twist message with linear and angular velocities\n twist_msg = Twist()\n twist_msg.linear.x = linear\n twist_msg.angular.z = angular\n\n # Publish the Twist message\n self.publisher.publish(twist_msg)\n self.get_logger().info(f\"Linear vel: {linear:.2f}, Angular vel: {angular:.2f}\")\n\n\ndef main(args=None) -> None:\n rclpy.init(args=args)\n blob_tracker = BlobTracker()\n rclpy.spin(blob_tracker)\n blob_tracker.destroy_node()\n rclpy.shutdown()\n\nif __name__ == '__main__':\n main()\n"})})})]})]})}function y(e={}){const{wrapper:n}={...(0,i.R)(),...e.components};return n?(0,r.jsx)(n,{...e,children:(0,r.jsx)(v,{...e})}):v(e)}},9365:(e,n,t)=>{"use strict";t.d(n,{A:()=>o});t(6540);var s=t(4164);const r={tabItem:"tabItem_Ymn6"};var i=t(4848);function o(e){let{children:n,hidden:t,className:o}=e;return(0,i.jsx)("div",{role:"tabpanel",className:(0,s.A)(r.tabItem,o),hidden:t,children:n})}},1470:(e,n,t)=>{"use strict";t.d(n,{A:()=>j});var s=t(6540),r=t(4164),i=t(3104),o=t(6347),a=t(205),l=t(7485),c=t(1682),d=t(679);function h(e){return s.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,s.isValidElement)(e)&&function(e){const{props:n}=e;return!!n&&"object"==typeof n&&"value"in n}(e))return e;throw new Error(`Docusaurus error: Bad <Tabs> child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the <Tabs> component should be <TabItem>, and every <TabItem> should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function p(e){const{values:n,children:t}=e;return(0,s.useMemo)((()=>{const e=n??function(e){return h(e).map((e=>{let{props:{value:n,label:t,attributes:s,default:r}}=e;return{value:n,label:t,attributes:s,default:r}}))}(t);return function(e){const n=(0,c.XI)(e,((e,n)=>e.value===n.value));if(n.length>0)throw new Error(`Docusaurus error: Duplicate values "${n.map((e=>e.value)).join(", ")}" found in <Tabs>. 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t=/\/\*(?:[^*/]|\*(?!\/)|\/(?!\*)|<self>)*\*\//.source,n=0;n<2;n++)t=t.replace(/<self>/g,(function(){return 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T.languages.go["class-name"],function(e){var t=/\b(?:alignas|alignof|asm|auto|bool|break|case|catch|char|char16_t|char32_t|char8_t|class|co_await|co_return|co_yield|compl|concept|const|const_cast|consteval|constexpr|constinit|continue|decltype|default|delete|do|double|dynamic_cast|else|enum|explicit|export|extern|final|float|for|friend|goto|if|import|inline|int|int16_t|int32_t|int64_t|int8_t|long|module|mutable|namespace|new|noexcept|nullptr|operator|override|private|protected|public|register|reinterpret_cast|requires|return|short|signed|sizeof|static|static_assert|static_cast|struct|switch|template|this|thread_local|throw|try|typedef|typeid|typename|uint16_t|uint32_t|uint64_t|uint8_t|union|unsigned|using|virtual|void|volatile|wchar_t|while)\b/,n=/\b(?!<keyword>)\w+(?:\s*\.\s*\w+)*\b/.source.replace(/<keyword>/g,(function(){return 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i.getSnapshotBeforeUpdate||l===e.memoizedProps&&f===e.memoizedState||(t.flags|=1024),r=!1)}return Cl(e,t,n,r,a,o)}function Cl(e,t,n,r,o,a){_l(e,t);var i=!!(128&t.flags);if(!r&&!i)return o&&Fo(t,n,!1),Hl(e,t,a);r=t.stateNode,vl.current=t;var l=i&&"function"!=typeof n.getDerivedStateFromError?null:r.render();return t.flags|=1,null!==e&&i?(t.child=Sa(t,e.child,null,a),t.child=Sa(t,null,l,a)):wl(e,t,l,a),t.memoizedState=r.state,o&&Fo(t,n,!0),t.child}function Al(e){var t=e.stateNode;t.pendingContext?No(0,t.pendingContext,t.pendingContext!==t.context):t.context&&No(0,t.context,!1),Ya(e,t.containerInfo)}function Tl(e,t,n,r,o){return ma(),ha(o),t.flags|=256,wl(e,t,n,r),t.child}var Pl,Rl,Il,Dl,Nl={dehydrated:null,treeContext:null,retryLane:0};function Ll(e){return{baseLanes:e,cachePool:null,transitions:null}}function Ml(e,t,n){var r,o=t.pendingProps,i=ei.current,l=!1,s=!!(128&t.flags);if((r=s)||(r=(null===e||null!==e.memoizedState)&&!!(2&i)),r?(l=!0,t.flags&=-129):null!==e&&null===e.memoizedState||(i|=1),jo(ei,1&i),null===e)return ua(t),null!==(e=t.memoizedState)&&null!==(e=e.dehydrated)?(1&t.mode?"$!"===e.data?t.lanes=8:t.lanes=1073741824:t.lanes=1,null):(s=o.children,e=o.fallback,l?(o=t.mode,l=t.child,s={mode:"hidden",children:s},1&o||null===l?l=Lc(s,o,0,null):(l.childLanes=0,l.pendingProps=s),e=Nc(e,o,n,null),l.return=t,e.return=t,l.sibling=e,t.child=l,t.child.memoizedState=Ll(n),t.memoizedState=Nl,e):Fl(t,s));if(null!==(i=e.memoizedState)&&null!==(r=i.dehydrated))return function(e,t,n,r,o,i,l){if(n)return 256&t.flags?(t.flags&=-257,Bl(e,t,l,r=ul(Error(a(422))))):null!==t.memoizedState?(t.child=e.child,t.flags|=128,null):(i=r.fallback,o=t.mode,r=Lc({mode:"visible",children:r.children},o,0,null),(i=Nc(i,o,l,null)).flags|=2,r.return=t,i.return=t,r.sibling=i,t.child=r,1&t.mode&&Sa(t,e.child,null,l),t.child.memoizedState=Ll(l),t.memoizedState=Nl,i);if(!(1&t.mode))return Bl(e,t,l,null);if("$!"===o.data){if(r=o.nextSibling&&o.nextSibling.dataset)var s=r.dgst;return r=s,Bl(e,t,l,r=ul(i=Error(a(419)),r,void 0))}if(s=!!(l&e.childLanes),bl||s){if(null!==(r=As)){switch(l&-l){case 4:o=2;break;case 16:o=8;break;case 64:case 128:case 256:case 512:case 1024:case 2048:case 4096:case 8192:case 16384:case 32768:case 65536:case 131072:case 262144:case 524288:case 1048576:case 2097152:case 4194304:case 8388608:case 16777216:case 33554432:case 67108864:o=32;break;case 536870912:o=268435456;break;default:o=0}0!==(o=o&(r.suspendedLanes|l)?0:o)&&o!==i.retryLane&&(i.retryLane=o,Na(e,o),nc(r,e,o,-1))}return hc(),Bl(e,t,l,r=ul(Error(a(421))))}return"$?"===o.data?(t.flags|=128,t.child=e.child,t=jc.bind(null,e),o._reactRetry=t,null):(e=i.treeContext,oa=co(o.nextSibling),ra=t,aa=!0,ia=null,null!==e&&(Ko[Qo++]=Zo,Ko[Qo++]=Jo,Ko[Qo++]=Yo,Zo=e.id,Jo=e.overflow,Yo=t),t=Fl(t,r.children),t.flags|=4096,t)}(e,t,s,o,r,i,n);if(l){l=o.fallback,s=t.mode,r=(i=e.child).sibling;var c={mode:"hidden",children:o.children};return 1&s||t.child===i?(o=Ic(i,c)).subtreeFlags=14680064&i.subtreeFlags:((o=t.child).childLanes=0,o.pendingProps=c,t.deletions=null),null!==r?l=Ic(r,l):(l=Nc(l,s,n,null)).flags|=2,l.return=t,o.return=t,o.sibling=l,t.child=o,o=l,l=t.child,s=null===(s=e.child.memoizedState)?Ll(n):{baseLanes:s.baseLanes|n,cachePool:null,transitions:s.transitions},l.memoizedState=s,l.childLanes=e.childLanes&~n,t.memoizedState=Nl,o}return e=(l=e.child).sibling,o=Ic(l,{mode:"visible",children:o.children}),!(1&t.mode)&&(o.lanes=n),o.return=t,o.sibling=null,null!==e&&(null===(n=t.deletions)?(t.deletions=[e],t.flags|=16):n.push(e)),t.child=o,t.memoizedState=null,o}function Fl(e,t){return(t=Lc({mode:"visible",children:t},e.mode,0,null)).return=e,e.child=t}function Bl(e,t,n,r){return null!==r&&ha(r),Sa(t,e.child,null,n),(e=Fl(t,t.pendingProps.children)).flags|=2,t.memoizedState=null,e}function zl(e,t,n){e.lanes|=t;var r=e.alternate;null!==r&&(r.lanes|=t),Aa(e.return,t,n)}function Ul(e,t,n,r,o){var a=e.memoizedState;null===a?e.memoizedState={isBackwards:t,rendering:null,renderingStartTime:0,last:r,tail:n,tailMode:o}:(a.isBackwards=t,a.rendering=null,a.renderingStartTime=0,a.last=r,a.tail=n,a.tailMode=o)}function ql(e,t,n){var 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i=t.memoizedProps;switch(r[po]=t,r[mo]=i,e=!!(1&t.mode),n){case"dialog":Br("cancel",r),Br("close",r);break;case"iframe":case"object":case"embed":Br("load",r);break;case"video":case"audio":for(o=0;o<Nr.length;o++)Br(Nr[o],r);break;case"source":Br("error",r);break;case"img":case"image":case"link":Br("error",r),Br("load",r);break;case"details":Br("toggle",r);break;case"input":Y(r,i),Br("invalid",r);break;case"select":r._wrapperState={wasMultiple:!!i.multiple},Br("invalid",r);break;case"textarea":oe(r,i),Br("invalid",r)}for(var s in ve(n,i),o=null,i)if(i.hasOwnProperty(s)){var c=i[s];"children"===s?"string"==typeof c?r.textContent!==c&&(!0!==i.suppressHydrationWarning&&Jr(r.textContent,c,e),o=["children",c]):"number"==typeof 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r.is?e=s.createElement(n,{is:r.is}):(e=s.createElement(n),"select"===n&&(s=e,r.multiple?s.multiple=!0:r.size&&(s.size=r.size))):e=s.createElementNS(e,n),e[po]=t,e[mo]=r,Pl(e,t,!1,!1),t.stateNode=e;e:{switch(s=be(n,r),n){case"dialog":Br("cancel",e),Br("close",e),o=r;break;case"iframe":case"object":case"embed":Br("load",e),o=r;break;case"video":case"audio":for(o=0;o<Nr.length;o++)Br(Nr[o],e);o=r;break;case"source":Br("error",e),o=r;break;case"img":case"image":case"link":Br("error",e),Br("load",e),o=r;break;case"details":Br("toggle",e),o=r;break;case"input":Y(e,r),o=Q(e,r),Br("invalid",e);break;case"option":default:o=r;break;case"select":e._wrapperState={wasMultiple:!!r.multiple},o=M({},r,{value:void 0}),Br("invalid",e);break;case"textarea":oe(e,r),o=re(e,r),Br("invalid",e)}for(i in ve(n,o),c=o)if(c.hasOwnProperty(i)){var u=c[i];"style"===i?ge(e,u):"dangerouslySetInnerHTML"===i?null!=(u=u?u.__html:void 0)&&de(e,u):"children"===i?"string"==typeof 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Error(a(166));if(n=Qa(Ka.current),Qa(Ga.current),fa(t)){if(r=t.stateNode,n=t.memoizedProps,r[po]=t,(i=r.nodeValue!==n)&&null!==(e=ra))switch(e.tag){case 3:Jr(r.nodeValue,n,!!(1&e.mode));break;case 5:!0!==e.memoizedProps.suppressHydrationWarning&&Jr(r.nodeValue,n,!!