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Add GPS follower with ROS 2 control integration #19

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(apricotka-robot-car)
project(ros_sw)

# Default to C99
if(NOT CMAKE_C_STANDARD)
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58 changes: 58 additions & 0 deletions README.md
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# ROS Setup Instructions

## Install Required Packages

```bash
sudo apt install ros-jazzy-navigation2
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@AksonovSergei AksonovSergei Mar 10, 2025

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These packages should be in package.xml and installed with rosdep.

sudo apt install ros-jazzy-nav2-bringup
sudo apt install ros-jazzy-robot-localization
sudo apt install ros-jazzy-mapviz
sudo apt install ros-jazzy-mapviz-plugins
sudo apt install ros-jazzy-tile-map
```

## Setup ROS Environment

```bash
source /opt/ros/jazzy/setup.bash
```

## Create Workspace and Clone Repositories

```bash
mkdir gps_ws
cd gps_ws
git clone -b 10-gps-navigation https://github.com/KPI-Rover/ros_sw.git
git clone -b jazzy https://github.com/ros-navigation/navigation2_tutorials.git
```

## Build the Workspace

```bash
colcon build --symlink-install
source install/setup.bash
```

## Launch Simulation

```bash
ros2 launch ros_sw launch_sim.launch.py use_rviz:=True use_mapviz:=True
```

## Run GPS Waypoint Follower Demos

```bash
ros2 run nav2_gps_waypoint_follower_demo interactive_waypoint_follower
ros2 run nav2_gps_waypoint_follower_demo gps_waypoint_logger </path/to/yaml/file.yaml>
ros2 run nav2_gps_waypoint_follower_demo logged_waypoint_follower </path/to/yaml/file.yaml>
```

## Run Teleop Twist Keyboard

```bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_drive_controller/cmd_vel -p stamped:=True
```

## More Information

For more information, please visit [Navigation2 with GPS](https://docs.nav2.org/tutorials/docs/navigation2_with_gps.html).
127 changes: 127 additions & 0 deletions config/dual_ekf_navsat_params.yaml
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# For parameter descriptions, please refer to the template parameter files for each node.

ekf_filter_node_odom:
ros__parameters:
frequency: 50.0 # Increased from 30.0 for better update rate
two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
print_diagnostics: true
debug: false
publish_tf: true

map_frame: map
odom_frame: odom
base_link_frame: base_link # the frame id used by the turtlebot's diff drive plugin
world_frame: odom

odom0: diff_drive_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_queue_size: 10
odom0_differential: true # Changed from false to improve accuracy during turns
odom0_relative: false

imu0: imu/data
imu0_config: [false, false, false,
false, false, true,
true, true, true, # Added linear acceleration
false, false, false,
false, false, false]
imu0_differential: true # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

use_control: false

process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]

ekf_filter_node_map:
ros__parameters:
frequency: 50.0 # Increased from 30.0 for better update rate
two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
print_diagnostics: true
debug: false
publish_tf: true

map_frame: map
odom_frame: odom
base_link_frame: base_link # the frame id used by the turtlebot's diff drive plugin
world_frame: map

odom0: diff_drive_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_queue_size: 10
odom0_differential: true # Changed from false to improve accuracy during turns
odom0_relative: false

odom1: odometry/gps
odom1_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom1_queue_size: 10
odom1_differential: false
odom1_relative: false

imu0: imu/data
imu0_config: [false, false, false,
false, false, true,
true, true, true, # Added linear acceleration
false, false, false,
false, false, false]
imu0_differential: true # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

use_control: false

process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]

navsat_transform:
ros__parameters:
frequency: 50.0 # Increased from 30.0 for better update rate
delay: 3.0
magnetic_declination_radians: 0.0
yaw_offset: 0.0
zero_altitude: true
broadcast_cartesian_transform: true
publish_filtered_gps: true
use_odometry_yaw: true
wait_for_datum: false
61 changes: 61 additions & 0 deletions config/gps_wpf_demo.mvc
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capture_directory: "~"
fixed_frame: map
target_frame: map
fix_orientation: false
rotate_90: false
enable_antialiasing: true
show_displays: true
show_status_bar: true
show_capture_tools: true
view_scale: 0.564473748
offset_x: -55.0469894
offset_y: -4.65194941
use_latest_transforms: true
background: "#a0a0a4"
image_transport: raw
displays:
- type: mapviz_plugins/tile_map
name: new display
config:
visible: true
collapsed: false
custom_sources:
- base_url: https://api.maptiler.com/tiles/satellite-v2/{level}/{x}/{y}.jpg?key=prOIJC29PpyOVqzLxuuJ
max_zoom: 23
name: mt
type: wmts
- base_url: http://tile.openstreetmap.org/{level}/{x}/{y}.png
max_zoom: 21
name: osm
type: wmts
bing_api_key: ""
source: mt
- type: mapviz_plugins/point_click_publisher
name: new display
config:
visible: true
collapsed: false
topic: clicked_point
output_frame: wgs84
- type: mapviz_plugins/tf_frame
name: new display
config:
visible: true
collapsed: false
frame: base_link
color: "#00ff00"
draw_style: arrows
position_tolerance: 0
buffer_size: 1
static_arrow_sizes: true
arrow_size: 53
- type: mapviz_plugins/navsat
name: new display
config:
visible: true
collapsed: false
topic: /gps/fix
color: "#55aaff"
draw_style: points
position_tolerance: 0
buffer_size: 1
9 changes: 5 additions & 4 deletions config/my_controllers.yaml
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Expand Up @@ -5,10 +5,10 @@ controller_manager:
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

diff_drive_base_controller:
diff_drive_controller:
type: diff_drive_controller/DiffDriveController

diff_drive_base_controller:
diff_drive_controller:
ros__parameters:
left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"]
right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]
Expand All @@ -17,6 +17,7 @@ diff_drive_base_controller:
wheel_radius: 0.033

publish_rate: 50.0
# odom_frame_id: odom
odom_frame_id: odom
base_frame_id: base_link
use_stamped_vel: false
tf_frame_prefix_enable: false
# open_loop: true
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