adding more fully described parameters and setup

nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py

@@ -117,7 +117,7 @@ def generate_launch_description():
 
     declare_simulator_cmd = DeclareLaunchArgument(
         'headless',
-        default_value='False',
+        default_value='True',
         description='Whether to execute gzclient)')
 
     declare_world_cmd = DeclareLaunchArgument(
@@ -140,8 +140,7 @@ def generate_launch_description():
         cmd=['gzclient'],
         cwd=[launch_dir], output='screen')
 
-    urdf = os.path.join(
-        get_package_share_directory('turtlebot3_description'), 'urdf', 'turtlebot3_waffle.urdf')
+    urdf = os.path.join(bringup_dir, 'worlds', 'turtlebot3_waffle.urdf')
 
     start_robot_state_publisher_cmd = Node(
         condition=IfCondition(use_robot_state_pub),

nav2_bringup/bringup/params/nav2_params.yaml

@@ -115,14 +115,17 @@ controller_server_rclcpp_node:
 local_costmap:
   local_costmap:
     ros__parameters:
+      update_frequency: 5
+      publish_frequency: 2
+      robot_base_frame: base_link
       use_sim_time: True
       global_frame: odom
-      plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
-      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
       rolling_window: true
       width: 3
       height: 3
       resolution: 0.05
+      plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
       robot_radius: 0.22
       inflation_layer:
         cost_scaling_factor: 3.0
@@ -139,8 +142,8 @@ local_costmap:
         enabled: True
         publish_voxel_map: True
         origin_z: 0.0
-        z_resolution: 0.2
-        z_voxels: 10
+        z_resolution: 0.05
+        z_voxels: 16
         max_obstacle_height: 2.0
         mark_threshold: 0
         observation_sources: pointcloud
@@ -163,10 +166,15 @@ local_costmap:
 global_costmap:
   global_costmap:
     ros__parameters:
+      update_frequency: 1
+      publish_frequency: 1
+      robot_base_frame: base_link
+      global_frame: map
       use_sim_time: True
       plugin_names: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
       plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
       robot_radius: 0.22
+      resolution: 0.05
       obstacle_layer:
         enabled: True
         observation_sources: scan
@@ -180,8 +188,8 @@ global_costmap:
         enabled: True
         publish_voxel_map: True
         origin_z: 0.0
-        z_resolution: 0.2
-        z_voxels: 10
+        z_resolution: 0.05
+        z_voxels: 16
         max_obstacle_height: 2.0
         mark_threshold: 0
         observation_sources: pointcloud

nav2_bringup/bringup/worlds/turtlebot3_waffle.urdf

@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
+
+  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
+  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
+  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
+  <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
+
+  <!-- Init colour -->
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link" />
+    <origin xyz="0 0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.266 0.266 0.094"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1.3729096e+00"/>
+      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+               iyy="8.6195418e-03" iyz="-3.5422299e-06"
+               izz="1.4612727e-02" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_right_link"/>
+    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_right_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_left_link"/>
+    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_left_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="camera_link">
+    <visual>
+     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
+      <geometry>
+       <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.012 0.132 0.020"/>
+      </geometry>
+    </collision>
+
+    <!-- This inertial field needs doesn't contain reliable data!! -->
+<!--   <inertial>
+      <mass value="0.564" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+               iyy="0.000498940" iyz="0.0"
+               izz="0.003879257" />
+    </inertial>-->
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="camera_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+  <joint name="camera_depth_joint" type="fixed">
+    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <link name="camera_depth_frame"/>
+
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+
+</robot>