(1&e.mode))}i&&(t.flags|=4)}else(r=(9===n.nodeType?n:n.ownerDocument).createTextNode(r))[po]=t,t.stateNode=r}return Gl(t),null;case 13:if(Oo(ei),r=t.memoizedState,null===e||null!==e.memoizedState&&null!==e.memoizedState.dehydrated){if(aa&&null!==oa&&1&t.mode&&!(128&t.flags))pa(),ma(),t.flags|=98560,i=!1;else if(i=fa(t),null!==r&&null!==r.dehydrated){if(null===e){if(!i)throw Error(a(318));if(!(i=null!==(i=t.memoizedState)?i.dehydrated:null))throw Error(a(317));i[po]=t}else ma(),!(128&t.flags)&&(t.memoizedState=null),t.flags|=4;Gl(t),i=!1}else null!==ia&&(ic(ia),ia=null),i=!0;if(!i)return 65536&t.flags?t:null}return 128&t.flags?(t.lanes=n,t):((r=null!==r)!==(null!==e&&null!==e.memoizedState)&&r&&(t.child.flags|=8192,1&t.mode&&(null===e||1&ei.current?0===Ds&&(Ds=3):hc())),null!==t.updateQueue&&(t.flags|=4),Gl(t),null);case 4:return Za(),Rl(e,t),null===e&&qr(t.stateNode.containerInfo),Gl(t),null;case 10:return Ca(t.type._context),Gl(t),null;case 19:if(Oo(ei),null===(i=t.memoizedState))return 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jo(ei,1&ei.current|2),t.child}e=e.sibling}null!==i.tail&&Ze()>qs&&(t.flags|=128,r=!0,Vl(i,!1),t.lanes=4194304)}else{if(!r)if(null!==(e=ti(s))){if(t.flags|=128,r=!0,null!==(n=e.updateQueue)&&(t.updateQueue=n,t.flags|=4),Vl(i,!0),null===i.tail&&"hidden"===i.tailMode&&!s.alternate&&!aa)return Gl(t),null}else 2*Ze()-i.renderingStartTime>qs&&1073741824!==n&&(t.flags|=128,r=!0,Vl(i,!1),t.lanes=4194304);i.isBackwards?(s.sibling=t.child,t.child=s):(null!==(n=i.last)?n.sibling=s:t.child=s,i.last=s)}return null!==i.tail?(t=i.tail,i.rendering=t,i.tail=t.sibling,i.renderingStartTime=Ze(),t.sibling=null,n=ei.current,jo(ei,r?1&n|2:1&n),t):(Gl(t),null);case 22:case 23:return dc(),r=null!==t.memoizedState,null!==e&&null!==e.memoizedState!==r&&(t.flags|=8192),r&&1&t.mode?!!(1073741824&Rs)&&(Gl(t),6&t.subtreeFlags&&(t.flags|=8192)):Gl(t),null;case 24:case 25:return null}throw Error(a(156,t.tag))}function Kl(e,t){switch(na(t),t.tag){case 1:return 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e.languages.flow.parameter,e.languages.insertBefore("flow","operator",{"flow-punctuation":{pattern:/\{\||\|\}/,alias:"punctuation"}}),Array.isArray(e.languages.flow.keyword)||(e.languages.flow.keyword=[e.languages.flow.keyword]),e.languages.flow.keyword.unshift({pattern:/(^|[^$]\b)(?:Class|declare|opaque|type)\b(?!\$)/,lookbehind:!0},{pattern:/(^|[^$]\B)\$(?:Diff|Enum|Exact|Keys|ObjMap|PropertyType|Record|Shape|Subtype|Supertype|await)\b(?!\$)/,lookbehind:!0})}(S),S.languages.n4js=S.languages.extend("javascript",{keyword:/\b(?:Array|any|boolean|break|case|catch|class|const|constructor|continue|debugger|declare|default|delete|do|else|enum|export|extends|false|finally|for|from|function|get|if|implements|import|in|instanceof|interface|let|module|new|null|number|package|private|protected|public|return|set|static|string|super|switch|this|throw|true|try|typeof|var|void|while|with|yield)\b/}),S.languages.insertBefore("n4js","constant",{annotation:{pattern:/@+\w+/,alias:"operator"}}),S.languages.n4jsd=S.languages.n4js,function(e){function t(e,t){return RegExp(e.replace(/<ID>/g,(function(){return/(?!\s)[_$a-zA-Z\xA0-\uFFFF](?:(?!\s)[$\w\xA0-\uFFFF])*/.source})),t)}e.languages.insertBefore("javascript","function-variable",{"method-variable":{pattern:RegExp("(\\.\\s*)"+e.languages.javascript["function-variable"].pattern.source),lookbehind:!0,alias:["function-variable","method","function","property-access"]}}),e.languages.insertBefore("javascript","function",{method:{pattern:RegExp("(\\.\\s*)"+e.languages.javascript.function.source),lookbehind:!0,alias:["function","property-access"]}}),e.languages.insertBefore("javascript","constant",{"known-class-name":[{pattern:/\b(?:(?:Float(?:32|64)|(?:Int|Uint)(?:8|16|32)|Uint8Clamped)?Array|ArrayBuffer|BigInt|Boolean|DataView|Date|Error|Function|Intl|JSON|(?:Weak)?(?:Map|Set)|Math|Number|Object|Promise|Proxy|Reflect|RegExp|String|Symbol|WebAssembly)\b/,alias:"class-name"},{pattern:/\b(?:[A-Z]\w*)Error\b/,alias:"class-name"}]}),e.languages.insertBefore("javascript","keyword",{imports:{pattern:t(/(\bimport\b\s*)(?:<ID>(?:\s*,\s*(?:\*\s*as\s+<ID>|\{[^{}]*\}))?|\*\s*as\s+<ID>|\{[^{}]*\})(?=\s*\bfrom\b)/.source),lookbehind:!0,inside:e.languages.javascript},exports:{pattern:t(/(\bexport\b\s*)(?:\*(?:\s*as\s+<ID>)?(?=\s*\bfrom\b)|\{[^{}]*\})/.source),lookbehind:!0,inside:e.languages.javascript}}),e.languages.javascript.keyword.unshift({pattern:/\b(?:as|default|export|from|import)\b/,alias:"module"},{pattern:/\b(?:await|break|catch|continue|do|else|finally|for|if|return|switch|throw|try|while|yield)\b/,alias:"control-flow"},{pattern:/\bnull\b/,alias:["null","nil"]},{pattern:/\bundefined\b/,alias:"nil"}),e.languages.insertBefore("javascript","operator",{spread:{pattern:/\.{3}/,alias:"operator"},arrow:{pattern:/=>/,alias:"operator"}}),e.languages.insertBefore("javascript","punctuation",{"property-access":{pattern:t(/(\.\s*)#?<ID>/.source),lookbehind:!0},"maybe-class-name":{pattern:/(^|[^$\w\xA0-\uFFFF])[A-Z][$\w\xA0-\uFFFF]+/,lookbehind:!0},dom:{pattern:/\b(?:document|(?:local|session)Storage|location|navigator|performance|window)\b/,alias:"variable"},console:{pattern:/\bconsole(?=\s*\.)/,alias:"class-name"}});for(var n=["function","function-variable","method","method-variable","property-access"],r=0;r<n.length;r++){var o=n[r],a=e.languages.javascript[o];o=(a="RegExp"===e.util.type(a)?e.languages.javascript[o]={pattern:a}:a).inside||{};(a.inside=o)["maybe-class-name"]=/^[A-Z][\s\S]*/}}(S),function(e){var t=e.util.clone(e.languages.javascript),n=/(?:\s|\/\/.*(?!.)|\/\*(?:[^*]|\*(?!\/))\*\/)/.source,r=/(?:\{(?:\{(?:\{[^{}]*\}|[^{}])*\}|[^{}])*\})/.source,o=/(?:\{<S>*\.{3}(?:[^{}]|<BRACES>)*\})/.source;function a(e,t){return e=e.replace(/<S>/g,(function(){return n})).replace(/<BRACES>/g,(function(){return r})).replace(/<SPREAD>/g,(function(){return o})),RegExp(e,t)}function i(t){for(var n=[],r=0;r<t.length;r++){var o=t[r],a=!1;"string"!=typeof 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e.languages.kotlin["class-name"];var t={"interpolation-punctuation":{pattern:/^\$\{?|\}$/,alias:"punctuation"},expression:{pattern:/[\s\S]+/,inside:e.languages.kotlin}};e.languages.insertBefore("kotlin","string",{"string-literal":[{pattern:/"""(?:[^$]|\$(?:(?!\{)|\{[^{}]*\}))*?"""/,alias:"multiline",inside:{interpolation:{pattern:/\$(?:[a-z_]\w*|\{[^{}]*\})/i,inside:t},string:/[\s\S]+/}},{pattern:/"(?:[^"\\\r\n$]|\\.|\$(?:(?!\{)|\{[^{}]*\}))*"/,alias:"singleline",inside:{interpolation:{pattern:/((?:^|[^\\])(?:\\{2})*)\$(?:[a-z_]\w*|\{[^{}]*\})/i,lookbehind:!0,inside:t},string:/[\s\S]+/}}],char:{pattern:/'(?:[^'\\\r\n]|\\(?:.|u[a-fA-F0-9]{0,4}))'/,greedy:!0}}),delete e.languages.kotlin.string,e.languages.insertBefore("kotlin","keyword",{annotation:{pattern:/\B@(?:\w+:)?(?:[A-Z]\w*|\[[^\]]+\])/,alias:"builtin"}}),e.languages.insertBefore("kotlin","function",{label:{pattern:/\b\w+@|@\w+\b/,alias:"symbol"}}),e.languages.kt=e.languages.kotlin,e.languages.kts=e.languages.kotlin}(S),S.languages.c=S.languages.extend("clike",{comment:{pattern:/\/\/(?:[^\r\n\\]|\\(?:\r\n?|\n|(?![\r\n])))*|\/\*[\s\S]*?(?:\*\/|$)/,greedy:!0},string:{pattern:/"(?:\\(?:\r\n|[\s\S])|[^"\\\r\n])*"/,greedy:!0},"class-name":{pattern:/(\b(?:enum|struct)\s+(?:__attribute__\s*\(\([\s\S]*?\)\)\s*)?)\w+|\b[a-z]\w*_t\b/,lookbehind:!0},keyword:/\b(?:_Alignas|_Alignof|_Atomic|_Bool|_Complex|_Generic|_Imaginary|_Noreturn|_Static_assert|_Thread_local|__attribute__|asm|auto|break|case|char|const|continue|default|do|double|else|enum|extern|float|for|goto|if|inline|int|long|register|return|short|signed|sizeof|static|struct|switch|typedef|typeof|union|unsigned|void|volatile|while)\b/,function:/\b[a-z_]\w*(?=\s*\()/i,number:/(?:\b0x(?:[\da-f]+(?:\.[\da-f]*)?|\.[\da-f]+)(?:p[+-]?\d+)?|(?:\b\d+(?:\.\d*)?|\B\.\d+)(?:e[+-]?\d+)?)[ful]{0,4}/i,operator:/>>=?|<<=?|->|([-+&|:])\1|[?:~]|[-+*/%&|^!=<>]=?/}),S.languages.insertBefore("c","string",{char:{pattern:/'(?:\\(?:\r\n|[\s\S])|[^'\\\r\n]){0,32}'/,greedy:!0}}),S.languages.insertBefore("c","string",{macro:{pattern:/(^[\t 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S.languages.c.boolean,S.languages.objectivec=S.languages.extend("c",{string:{pattern:/@?"(?:\\(?:\r\n|[\s\S])|[^"\\\r\n])*"/,greedy:!0},keyword:/\b(?:asm|auto|break|case|char|const|continue|default|do|double|else|enum|extern|float|for|goto|if|in|inline|int|long|register|return|self|short|signed|sizeof|static|struct|super|switch|typedef|typeof|union|unsigned|void|volatile|while)\b|(?:@interface|@end|@implementation|@protocol|@class|@public|@protected|@private|@property|@try|@catch|@finally|@throw|@synthesize|@dynamic|@selector)\b/,operator:/-[->]?|\+\+?|!=?|<<?=?|>>?=?|==?|&&?|\|\|?|[~^%?*\/@]/}),delete 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b/assets/projects/README.html @@ -2,21 +2,23 @@ <html lang="en" dir="ltr" class="mdx-wrapper mdx-page plugin-pages plugin-id-default" data-has-hydrated="false"> <head> <meta charset="UTF-8"> -<meta name="generator" content="Docusaurus v3.6.3"> +<meta name="generator" content="Docusaurus v3.7.0"> <title data-rh="true">Kevin Shin, Electrical Engineer + - - - + + + + -

