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[jsk_fetch_startup] use odom_combined topic in fetch_nav and fetch_teleop #1363

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merged 4 commits into from
Jul 18, 2021
Merged

[jsk_fetch_startup] use odom_combined topic in fetch_nav and fetch_teleop #1363

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c53c03f
Revert "[jsk_fetch_startup] fix odom topic of move_base and teleop"
knorth55 Jul 17, 2021
d37c475
fixed the odom topic of move_base
sktometometo Feb 11, 2020
f543928
fixed odom topicname of fetch teleop
sktometometo Feb 11, 2020
f9976e1
Merge branch 'master' into fetch-odom-topic
k-okada Jul 18, 2021
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48 changes: 2 additions & 46 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
joystick_teleop need to publish /teleop/cmd_vel/unsafe ,
see https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/README.md -->
<node name="teleop" pkg="fetch_teleop" type="joystick_teleop" respawn="true">
<remap from="teleop/cmd_vel" to="/teleop/cmd_vel/unsafe" />
<remap from="teleop/cmd_vel" to="/joy_vel" />
<remap from="/odom" to="$(arg odom_topic)" />
<param name="arm/button_arm_linear" value="4"/>
<param name="arm/button_arm_angular" value="6"/>
Expand All @@ -49,7 +49,7 @@
<!-- Relay topic names according to system diagram -->
<node name="relay_odom"
pkg="topic_tools" type="relay"
args="/odom_combined /odom_teleop" />
args="$(arg odom_topic) /odom_teleop" />
<node name="relay_navigation_cmd_vel"
pkg="topic_tools" type="relay"
args="/cmd_vel /navigation/cmd_vel" />
Expand Down Expand Up @@ -84,50 +84,6 @@
<param name="tuck_button" value="5"/>
</node>

<!-- safe teleop -->
<node name="unsafe_vel_mux" pkg="topic_tools" type="mux" respawn="true"
args="/teleop/cmd_vel /teleop/cmd_vel/safe /teleop/cmd_vel/unsafe">
<remap from="mux" to="unsafe_vel_mux" />
</node>

<!-- m.button[10]: L1 -->
<!-- m.button[9] : R2 -->
<!-- safe teleop with L1 -->
<node name="cmd_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
respawn="true"
args="/joy 'm.buttons[10]==1' /teleop/cmd_vel /cmd_vel 'True' /cmd_vel">
<remap from="mux" to="cmd_vel_mux" />
<param name="default_select" value="/cmd_vel" />
</node>

<!-- unsafe teleop with L1 and R2 -->
<node name="unsafe_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
respawn="true"
args="/joy 'm.buttons[10]==1 and m.buttons[9]==1' /teleop/cmd_vel/unsafe /joy 'm.buttons[10]==1 and m.buttons[9]==0' /teleop/cmd_vel/safe">
<remap from="mux" to="unsafe_vel_mux" />
<param name="default_select" value="/teleop/cmd_vel/safe" />
</node>

<node name="safe_teleop_base" pkg="safe_teleop_base" type="safe_teleop_base">
<remap from="base_velocity" to="/teleop/cmd_vel/unsafe" />
<remap from="~safe_vel" to="/teleop/cmd_vel/safe" />
<remap from="/odom" to="$(arg odom_topic)" />
<rosparam file="$(find fetch_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/fetch/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find fetch_navigation)/config/fetch/costmap_local.yaml" command="load" ns="local_costmap" />
</node>
<rosparam ns="safe_teleop_base/local_costmap">
inflater:
inflation_radius: 1.0 # 0.7
cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value
obstacles:
min_obstacle_height: 0.05
# default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
update_frequency: 10.0
footprint_padding: 0.05
</rosparam>

<node name="safe_tilt_head" pkg="jsk_fetch_startup" type="safe_tilt_head.py" />

<!-- audible warning on unsafe teleop -->
Expand Down