Suggested size: 1200*450

+

Suggested size: 1200*450

\ No newline at end of file diff --git a/blog.html b/blog.html index 855d3ee..b589728 100644 --- a/blog.html +++ b/blog.html @@ -2,22 +2,24 @@ - + Blog | Kevin Shin, Electrical Engineer + - - - + + + + -

My Introduction To Linux

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

It's been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am.

+

My Introduction To Linux

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

It's been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am.

It's been a busy two weeks, juggling classes, finals, projects, looking for new grad opportunities, and learning some new stuff on the side. The new stuff is what this blog post is about, specifically, my introduction to linux.

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

\ No newline at end of file diff --git a/blog/archive.html b/blog/archive.html index a8d5d5b..0d687cc 100644 --- a/blog/archive.html +++ b/blog/archive.html @@ -2,21 +2,23 @@ - + Archive | Kevin Shin, Electrical Engineer + - - - + + + + -

Archive

Archive

2024​

+

Archive

Archive

2024​

\ No newline at end of file diff --git a/blog/authors.html b/blog/authors.html index d719890..89d3b34 100644 --- a/blog/authors.html +++ b/blog/authors.html @@ -2,21 +2,23 @@ - + Authors | Kevin Shin, Electrical Engineer + - - - + + + + -

Authors

+

Authors

\ No newline at end of file diff --git a/blog/introduction-to-linux.html b/blog/introduction-to-linux.html index b61d43f..047ecd3 100644 --- a/blog/introduction-to-linux.html +++ b/blog/introduction-to-linux.html @@ -2,22 +2,24 @@ - + My Introduction To Linux | Kevin Shin, Electrical Engineer + - - - + + + + -

My Introduction To Linux

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

It's been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am.

+

My Introduction To Linux

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

It's been two weeks since I last wrote. I could have modified my blog dates and make it seem like I was on top of my blogging journal but why would I. That defeats the whole point of blogging. Blogging is supposed to showcase to whoever is visiting my site to see the raw and unfiltered person of who I am.

It's been a busy two weeks, juggling classes, finals, projects, looking for new grad opportunities, and learning some new stuff on the side. The new stuff is what this blog post is about, specifically, my introduction to linux.

Everybody hears linux and immediately thinks that person must be hardcore programmer or a hacker. I've come to find out that it's mainly two types of people: people who want to understand their computer and people who want to brag that they use linux.

I like to think that I fit the former as one of my life long interests is to be a lifelong learner. This means understanding what I'm working with, even though I may not necessarily require it.

diff --git a/blog/tags.html b/blog/tags.html index 8d62a8a..cfdc829 100644 --- a/blog/tags.html +++ b/blog/tags.html @@ -2,21 +2,23 @@ - + Tags | Kevin Shin, Electrical Engineer + - - - + + + + -

Tags

+

Tags

\ No newline at end of file diff --git a/blog/tags/growth.html b/blog/tags/growth.html index cb7938e..961cd16 100644 --- a/blog/tags/growth.html +++ b/blog/tags/growth.html @@ -2,21 +2,23 @@ - + One post tagged with "growth" | Kevin Shin, Electrical Engineer + - - - + + + + -

One post tagged with "growth"

View All Tags

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

+

One post tagged with "growth"

View All Tags

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

\ No newline at end of file diff --git a/blog/tags/mindset.html b/blog/tags/mindset.html index b045da0..a00cb57 100644 --- a/blog/tags/mindset.html +++ b/blog/tags/mindset.html @@ -2,21 +2,23 @@ - + One post tagged with "mindset" | Kevin Shin, Electrical Engineer + - - - + + + + -

One post tagged with "mindset"

View All Tags

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

+

One post tagged with "mindset"

View All Tags

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

\ No newline at end of file diff --git a/blog/thoughts.html b/blog/thoughts.html index fdf3004..0cb4448 100644 --- a/blog/thoughts.html +++ b/blog/thoughts.html @@ -2,22 +2,24 @@ - + Purpose of Website | Kevin Shin, Electrical Engineer + - - - + + + + -

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

+

Purpose of Website

· 4 min read
Kevin Shin
Kevin Shin
Electrical Engineer

So today, while finishing up my documentations for my ECE 148 class at UCSD, I ended up getting stumbled away and watching a video about putting thoughts into motion. It summed up perfectly why I decided on a website this format.

Since you probably don't want to watch all 26 minutes of the video, I'll summarize it below.

Overview​

diff --git a/courses.html b/courses.html index 4a5650b..364b482 100644 --- a/courses.html +++ b/courses.html @@ -2,21 +2,23 @@ - + Courses | Kevin Shin, Electrical Engineer + - - - + + + + -

Courses

2024

Robotics Sensing and Estimation

Covers mathematical fundamentals of Bayesian filtering applied to sensing and estimation in mobile robotics. Topics include MLE, EM, Gaussian and particle filters, SLAM, visual features, optical flow, and HMMs

Intelligent Systems

Introduces fundamental concepts in machine perception, including edge detection, segmentation, texture analysis, image registration, and compression

Intro to Autonomous Vehicles

Introduces fundamentals of autonomous vehicles through robotics "cooperation", focusing on fast prototyping, project management, programming, computer vision, ROS, and deep learning. Students build scale cars in small teams using best engineering practices

Machine Learning

Introduction to pattern recognition and machine learning, covering decision functions, statistical classifiers, generative vs. discriminant methods, feature selection, regression, unsupervised learning, clustering, and applications

Statistical Learning

Covers Bayesian decision theory, parameter estimation, bias-variance trade-off, Bayesian estimation, predictive distribution, priors, dimensionality reduction, PCA, Fisher's LDA, density estimation, EM, and applications

Probabilistical Graphical Models

Explores Bayes’ rule for probabilistic reasoning, graphical models for knowledge encoding, conditional independence, D-Separation, Markov random fields, inference methods, MCMC sampling, sequential data analysis, and algorithms like Viterbi, BCJR, and Baum-Welch for parameter estimation

Deep Learning and Applications

Covers deep learning fundamentals, neural network architectures (ConvNet, RNN), optimization algorithms, and applications in computer vision, robotics, and NLP. Includes hands-on PyTorch implementation

Stochastic Processes and Dynamic Systems

Covers diffusion equations, estimation and detection (linear and nonlinear), random fields, stochastic dynamic system optimization, and applications of stochastic optimization

Random Processes

Explores random variables, probability distributions, stochastic processes, stationarity, power spectrum, and spectral density. Includes stochastic integrals, spectral representation of WSS processes, harmonizable processes, and moving average representations

Probability and Random Processes

Covers random processes, stationary processes (correlation, power spectral density), Gaussian processes and their linear transformations, point processes, and random noise in linear systems

Stochastic Processes I

Covers random vectors, multivariate densities, covariance matrix, multivariate normal distribution, random walk, and Poisson process

Convex Optimizations and Applications

Covers convex optimization theory and algorithms, focusing on problem formulation, duality, and applications in system design, pattern recognition, combinatorial optimization, and financial engineering

Numerical Linear Analysis

Covers numerical methods for linear algebraic systems and least squares problems, including orthogonalization, ill-conditioned problems, and eigenvalue and singular value computations

Linear Algebra and Applications

Builds mathematical foundations of linear algebra for applications in signal processing, communication, and machine learning. Topics include vector and Hilbert spaces, orthogonal projection, sparsity, eigenanalysis, Hermitian and positive semidefinite matrices, SVD, and PCA

2023

Software Foundations I

Software analysis, design, and development using C++, focusing on data structures, algorithms, object-oriented methods, and design patterns. Includes real-world challenges in building, testing, and debugging software to develop a strong foundation in modern software design and architecture

Software Foundations II

Builds upon the C++ foundation of ECE 141A to design and implement a database management solution. Covers STL, design patterns, parsing, searching, sorting, algorithmic thinking, design partitioning, and best practices in debugging and testing

The Art of Product Engineering I

Builds on electrical and computer engineering fundamentals to develop skills in software, full-stack engineering, and commercial product development. Focuses on researching, designing, and creating an IoT device for an emerging market. Emphasis on fullstack development and entrepreneurship

The Art of Product Engineering II

Second course for The Art of Product Engineering I with an emphasis on IoT development and continuation of entrepreneurship and market fit. Topics include MQTT and embedded development with ESP32

Linear Electronic Systems

Linear active circuit and system design covering frequency response, Laplace transforms, and filter design with operational amplifiers. Combines lecture and lab for analysis, design, simulation, and testing of circuits and systems

Linear Control System Theory II

Time-domain state-variable formulation for discrete-time and continuous-time linear systems, including state-space realizations from transfer functions. Covers stability, controllability, observability, minimal realizations, and pole placement via full-state feedback

2022

Linear Systems Fundamentals

Complex variables, singularities, and residues applied to signal and system analysis in continuous and discrete time; includes Fourier, Laplace, and z-transforms, LTI systems, impulse and frequency response, transfer functions, poles and zeros, stability, convolution, sampling, and aliasing

Linear Control System Theory I

Stability of continuous- and discrete-time SISO LTI control systems using frequency domain methods; includes transient and steady-state behavior, root locus, Bode, Nyquist, Nichols plots, and compensator design

Introduction to Linear and Nonlinear Optimizations

Linear least squares problems, constrained and unconstrained quadratic optimization, and geometry of linear transformations; introduces nonlinear optimization with applications in signal processing, system identification, robotics, and circuit design

+

2024

Robotics Sensing and Estimation

Covers mathematical fundamentals of Bayesian filtering applied to sensing and estimation in mobile robotics. Topics include MLE, EM, Gaussian and particle filters, SLAM, visual features, optical flow, and HMMs

Intelligent Systems

Introduces fundamental concepts in machine perception, including edge detection, segmentation, texture analysis, image registration, and compression

Intro to Autonomous Vehicles

Introduces fundamentals of autonomous vehicles through robotics "cooperation", focusing on fast prototyping, project management, programming, computer vision, ROS, and deep learning. Students build scale cars in small teams using best engineering practices

Machine Learning

Introduction to pattern recognition and machine learning, covering decision functions, statistical classifiers, generative vs. discriminant methods, feature selection, regression, unsupervised learning, clustering, and applications

Statistical Learning

Covers Bayesian decision theory, parameter estimation, bias-variance trade-off, Bayesian estimation, predictive distribution, priors, dimensionality reduction, PCA, Fisher's LDA, density estimation, EM, and applications

Probabilistical Graphical Models

Explores Bayes’ rule for probabilistic reasoning, graphical models for knowledge encoding, conditional independence, D-Separation, Markov random fields, inference methods, MCMC sampling, sequential data analysis, and algorithms like Viterbi, BCJR, and Baum-Welch for parameter estimation

Deep Learning and Applications

Covers deep learning fundamentals, neural network architectures (ConvNet, RNN), optimization algorithms, and applications in computer vision, robotics, and NLP. Includes hands-on PyTorch implementation

Stochastic Processes and Dynamic Systems

Covers diffusion equations, estimation and detection (linear and nonlinear), random fields, stochastic dynamic system optimization, and applications of stochastic optimization

Random Processes

Explores random variables, probability distributions, stochastic processes, stationarity, power spectrum, and spectral density. Includes stochastic integrals, spectral representation of WSS processes, harmonizable processes, and moving average representations

Probability and Random Processes

Covers random processes, stationary processes (correlation, power spectral density), Gaussian processes and their linear transformations, point processes, and random noise in linear systems

Stochastic Processes I

Covers random vectors, multivariate densities, covariance matrix, multivariate normal distribution, random walk, and Poisson process

Convex Optimizations and Applications

Covers convex optimization theory and algorithms, focusing on problem formulation, duality, and applications in system design, pattern recognition, combinatorial optimization, and financial engineering

Numerical Linear Analysis

Covers numerical methods for linear algebraic systems and least squares problems, including orthogonalization, ill-conditioned problems, and eigenvalue and singular value computations

Linear Algebra and Applications

Builds mathematical foundations of linear algebra for applications in signal processing, communication, and machine learning. Topics include vector and Hilbert spaces, orthogonal projection, sparsity, eigenanalysis, Hermitian and positive semidefinite matrices, SVD, and PCA

2023

Software Foundations I

Software analysis, design, and development using C++, focusing on data structures, algorithms, object-oriented methods, and design patterns. Includes real-world challenges in building, testing, and debugging software to develop a strong foundation in modern software design and architecture

Software Foundations II

Builds upon the C++ foundation of ECE 141A to design and implement a database management solution. Covers STL, design patterns, parsing, searching, sorting, algorithmic thinking, design partitioning, and best practices in debugging and testing

The Art of Product Engineering I

Builds on electrical and computer engineering fundamentals to develop skills in software, full-stack engineering, and commercial product development. Focuses on researching, designing, and creating an IoT device for an emerging market. Emphasis on fullstack development and entrepreneurship

The Art of Product Engineering II

Second course for The Art of Product Engineering I with an emphasis on IoT development and continuation of entrepreneurship and market fit. Topics include MQTT and embedded development with ESP32

Linear Electronic Systems

Linear active circuit and system design covering frequency response, Laplace transforms, and filter design with operational amplifiers. Combines lecture and lab for analysis, design, simulation, and testing of circuits and systems

Linear Control System Theory II

Time-domain state-variable formulation for discrete-time and continuous-time linear systems, including state-space realizations from transfer functions. Covers stability, controllability, observability, minimal realizations, and pole placement via full-state feedback

2022

Linear Systems Fundamentals

Complex variables, singularities, and residues applied to signal and system analysis in continuous and discrete time; includes Fourier, Laplace, and z-transforms, LTI systems, impulse and frequency response, transfer functions, poles and zeros, stability, convolution, sampling, and aliasing

Linear Control System Theory I

Stability of continuous- and discrete-time SISO LTI control systems using frequency domain methods; includes transient and steady-state behavior, root locus, Bode, Nyquist, Nichols plots, and compensator design

Introduction to Linear and Nonlinear Optimizations

Linear least squares problems, constrained and unconstrained quadratic optimization, and geometry of linear transformations; introduces nonlinear optimization with applications in signal processing, system identification, robotics, and circuit design

\ No newline at end of file diff --git a/docs/Machine-Learning.html b/docs/Machine-Learning.html index 3ee100a..114697e 100644 --- a/docs/Machine-Learning.html +++ b/docs/Machine-Learning.html @@ -2,21 +2,23 @@ - + Machine Learning | Kevin Shin, Electrical Engineer + - - - + + + + -
Last updated on
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Last updated on
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Last updated on
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Last updated on
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Last updated on
+
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\ No newline at end of file diff --git a/docs/Robotics/ROS2.html b/docs/Robotics/ROS2.html index 0f0e81d..6358b67 100644 --- a/docs/Robotics/ROS2.html +++ b/docs/Robotics/ROS2.html @@ -2,22 +2,24 @@ - + ROS2 | Kevin Shin, Electrical Engineer + - - - + + + + -
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

+
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

Packages​

Packages are how ROS2 organizes programs. It contains all of the source code written in C++/Python, configuration, compilation, launch, and parameter files. It allows easier as well sharing as everything is packaged. In ROS2, you can make CMake packages and Python packages.

All CMake packages must have the following folders and files:

diff --git a/docs/Robotics/ROS2/nav2.html b/docs/Robotics/ROS2/nav2.html index 9b2036e..3f809f1 100644 --- a/docs/Robotics/ROS2/nav2.html +++ b/docs/Robotics/ROS2/nav2.html @@ -2,64 +2,66 @@ - + Nav2 | Kevin Shin, Electrical Engineer + - - - + + + + -
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

-

Getting Started​

+
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

+

Getting Started​

These are my notes from the ROS2 Navigation course available on The Construct. As this is a robotics note, you will need physical hardware components to follow along. Before each section though, I will list what is required before starting.

-

Map​

-

A map is a representation of the environment that the robot is functioning in. It uses the map to localize and plan trajectories. Maps are implemented in ROS2 via an occupancy grid where in each ccell, specific values represent obstacles.

-

Requirements​

+

Requirements​

Before starting, we need a robot with LIDAR and Odometry. We also need to use SLAM for localizing. Available ones are cartographer and SLAM-Toolbox. This note uses cartographer as the learning curve is lower. It is notable that cartographer is no longer maintained, so the better software to use is SLAM-Toolbox.

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in both 2D and 3D across multiple platforms and sensor configurations. Cartographer_ros is a ROS wrapper of cartographer so that we can integrate cartographer with ROS. This allows us to use prebuilt packages and only have to configure them.

cartographer_2d

-

Configuring Cartographer​

+

Map​

+

A map is a representation of the environment that the robot is functioning in. It uses the map to localize and plan trajectories. Maps are implemented in ROS2 via an occupancy grid where in each cell, specific values represent obstacles.

+

Configuring Cartographer​

We use a launch file because we can start multiple nodes and can also set a node-specific parameter while launching a node. These parameters can then be loaded from a YAML file or specified in the launch file.

-

To launch cartographer, we need to launch two nodes:

-
import os
from ament_index_python.packages import get_package_share_directory

cartographer_config_dir = os.path.join(get_package_share_directory('cartographer_slam'), 'config')

Node(
    package='cartographer_ros',
    executable='cartographer_node',
    name='cartographer_node',
    output='screen',
    parameters=[{'use_sim_time': True}], # boolean indicating node synchronization time with simulation time
    arguments=['-configuration_directory', cartographer_config_dir,
               '-configuration_basename', configuration_basename]
    # configuration_directory specifies where the configuration files are
    # configuration_basename specifies the configuration file name
    ),
Node(
    package='cartographer_ros',
    executable='cartographer_occupancy_grid_node',
    output='screen',
    name='occupancy_grid_node',
    parameters=[{'use_sim_time': True}],
    arguments=['-resolution', '0.05', '-publish_period_sec', '1.0']
    # resolution specifies number of meters per grid in the map
    # publish_period_sec specifies frequency of publishing to /map topic
    )
-

We then create a LUA file named cartographer.lua within the config directory.

-
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "odom",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.12
TRAJECTORY_BUILDER_2D.max_range = 3.5
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

-- POSE_GRAPH.optimize_every_n_nodes = 0

return options
-

Make sure that within setup.py, we specify the new config and lua directories. If you're using C++, make sure to specify the DIRECTORIES within CMakeList.

-
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
(os.path.join('share', package_name, 'config'), glob('config/*')),
-
install(DIRECTORY
    launch
    config
    DESTINATION share/${PROJECT_NAME}/
)
-

We can then compile the package and launch the launch file. We can then run rviz2 on another terminal while this is running.

+

To launch cartographer, we need to launch two nodes. Below are the files you need within their respective directories.

+

<package>/launch

import os
from ament_index_python.packages import get_package_share_directory

cartographer_config_dir = os.path.join(get_package_share_directory('cartographer_slam'), 'config')

Node(
package='cartographer_ros',
executable='cartographer_node',
name='cartographer_node',
output='screen',
parameters=[{'use_sim_time': True}], # boolean indicating node synchronization time with simulation time
arguments=['-configuration_directory', cartographer_config_dir,
'-configuration_basename', configuration_basename] # configuration_directory specifies where the configuration files are # configuration_basename specifies the configuration file name
),
Node(
package='cartographer_ros',
executable='cartographer_occupancy_grid_node',
output='screen',
name='occupancy_grid_node',
parameters=[{'use_sim_time': True}],
arguments=['-resolution', '0.05', '-publish_period_sec', '1.0'] # resolution specifies number of meters per grid in the map # publish_period_sec specifies frequency of publishing to /map topic
)

+

Compilation​

+

Compile the package and launch the launch file from the CLI. Once we've done that, run RVIZ2 on another terminal while our cartographer node is running.

To display our mapping, add the map display and set the topic to /map. If the mapping isn't showing, then the Quality of Service (QoS) parameters of the /map may be wrong. We can add a couple more displays.

  • TF: Allows us to see the frames of the robot
  • LaserScan: Allows us to see the laser coliding with the objects on the map
-
note

These are all specific to the hardware configurations the construct provides

- -

After moving and mapping around, we'll have our entire domain.

- -

Different Configurations​

-

Cartographer works for many robots and sensors but must be configured properly to work optimally. By default, cartographer automatically subscribes to /scan, /odom, /imu topics. All configurations can be given from the Lua configuration file.This means that in the launch files, we have to remap those three if we want to publish data to them.

+
note

These are all specific to the hardware configurations and the topic may be dependent on your system.

+
+

Alternative Configurations​

+

Cartographer works for many robots and sensors but must be configured properly to work optimally. By default, cartographer automatically subscribes to /scan, /odom, /imu topics. All configurations can be given from the Lua configuration file. This means that in the launch files, we have to remap those three if we want to publish data to them.

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='cartographer_ros',
            executable='cartographer_node',
            name='cartographer',
            remappings=[
                ('/scan', '/my_laser_scan'),
                ('/odom', '/my_odom'),
                ('/imu', '/my_imu')
            ]
        )
    ])
-
CategoryParameterDescriptionDefault
Framesmap_frameROS frame ID for publishing sub-maps, the parent frame of poses.map
tracking_frameFrame ID tracked by SLAM. IMU position if used, commonly base_link or base_footprint.base_link
published_frameChild frame for publishing poses. If odom provided, it publishes pose of odom in map_frame.odom or base_link
odom_frameFrame for publishing local SLAM result if provide_odom_frame is true.odom
provide_odom_framePublishes local non-loop-closed pose as odom_frame in map_frame if enabled.true
use_odometrySubscribes to nav_msgs/Odometry on odom topic and includes odometry in SLAM.true
use_nav_satSubscribes to sensor_msgs/NavSatFix on fix topic and includes navigation data in SLAM.true
Laser Parametersnum_laser_scansNumber of laser scan topics to subscribe to.1
num_multi_echo_laser_scansNumber of multi-echo laser scan topics to subscribe to.0
num_subdivisions_per_laser_scanNumber of point clouds to split each laser scan for unwarping during motion.1
num_point_cloudsNumber of point cloud topics to subscribe to.1
Filter Parameterslookup_transform_timeout_secTimeout in seconds for looking up transforms using tf2.0.2
submap_publish_period_secInterval in seconds to publish submap poses.0.3
pose_publish_period_secInterval in seconds to publish poses (e.g., 5e-3 for 200 Hz).5e-3
trajectory_publish_period_secInterval in seconds to publish trajectory markers (e.g., 30e-3 for 30 ms).30e-3
odometry_sampling_ratioSampling ratio for odometry messages.1.0
fixed_frame_sampling_ratioSampling ratio for fixed frame messages.1.0
imu_sampling_ratioSampling ratio for IMU messages.1.0
landmarks_sampling_ratioSampling ratio for landmark messages.1.0
Trajectory BuilderTRAJECTORY_BUILDER_2D.min_rangeMinimum distance measured to be considered for mapping.0.2
TRAJECTORY_BUILDER_2D.max_rangeMaximum distance measured to be considered for mapping.30.0
TRAJECTORY_BUILDER_2D.missing_data_ray_lengthDistance to treat as a lost laser ray.25.0
TRAJECTORY_BUILDER_2D.use_imu_dataWhether or not to use IMU data.true
+

A list of configuration parameters and their details for cartographer

CategoryParameterDescriptionDefault
Framesmap_frame

ROS frame ID for publishing sub-maps, the parent frame of poses.

map
tracking_frame

Frame ID tracked by SLAM. IMU position if used, commonly base_link or +base_footprint.

base_link
published_frame

Child frame for publishing poses. If odom provided, it publishes pose +of odom in map_frame.

odom or base_link
odom_frame

Frame for publishing local SLAM result if provide_odom_frame is true.

odom
provide_odom_frame

Publishes local non-loop-closed pose as odom_frame in map_frame if +enabled.

true
use_odometry

Subscribes to nav_msgs/Odometry on odom topic and includes odometry +in SLAM.

true
use_nav_sat

Subscribes to sensor_msgs/NavSatFix on fix topic and includes +navigation data in SLAM.

true
Laser Parametersnum_laser_scansNumber of laser scan topics to subscribe to.1
num_multi_echo_laser_scans

Number of multi-echo laser scan topics to subscribe to.

0
num_subdivisions_per_laser_scan

Number of point clouds to split each laser scan for unwarping during +motion.

1
num_point_cloudsNumber of point cloud topics to subscribe to.1
Filter Parameterslookup_transform_timeout_sec

Timeout in seconds for looking up transforms using tf2.

0.2
submap_publish_period_secInterval in seconds to publish submap poses.0.3
pose_publish_period_sec

Interval in seconds to publish poses (e.g., 5e-3 for 200 Hz).

5e-3
trajectory_publish_period_sec

Interval in seconds to publish trajectory markers (e.g., 30e-3 for 30 +ms).

30e-3
odometry_sampling_ratioSampling ratio for odometry messages.1.0
fixed_frame_sampling_ratioSampling ratio for fixed frame messages.1.0
imu_sampling_ratioSampling ratio for IMU messages.1.0
landmarks_sampling_ratioSampling ratio for landmark messages.1.0
Trajectory BuilderTRAJECTORY_BUILDER_2D.min_range

Minimum distance measured to be considered for mapping.

0.2
TRAJECTORY_BUILDER_2D.max_range

Maximum distance measured to be considered for mapping.

30.0
TRAJECTORY_BUILDER_2D.missing_data_ray_lengthDistance to treat as a lost laser ray.25.0
TRAJECTORY_BUILDER_2D.use_imu_dataWhether or not to use IMU data.true

If we want to save the map that we mapped out, we can run an executable named map_saver from nav2_map_server. It's important that we call this within the directory that we want to save the map in. The cartography has to be running for this to work.

ros2 run nav2_map_server map_saver_cli -f <name>
-

This'll generate two files of type .pgm and .yaml. The .pgm is an image file of the map as an occupancy grid image. The .yaml contains details about the resolution of the map.

-

Example:

+

This'll generate two files of type .pgm and .yaml. The .pgm is an image file of the map as an occupancy grid image. The .yaml contains details about the resolution of the map.

image: turtlebot_area.pgm
mode: trinary
resolution: 0.05 # Resolution of the map (meters/pixel)
origin: [-3.8, -1.84, 0] # Coordinates of the lower-left pixel on the map (x,y,z). The third value indicates rotation and if there is none, value is 0
negate: 0 # Inverts the color of the map.
occupied_thresh: 0.65 # Pixels with a value greater than this value will be considered an occupied zone
free_thresh: 0.25 # Pixels with a value smaller than this will be considered a completely free zone
-

Using Saved Map​

-

If we want to use this saved map, we have to launch map_server and nav2_lifecycle_manager. We can create a custom launch file for this, but we must specify some parameters.

+

Using Saved Map​

+

If we want to use the saved map, we have to launch map_server and nav2_lifecycle_manager. We can create a custom launch file for this, but we must specify some parameters.

from launch import LaunchDescription
from launch_ros.actions import Node
frmo ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')
    return LaunchDescription([
        Node(
            package="nav2_map_server",
            executable="map_server",
            name="map_server",
            output="screen",
            parameters=[{'use_sim_time': True}, # Boolean indicating if map_server must synchronize with its time with the simulation
                        {'yaml_filename':map_file] # The complete path to the map yaml file
            ),
        Node(
            package="nav2_lifecycle_manager",
            executable="lifecycle_manager",
            name="lifecycle_manager_mapper",
            output="screen",
            parameters=[{'use_sim_time': True},
                        {'autostart': True}, # lifecycle manager autostart when launched
                        {'node_names':  ['map_server']}] # Nodes that the lifecycle manager takes care of
            )
        ])

We can try using our saved map by creating a ROS2 package called map_server, placing our saved map files inside of config, and creating our launch file. Note that we can just put our launch file in any package and just create a new launch file with our configs.

info

You must specify your map display durability as Transient Local. Volatile means use incoming data being published as the map source, while transient local allows us to check if we had any cached messages that were published but not received by our subscriber as well as all incoming data.

- +

Navigation nodes are managed nodes meaning that they can be easily controlled to be restarted, paused, or running. They can do so by being at these states:

  • Unconfigured
    • @@ -79,7 +81,7 @@
-

Lifecycle Manager​

+

Lifecycle Manager​

In Nav2, the external agent that helps transition nodes to an active state is called the nav2_lifecycle_manager. The lifecycle manager changes the state of the managed nodes to achieve a controlled startup, shutdown, reset, pause, or resume of the navigation stack.

Referenced from Steve Macenski

Figure

@@ -90,13 +92,13 @@

Lifecycle 
/<lifecycle_manager_node_name>/manage_nodes

ros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 0}" # Start the nodes
ros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 1}" # Pause the nodes
ros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 2}" # Resume the nodes
ros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 3}" # Reset the nodes
ros2 service call /lifecycle_manager/manage_nodes nav2_msgs/srv/ManageLifecycleNodes "{command: 4}" # Shutdown the nodes

This is because the service /manage_nodes uses the message nav2_msgs/srv/ManageLifecycleNodes which is as follows:

uint8 STARTUP = 0
uint8 PAUSE = 1
uint8 RESUME = 2
uint8 RESET = 3
uint8 SHUTDOWN = 4

uint8 command
---
bool success
-

Localization​

+

Localization​

Localization is knowing the current position with respect to the environment. This means knowing the position and orientation. This is otherwise known as the pose.

ROS has a very robust algorithm for localization. It uses AMCL which is the Adaptive Monte-Carlo Licalization and uses a probabilistic localization system for a robot moving in 2D. It implements the adaptive or KLD sampling Monte Carlo localization approach which uses a particle filter to track a robot's pose against a known map.

A ROS Robot is localized when somebody publishes a transform between the /map frame and the /odom frame

That means that the /odom frame of the robot knows its relative position to the /map frame. Therefore, the robot knows its position on the map since /base_link frame is directly connected to the /odom frame.

When everything is correct, the AMCL publishes that transform.

-

ROS2 Localization​

+

ROS2 Localization​

In order to localize, we need three nodes:

  • map_server: provides the map to the localization algorithm
    • @@ -104,14 +106,7 @@

    ROS2 Local
  • life cycle manager: state manager

Let's create an ament_cmake package and the launch file for all three nodes.

-
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
import os

def generate_launch_description():
    nav2_yaml = os.path.join(get_package_share_directory('localization'), 'config', 'amcl_config.yaml')
    map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')
    print(map_file)
    return LaunchDescription([
        Node(
            package="nav2_map_server",
            executable="map_server",
            name="map_server",
            output="screen",
            parameters=[{'use_sim_time': True}, {'yaml_filename': map_file}] ## This is the saved map we got from our cartography.
            ),
        Node(
            package="nav2_amcl",
            executable="amcl",
            name="amcl",
            output="screen",
            parameters=[nav2_yaml]
            ),
        Node(
            package="nav2_lifecycle_manager",
Launch Fil            executable="lifecycle_manager",
            name="lifecycle_manager",
            output="screen",
            parameters=[{'use_sim_time': True},
                        {'autostart': True},
                        {'node_names': ['map_server', 'amcl']}]
            )
        ])
-

The amcl_config specifies the configurations for the localization algorithm. This goes inside of the config directory of your package.

-
amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    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: 8000
    min_particles: 200
    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
-

Make sure to add launch and config files respective to whatever build package you are using.

-

For Python​

-
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
(os.path.join('share', package_name, 'config'), glob('config/*')),
-

For C++​

-
install(DIRECTORY
        launch
        config
        DESTINATION $share/{PROJECT_NAME}
)
+
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
import os

def generate_launch_description():
nav2_yaml = os.path.join(get_package_share_directory('localization'), 'config', 'amcl_config.yaml')
map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')
print(map_file)
return LaunchDescription([
Node(
package="nav2_map_server",
executable="map_server",
name="map_server",
output="screen",
parameters=[{'use_sim_time': True}, {'yaml_filename': map_file}] ## This is the saved map we got from our cartography.
),
Node(
package="nav2_amcl",
executable="amcl",
name="amcl",
output="screen",
parameters=[nav2_yaml]
),
Node(
package="nav2_lifecycle_manager",
Launch Fil executable="lifecycle_manager",
name="lifecycle_manager",
output="screen",
parameters=[{'use_sim_time': True},
{'autostart': True},
{'node_names': ['map_server', 'amcl']}]
)
])

If all is placed correctly, we should be able to receive our old map. From there onwards, you want to configure your RVIZ settings with these below:

To get a good localization of our robot, we need to configure out AMCL node from our amcl_config.yaml. Below are the parameters and their respective categories.

-

Overall Filter Parameters​

-
ParameterTypeDefaultDescription
min_particlesint500Minimum allowed number of particles.
max_particlesint2000Maximum allowed number of particles.
update_min_ddouble0.25 metersTranslational movement required before performing a filter update.
update_min_adouble0.2 radiansRotational movement required before performing a filter update.
resample_intervalint1Number of filter updates required before re-sampling.
transform_tolerancedouble1.0 secondsTime to post-date the published transform, indicating validity into the future.
recovery_alpha_slowdouble0.0 (disabled)Exponential decay rate for the slow average weight filter; helps decide recovery with random poses. Suggested: 0.001.
recovery_alpha_fastdouble0.0 (disabled)Exponential decay rate for the fast average weight filter; helps decide recovery with random poses. Suggested: 0.1.
set_initial_poseboolfalseCauses AMCL to set the initial pose from initial_pose* parameters instead of waiting for the initial_pose message.
initial_posePose2D0X, Y, Z, and yaw coordinates of the robot base frame's initial pose in the global frame.
always_reset_initial_poseboolfalseRequires an initial pose on reset. Uses the last known pose if false.
save_pose_ratedouble0.5 HzMaximum rate at which to save the last estimated pose and covariance to the parameter server. Use -1.0 to disable.
-

Laser Model Parameters​

-
ParameterTypeDefaultDescription
laser_min_rangedouble-1.0Minimum scan range to be considered. Use laser's minimum range if set to -1.0.
laser_max_rangedouble100Maximum scan range to be considered. Use laser's maximum range if set to -1.0.
max_beamsint60Number of evenly-spaced beams in each scan used when updating the filter.
z_hitdouble0.5Mixture weight for z_hit part of the model.
z_shortdouble0.05Mixture weight for the z_short part of the model.
z_maxdouble0.05Mixture weight for the z_max part of the model.
z_randdouble0.5Mixture weight for the z_rand part of the model.
sigma_hitdouble0.2 metersStandard deviation for Gaussian model used in z_hit part.
lambda_shortdouble0.1Exponential decay parameter for the z_short part of the model.
laser_likelihood_max_distdouble2.0 metersMaximum distance for obstacle inflation in the likelihood_field model.
laser_model_typestring"likelihood_field"Model to use: beam, likelihood_field, or likelihood_field_prob (includes beam skipping).
-

Mixture weights should sum to 1.

-

Odometry Model Parameters​

-
ParameterTypeDefaultDescription
robot_model_typestring"differential"Type of motion model: differential or omnidirectional.
alpha1double0.2Noise in odometry's rotation estimate from rotational motion.
alpha2double0.2Noise in odometry's rotation estimate from translational motion.
alpha3double0.2Noise in odometry's translation estimate from translational motion.
alpha4double0.2Noise in odometry's translation estimate from rotational motion.
alpha5double0.2Translation-related noise parameter (only for omni model).
odom_frame_idstring"odom"Frame to use for odometry.
base_frame_idstring"base_footprint"Frame to use for the robot base.
global_frame_idstring"map"Name of the coordinate frame published by the localization system.
tf_broadcastbooltrueSet to false to prevent AMCL from publishing the transform between global and odometry frames.
-

Auto Localization​

-

Via YAML​

+
AMCL Parameters and Descriptions
ParameterTypeDefaultDescription
min_particlesint500Minimum allowed number of particles.
max_particlesint2000Maximum allowed number of particles.
update_min_ddouble0.25 metersTranslational movement required before performing a filter update.
update_min_adouble0.2 radiansRotational movement required before performing a filter update.
resample_intervalint1Number of filter updates required before re-sampling.
transform_tolerancedouble1.0 secondsTime to post-date the published transform, indicating validity into the future.
recovery_alpha_slowdouble0.0 (disabled)

Exponential decay rate for the slow average weight filter; helps decide recovery with random poses. Suggested: 0.001.

recovery_alpha_fastdouble0.0 (disabled)

Exponential decay rate for the fast average weight filter; helps decide recovery with random poses. Suggested: 0.1.

set_initial_poseboolfalse

Causes AMCL to set the initial pose from initial_pose* parameters instead of waiting for the initial_pose message.

initial_posePose2D0X, Y, Z, and yaw coordinates of the robot base frame's initial pose in the global frame.
always_reset_initial_poseboolfalseRequires an initial pose on reset. Uses the last known pose if false.
save_pose_ratedouble0.5 Hz

Maximum rate at which to save the last estimated pose and covariance to the parameter server. Use -1.0 to disable.

Laser Model Parameters
ParameterTypeDefaultDescription
laser_min_rangedouble-1.0Minimum scan range to be considered. Use laser's minimum range if set to -1.0.
laser_max_rangedouble100Maximum scan range to be considered. Use laser's maximum range if set to -1.0.
max_beamsint60Number of evenly-spaced beams in each scan used when updating the filter.
z_hitdouble0.5Mixture weight for z_hit part of the model.
z_shortdouble0.05Mixture weight for the z_short part of the model.
z_maxdouble0.05Mixture weight for the z_max part of the model.
z_randdouble0.5Mixture weight for the z_rand part of the model.
sigma_hitdouble0.2 metersStandard deviation for Gaussian model used in z_hit part.
lambda_shortdouble0.1Exponential decay parameter for the z_short part of the model.
laser_likelihood_max_distdouble2.0 metersMaximum distance for obstacle inflation in the likelihood_field model.
laser_model_typestring"likelihood_field"

Model to use: beam, likelihood_field, or likelihood_field_prob (includes beam skipping).

Odometry Model Parameters
ParameterTypeDefaultDescription
robot_model_typestring"differential"Type of motion model: differential or omnidirectional.
alpha1double0.2Noise in odometry's rotation estimate from rotational motion.
alpha2double0.2Noise in odometry's rotation estimate from translational motion.
alpha3double0.2Noise in odometry's translation estimate from translational motion.
alpha4double0.2Noise in odometry's translation estimate from rotational motion.
alpha5double0.2Translation-related noise parameter (only for omni model).
odom_frame_idstring"odom"Frame to use for odometry.
base_frame_idstring"base_footprint"Frame to use for the robot base.
global_frame_idstring"map"Name of the coordinate frame published by the localization system.
tf_broadcastbooltrueSet to false to prevent AMCL from publishing the transform between global and odometry frames.
+

Auto Localization​

+

Via YAML​

If you don't want to localize via GUI rviz, you can do so by modifying the configuration settings for amcl. When you start your localization server, you're given the initial_pose, to which you can set those within the amcl_config:

set_initial_pose: true
initial_pose:
  x: -4.44264
  y: 2.32243
  yaw: 0.328028

Rebuild the package, and you can start the server and not have to localize the robot.

-

Via CLI​

+

Via CLI​

ros2 topic pub -1 /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}}"
-

Global Localization​

+

Global Localization​

Global localization is when neither the person or robot knows where it is on the map. In order to localize itself, it does global localization:

  1. Distribute all the particles of the filter across the map. (Calls the service /reinitialize_global_localization
    2. @@ -152,16 +141,16 @@

    Global L 
    max_particles: 80000
    min_particles: 2000

    Call the service and start moving around to localize.

    ros2 service call /reinitialize_global_localization std_srvs/srv/Empty
    -

    Path Planning​

    +

    Path Planning​

    Path planning is planning a route from Point A to Point B, avoiding obstacles along the way.

    In ROS2, to do path planning, we have to launch several nodes. Before we start any path planning, we need to have two nodes which provides the base map and localization:

    -
    Mapping Environment​
    +
    Mapping Environment​
    1. nav2_map_server: provides the base map as a topic and service
    2. nav2_amcl: responsible for localization via Adaptive Monte Carlo Localizer

    To do path planning, we need these nodes:

    -
    Path Planning​
    +
    Path Planning​
    1. planner
    2. controller
      3. @@ -169,65 +158,28 @@
      Path Plannin
    3. behavior_tree_navigator
    4. nav2_lifecycle_manager
    -

    Planner​

    -

    The planner is responsible for computing a path from Point A to Point B. It can compute a path as soon as the robot receives a 2D_Goal_Pose and also has access to a global environment representation and sensor data buffered into it (Global Costmap).

    -

    Currently on Galactic, there is only one Planenr algorithm available in ROS2, the Nav2Fn_Planner.

    -

    In order to launch the planner, we need these in the launch file:

    -
    package='nav2_planner', these in the ```config``` directory.
    <Tabs>
    executable='planner_server',
    name='planner_server',
    output='screen',
    parameters=[nav2_yaml] # contains all of the configuration parameters
    - -
    planner_server:
      ros__parameters:
        expected_planner_frequency: 10.0
        use_sim_time: True
        planner_plugins: ["GridBased"]
        GridBased:
          plugin: "nav2_navfn_planner/NavfnPlanner"
          tolerance: 0.5
          use_astar: false
          allow_unknown: true
    -

    Controller​

    -

    The controller is responsible for performing reactive path planning from the current position to the maximum range of the sensors. From this data, it builds a trajectory to avoid the obstacles it encounters along the way while trying to follow the path generated by the planner. The controller is the one responsible for generating the wheel's commands.

    -

    There are only two planners available in ROS2:

    -
      +

      The planner is responsible for computing a path from Point A to Point B. It can compute a path as soon as the robot receives a 2D_Goal_Pose and also has access to a global environment representation and sensor data buffered into it ('Global Costmap`).

      Currently on Galactic, there is only one Planenr algorithm available in ROS2, the Nav2Fn_Planner.

      In order to launch the planner, we need these in the launch file:

      package='nav2_planner', these in the ```config``` directory.
      <Tabs>
      executable='planner_server',
      name='planner_server',
      output='screen',
      parameters=[nav2_yaml] # contains all of the configuration parameters
      planner_server:
        ros__parameters:
          expected_planner_frequency: 10.0
          use_sim_time: True
          planner_plugins: ["GridBased"]
          GridBased:
            plugin: "nav2_navfn_planner/NavfnPlanner"
            tolerance: 0.5
            use_astar: false
            allow_unknown: true

    We can indicate which one of these behaviors we want to load within the config file recovery_yaml.

    recovery_yaml​
    behavior_server:
      ros__parameters:
        costmap_topic: local_costmap/costmap_raw
        footprint_topic: local_costmap/published_footprint
        cycle_frequency: 10.0
        behavior_plugins: ["spin", "backup", "wait"]
        spin:
          plugin: "nav2_behaviors/Spin"
        backup:
          plugin: "nav2_behaviors/BackUp"
        wait:
          plugin: "nav2_behaviors/Wait"
        global_frame: odom
        robot_base_frame: base_link
        transform_timeout: 0.1
        use_sim_time: true
        simulate_ahead_time: 2.0
        max_rotational_vel: 1.0
        min_rotational_vel: 0.4
        rotational_acc_lim: 3.2
+

Demo​

We'll start by first creating a new package using our favorite CMake build system. We'll then create two directories: config and launch.

We then create these and place them in their respective directories.

from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():

    planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner.yaml')
    controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')
    recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')
    bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')

    return LaunchDescription([
        Node(
            package='nav2_planner',
            executable='planner_server',
            name='planner_server',
            output='screen',
            parameters=[planner_yaml]
            ),
        Node(
            package='nav2_controller',
            executable='controller_server',
            name='controller_server',
            output='screen', these in the ```config``` directory.

<Tabs>                               these in the ```config``` directory.    
<Tabs>                                                                                                                                                                
            parameters=[controller_yaml],
            ),
        Node(
            package='nav2_bt_navigator',
            executable='bt_navigator',
            name='bt_navigator',
            output='screen',
            parameters=[bt_navigator_yaml],
            ),
        Node(
            package='nav2_behaviors',
            executable='behavior_server',
            name='behavior_server',
            output='screen',
            parameters=[recovery_yaml],
            ),
        Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager_pathplanner',
            output='screen',
            parameters=[{'autostart': True},
                        {'node_names': ['planner_server', 'controller_server', 'behavior_server', 'bt_navigator']}],
            )
        ])

info

We have to be running in parallel our localization server, the one responsible for localizing our robot with the map and the one providing the base map environment.

-

RVIZ2 Settings​

+

RVIZ2 Settings​

On top of our settings provided for localization, we add the Path display and change LineStyle to BillBoards. If everything is set, we can get something cool like below!

- +

We can send a goal via the CLI through the server interface /navigate_to_pose or goal_pose.

-
Action​
-
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "pose: {header: {frame_id: map}, pose: {position: {x: 1.52, y: 1.92, z: 0.0}, orientation:{x: 0.0, y: 0.0, z: 0, w: 1.0000000}}}"
-
Topic​
-
ros2 topic pub -1 /goal_pose geometry_msgs/PoseStamped "{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {position: {x: 2.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}"
-

ROS2 Node​

-

Taken directly from The Construct.

-
import rclpy
from nav2_msgs.action import NavigateToPose
from rclpy.action import ActionClient
from rclpy.node import Node
from geometry_msgs.msg import PointStamped

class NavToPoseActionClient(Node):

    def __init__(self):
        super().__init__('Nav_To_Pose_Action_Client')
        self._action_client = ActionClient(self, NavigateToPose, '/navigate_to_pose')
        self.subscriber_ = self.create_subscription(PointStamped, 'clicked_point', self.callback, 1)
        self.subscriber_  # prevent unused variable warning

    def callback(self, msg):
        self.get_logger().info('Recieved Data:\n X : %f \n Y : %f \n Z : %f' % (msg.point.x, msg.point.y, msg.point.z))
        self.send_goal (msg.point.x, msg.point.y, 0.0)

    def send_goal(self, x ,y, theta):
        self.get_logger().info('sending goal to action server')
        goal_pose = NavigateToPose.Goal()
        goal_pose.pose.header.frame_id = 'map'
        goal_pose.pose.pose.position.x = x
        goal_pose.pose.pose.position.y = y
        goal_pose.pose.pose.position.z = theta

        self.get_logger().info('waiting for action server')
        self._action_client.wait_for_server()
        self.get_logger().info('action server detected')

        self._send_goal_future = self._action_client.send_goal_async(
            goal_pose,
            feedback_callback=self.feedback_callback)
        self.get_logger().info('goal sent')

        self._send_goal_future.add_done_callback(self.goal_response_callback)

    def goal_response_callback(self, future):
        goal_handle = future.result()
        if not goal_handle.accepted:
            self.get_logger().info('Goal rejected :(')
            return
        self.get_logger().info('Goal accepted :)')
        self._get_result_future = goal_handle.get_result_async()

        self._get_result_future.add_done_callback(self.get_result_callback)

    def get_result_callback(self, future):
        result = future.result().result
        self.get_logger().info('Result: {0}' + str(result))
        rclpy.shutdown()

    def feedback_callback(self, feedback_msg):
        feedback = feedback_msg.feedback
        self.get_logger().info('FEEDBACK:' + str(feedback) )

def main(args=None):
    rclpy.init(args=args)

    action_client = NavToPoseActionClient()

    rclpy.spin(action_client)


if __name__ == '__main__':
    main()
-

Used via RVIZ and Publish Point feature.

-

Obstacle Avoidance​

+
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "pose: {header: {frame_id: map}, pose: {position: {x: 1.52, y: 1.92, z: 0.0}, orientation:{x: 0.0, y: 0.0, z: 0, w: 1.0000000}}}"
+

Obstacle Avoidance​

The Nav2 stack avoids dynamic and static obstacles by utilizing what's known as costmaps.

-

Costmaps​

+

Costmaps​

A Costmap is a 2D representation of robot-sensed obstacles on a grid map. Each grid cells contain information about the obstacles detected by the sensors. The cost of the cell can be unknown, free, occupied, or inflated. Different colors indicate how likely it is to colide against an obstacle. Using this information, the Nav2 stack can compute their tasks safely and efficiently.

There are two kinds of costmaps: global and local.

    @@ -235,12 +187,12 @@

    Costmaps -

    Global Costmaps​

    +

    Global Costmaps​

    To add a global costmap, we can add these parameters to the planner.yaml file.

    global_costmap:
      global_costmap:
        ros__parameters:
          update_frequency: 1.0
          publish_frequency: 1.0
          global_frame: map
          robot_base_frame: base_link
          use_sim_time: True
          robot_radius: 0.15
          resolution: 0.05
          track_unknown_space: true
          plugins: ["static_layer", "inflation_layer"]
          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: 0.35
          always_send_full_costmap: True

    When we run our path_planner_server with these new parameters, we see an added map on top of our base map. When we add a new obstacle, the global costmap is not updated. The differences can be seen below. This means that our planner will not take into consideration the new dynamic obstacle that spawned in and will crash.

    note

    The different tones of gray are to illustrate the different regions the robot can use. Dark tones of grey means the robot cannot use that area to path plan as it is too close to an obstacle

    -

    Global Costmap Obstacle Layers​

    +

    Global Costmap Obstacle Layers​

    Global costmaps are generated as the superposition of different obstacle layers. This means that each layer adds a set of obstacles to the global costmap based on how the layer computes the obstacles.

    Available Costmap layers:

      @@ -252,24 +204,24 @@ 

      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "voxel_layer"] # Order matters here, inflation is applied after obstacle, etc.

Adding these layers will allow us to account for dynamic obstacles.

-

General Parameters​

+

General Parameters​

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.15
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
-

Local Costmap​

+

Local Costmap​

Let's figure out how to add a local costmap. It's no different than a global costmap but goes inside of controller.yaml instead of planner.yaml. This is because a local costmap is a dynamic version of the global costmap using sensors.

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 1
      height: 1
      resolution: 0.05
      robot_radius: 0.15
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      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:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
info

The robot's shape can influence what extent the obstacles in the Costmaps will be inflated to. This is then taken into consideration when computing a path to said point. We can specify our robot's shape within our costmap parameters in both local and global.

When we use round robots, we use the parameter robot_radius. For more complex robots that aren't round, we have to use footprint parameter instead that specifies the coordinates for each point of the robot. The footprint parameter is the project of the robot on the ground. For example, if a square robot has 65 cm per side, we would specify:

footprint: "[[0.325, 0.325], [0.325, -0.325], [-0.325, -0.325], [-0.325, 0.325]]"

We also have to change the controller.yaml configuration:

  • BaseObstacle if using robot_radius
  • ObstacleFootprint if using footprint

Remember that we can only specify one parameter: footprint or robot_radius.

-

Demo​

+

Demo​

-

Path Planner Package​

+

Path Planner Package​

Currently, we have two packages: localization and path_planner. One does the localization and mapping while the other does the path planning. Ideally, for a full navigaiton system, we want a single package with one nav2_lifecycle_manager managing all navigation nodes.

How you wanna structure it is up to you, and having separate packages can be good for debugging, but ideally, in real navigation systems for deployment, you want one package for ease of use with one single launch file.

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():

    controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'controller.yaml')
    bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'bt_navigator.yaml')
    planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'planner_server.yaml')
    recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'recovery.yaml')
    amcl_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'amcl_config.yaml')
    map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')

    return LaunchDescription([
        Node(
            package='nav2_map_server',
            executable='map_server',
            name='map_server',
            output='screen',
            parameters=[{'use_sim_time': True},
                        {'yaml_filename':map_file}]
        ),

        Node(
            package='nav2_amcl',
            executable='amcl',
            name='amcl',
            output='screen',
            parameters=[amcl_yaml]
        ),
        Node(
            package='nav2_controller',
            executable='controller_server',
            name='controller_server',
            output='screen',
            parameters=[controller_yaml]),

        Node(
            package='nav2_planner',
            executable='planner_server',
            name='planner_server',
            output='screen',
            parameters=[planner_yaml]),

        Node(
            package='nav2_behaviors',
            executable='behavior_server',
            name='recoveries_server',
            parameters=[recovery_yaml],
            output='screen'),

        Node(
            package='nav2_bt_navigator',
            executable='bt_navigator',
            name='bt_navigator',
            output='screen',
            parameters=[bt_navigator_yaml]),

        Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager',
            output='screen',
            parameters=[{'autostart': True},
                        {'node_names': ['map_server',
                                        'amcl',
                                        'controller_server',
                                        'planner_server',
                                        'recoveries_server',
                                        'bt_navigator']}])
    ])
-

Multi-robot Navigation​

+

Multi-robot Navigation​

In the scenario you have multiple robots, each robot will have the same /cmd_vel topic name, same base_footprint frame name and even the same control node name. This is complicated because the navigation stack won't know which robot it's talking to. We can bypass this by using namespaces which are labels we assign to each robot. This means that each robot may have the same name but will have a unique namespace for it. namespaces are configured at:

  1. Simulated Robots: At the URDF description file and the Gazebo plugins
    2. @@ -277,7 +229,7 @@

    Multi

If these are not configured properly, the robots will have difficulty booting into namespaces mode. For two robots, we could have the following:

/clock
/parameter_events
/performance_metrics
/rosout
/tb3_0/cmd_vel
/tb3_0/imu
/tb3_0/joint_states
/tb3_0/odom
/tb3_0/robot_description
/tb3_0/scan
/tb3_1/cmd_vel
/tb3_1/imu
/tb3_1/joint_states
/tb3_1/odom
/tb3_1/robot_description
/tb3_1/scan
/tf
/tf_static
-

Configuration​

+

Configuration​

To have a multiagent system that uses the same nav stack, we need for each robot:

  • localization
    • @@ -286,16 +238,16 @@

    Configuration<
  • bt_navigator

The only thing that'll be used by all is the map_server as all robots will use the same map.

-

Mapping​

+

Mapping​

It is possible to have multiple robots collaborate to create a single map between them but that is covered later on. This tutorial goes over:

  1. One robot from the fleet in charge of making the robot
  2. A single map_server is launched using that map
  3. All the navigation systems for each robot will use the same name by asking for the same map_server
-

Multirobot cartographer​

+

Multirobot cartographer​

There isn't much difference when trying to do multirobot navigation. For mapping, al lwe do is add and modify a few lines of code. For this, we use our cartographer config files and simply add these few lines of code below.

-
tracking_frame = "tb3_0/base_footprint",
published_frame = "tb3_0/odom",
odom_frame = "tb3_0/odom"
info

The order is localization -> path_planning -> rviz2 for launches.

-

Configuring RVIZ2​

+

Configuring RVIZ2​

  • Add a Path display configured for the /tb3_0/plan topic and select the Line Style as Billboards with Red as it's color.
  • Add another Path for the /tb3_1/plan and choose a different color for it.
    • @@ -418,11 +370,11 @@

    Configur
  • All the cost_maps change the color scheme from map to cost_map to see the nice colors.
  • To make the robot move, use the Tool Properties and change the 2D Goal Pose to be /tb3_0/goal_pose and then use the 2D Goal Pose. For the other robot, use the other namespace /tb3_1/goal_pose.

-

Single Launch​

+

Single Launch​

To make this simpler, we can create several launch files to concentrate everything into a single launch. Inside of our path_planner_server, we can create the launch multi_main.launch.xml. Inside the cartographer_slam, we also create the launch file start_rviz.launch.py which'll launch RVIZ2 without terminal commands. Both of these files should be inside of the launch directory.

<?xml version='1.0' ?>

<launch>
    <include file="$(find-pkg-share localization)/launch/multi_localization.launch.py"/>
    <include file="$(find-pkg-share path_planner_server)/launch/multi_pathplanner.launch.py"/>

    <include file="$(find-pkg-share cartographer_slam)/launch/start_rviz.launch.py">
        <arg name="use_sim_time" value="true"/>
        <arg name="rviz_config_dir" value="$(find-pkg-share cartographer_slam)/rviz/tb3_1_and_2.rviz" />
    </include>

</launch>

Then launch via:

ros2 launch path_planner_server multi_main.launch.xml
-
Last updated on
+
Last updated on
\ No newline at end of file diff --git a/docs/Robotics/ROS2/perception.html b/docs/Robotics/ROS2/perception.html index da504a9..509f7c9 100644 --- a/docs/Robotics/ROS2/perception.html +++ b/docs/Robotics/ROS2/perception.html @@ -2,22 +2,24 @@ - + Perception | Kevin Shin, Electrical Engineer + - - - + + + + -
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

+
danger

This has not been proof-read or modified for simpler reading yet.

12/23/24

Getting Started​

These are my notes from the ROS2 Perception course available on The Construct. Since this is a robotics note, you will need a physical robot to follow along. I am using the simulator on the website to interact with the tech stack.

This note will cover:

diff --git a/docs/Robotics/ROS2/testing-ros2.html b/docs/Robotics/ROS2/testing-ros2.html index ad8be52..8943c47 100644 --- a/docs/Robotics/ROS2/testing-ros2.html +++ b/docs/Robotics/ROS2/testing-ros2.html @@ -2,22 +2,24 @@ - + Testing | Kevin Shin, Electrical Engineer + - - - + + + + -

Getting Started​

+

Getting Started​

These notes are from The Construct and was originally for ROS. Since they didn't have a couse on testing with ROS2, I referenced the ROS2 documentation and ChatGPT while doing this to fill in the gaps for ROS2 Testing. I used the docker image osrf/ros:humble-desktop for my environment.

This note will go over:

    diff --git a/docs/Robotics/ROS2/urdf.html b/docs/Robotics/ROS2/urdf.html index 47a019a..9e4aa7b 100644 --- a/docs/Robotics/ROS2/urdf.html +++ b/docs/Robotics/ROS2/urdf.html @@ -2,21 +2,23 @@ - + URDF | Kevin Shin, Electrical Engineer + - - - + + + + -
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    This is just a landing page fillerasdsad.

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    This is just a landing page fillerasdsad.

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    Preface​

    +

    Preface​

    The note is based off of Scott Meyers famous book titled "Effective Modern C++". In it, he details the workings of C+11 and C+14 and how to become a better software engineer.

    Deducing Types​

    In C++98, there was a single set of rules for type deduction which was for function templates. In C++11, those rules were modified and extended: one for auto, and another for decltype. C++14 extended the usage for auto and decltype. I am guilty of using the keyword auto frequently without realizing the underlying implementation that makes it possible. This is because it minimizes having to type out the type constantly as changing the type at initialization can propagate throughout the program. Despite that, the types deduced by the compiler via the usage auto may not be as what we want it to be.

    diff --git a/docs/note.html b/docs/note.html index 06fcf05..dbc3b5e 100644 --- a/docs/note.html +++ b/docs/note.html @@ -2,21 +2,23 @@ - + Search | Kevin Shin, Electrical Engineer + - - - + + + + -

    I believe that knowledge is power, and that continuously learning can only bring positivity. Besides, we live in a capitalist world where our value is determined by how much we add to someone's company. With that said, the underlying premise behind this section can be described mathematically. I hope to be always learning and adding my findings on my site everyday.

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    7 notes

    Pinned Notes

    • ROS2

      Understand how ROS2 works in C++, Python, and Rust

      • pinned
      • robotics
      • c++
      • rust
      • python

    • ROS2 Nav2

      Understand how the ROS2 navigation framework (Nav2) works

      • pinned
      • robotics
      • c++
      • python

    • ROS2 Perception

      Understand how to use ROS2 and computer vision for robotics

      • pinned
      • machine learning
      • robotics
      • c++

    • ROS2 Testing

      Learn how to test ROS2 with unit and integration testing via pytest/gtest

      • pinned
      • robotics
      • c++
      • python

    All Notes

    • Effective Modern C++

      Wisdom from Scott Meyers for C+11 and C++14

      • computer science
      • c++

    • URDF

      Learn how software communicate using a unified modeling format

      • robotics
      • c++

    • Zephyr

      Follow my learning journey for Zephyr, an open source RTOS

      • embedded
      • c++
    Last updated on
    +

    I believe that knowledge is power, and that continuously learning can only bring positivity. Besides, we live in a capitalist world where our value is determined by how much we add to someone's company. With that said, the underlying premise behind this section can be described mathematically. I hope to be always learning and adding my findings on my site everyday.

    Centered Image

    Filters

    7 notes

    Pinned Notes

    • ROS2

      Understand how ROS2 works in C++, Python, and Rust

      • pinned
      • robotics
      • c++
      • rust
      • python

    • ROS2 Nav2

      Understand how the ROS2 navigation framework (Nav2) works

      • pinned
      • robotics
      • c++
      • python

    • ROS2 Perception

      Understand how to use ROS2 and computer vision for robotics

      • pinned
      • machine learning
      • robotics
      • c++

    • ROS2 Testing

      Learn how to test ROS2 with unit and integration testing via pytest/gtest

      • pinned
      • robotics
      • c++
      • python

    All Notes

    • Effective Modern C++

      Wisdom from Scott Meyers for C+11 and C++14

      • computer science
      • c++

    • URDF

      Learn how software communicate using a unified modeling format

      • robotics
      • c++

    • Zephyr

      Follow my learning journey for Zephyr, an open source RTOS

      • embedded
      • c++
    Last updated on
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    Tags

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    Tags

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    One doc tagged with "C++"

    C++

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

    +

    One doc tagged with "C++"

    C++

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

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    One doc tagged with "Embedded"

    Embedded

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    One doc tagged with "Embedded"

    Embedded

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    One doc tagged with "Python"

    Python

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

    +

    One doc tagged with "Python"

    Python

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

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    2 docs tagged with "Robotics"

    All things related to robotics and automation

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

    +

    2 docs tagged with "Robotics"

    All things related to robotics and automation

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

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    One doc tagged with "Rust"

    Rust

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

    +

    One doc tagged with "Rust"

    Rust

    View all tags

    ROS2

    This has not been proof-read or modified for simpler reading yet.

    \ No newline at end of file diff --git a/index.html b/index.html index 823bfdc..bac74be 100644 --- a/index.html +++ b/index.html @@ -2,23 +2,25 @@ - + Home | Kevin Shin, Electrical Engineer + - - - + + + + -

    Hey, I'm Kevin,

    Software engineer interested in continuous personal growth.
    Machine Learning, Robotics, and C++ enthusiast.

    I'm a 5th-year Electrical Engineering student at UCSD specializing in Machine Learning and Controls. Passionate about system design for scalability and reusability, I focus on improving my skills in building efficient, maintainable code.

    +

    Hey, I'm Kevin,

    Software engineer interested in continuous personal growth.
    Machine Learning, Robotics, and C++ enthusiast.

    I'm a 5th-year Electrical Engineering student at UCSD specializing in Machine Learning and Controls. Passionate about system design for scalability and reusability, I focus on improving my skills in building efficient, maintainable code.

    In my spare time, I work on robotics with Triton AI, contributing to F1Tenth and Indy Autonomous Challenge.

    -

    I am also an avid C++ enthusiast, and enjoy broadening my knowledge through CppCon.

    Social media

    +

    I am also an avid C++ enthusiast, and enjoy broadening my knowledge through CppCon.

    \ No newline at end of file diff --git a/projects.html b/projects.html index 6902cba..e5afaf4 100644 --- a/projects.html +++ b/projects.html @@ -2,21 +2,23 @@ - + Projects | Kevin Shin, Electrical Engineer + - - - + + + + -

    Projects

    Autonomous RC car built using a Jetson Nano, Flipsky VESC, and a Traxxas chassisRole: Team Member

    Jetson Nano RC Car

    Autonomous RC car built using a Jetson Nano, Flipsky VESC, and a Traxxas chassis

    Discover
    Role: Author

    Software Tools

    Collection of software tools in C++ for scalability and reuseability, focusing on templatization and best pragma

    Discover
    Role: Developer

    Relational Database

    Replication of relational databse in C++ with core MySQL functionality, leveraging design patterns like MVC and CoR for extensibility and optimizing data storage and retrieval through caching and indexing.

    Discover
    Role: Co-Developer

    Traffic Sign Classification

    CNN-based deep learning model using ResNeXt-32 in PyTorch for traffic sign classification, trained on the TinyLISA and LISA dataset

    Discover
    Role: Developer

    Classifiers with MNIST

    Implementation of linear classifiers using Euclidean and Mahalanobis distance, incorporating Maximum Likelihood Estimation and Principal Component Analysis, with an introduction to unsupervised learning through clustering techniques

    Discover
    Role: Developer

    Variational Autoencoder

    CNN model in PyTorch for generating chest X-ray images, utilizing convolutional layers, reparameterization, and performance evaluation with FID and Inception Score.

    Discover
    Role: Team Lead

    TritonHacks Web Development Kit

    Beginner-friendly starter kit for high school students to learn and build web applications using HTML, CSS, JavaScript, and FastAPI during a hackathon at UCSD

    Discover
    +

    Projects

    Autonomous RC car built using a Jetson Nano, Flipsky VESC, and a Traxxas chassisRole: Team Member

    Jetson Nano RC Car

    Autonomous RC car built using a Jetson Nano, Flipsky VESC, and a Traxxas chassis

    Discover
    Role: Author

    Software Tools

    Collection of software tools in C++ for scalability and reuseability, focusing on templatization and best pragma

    Discover
    Role: Developer

    Relational Database

    Replication of relational databse in C++ with core MySQL functionality, leveraging design patterns like MVC and CoR for extensibility and optimizing data storage and retrieval through caching and indexing.

    Discover
    Role: Co-Developer

    Traffic Sign Classification

    CNN-based deep learning model using ResNeXt-32 in PyTorch for traffic sign classification, trained on the TinyLISA and LISA dataset

    Discover
    Role: Developer

    Classifiers with MNIST

    Implementation of linear classifiers using Euclidean and Mahalanobis distance, incorporating Maximum Likelihood Estimation and Principal Component Analysis, with an introduction to unsupervised learning through clustering techniques

    Discover
    Role: Developer

    Variational Autoencoder

    CNN model in PyTorch for generating chest X-ray images, utilizing convolutional layers, reparameterization, and performance evaluation with FID and Inception Score.

    Discover
    Role: Team Lead

    TritonHacks Web Development Kit

    Beginner-friendly starter kit for high school students to learn and build web applications using HTML, CSS, JavaScript, and FastAPI during a hackathon at UCSD

    Discover
    \ No newline at end of file diff --git a/search.html b/search.html index 1b335e9..3e8e903 100644 --- a/search.html +++ b/search.html @@ -2,21 +2,23 @@ - + Search the documentation | Kevin Shin, Electrical Engineer + - - - + + + + -

    Search the documentation

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