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Navigation stack for otto #49

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Navigation stack for otto #49

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7796e78
Add the pallet's platform to OTTO1500
Aug 17, 2023
1cc1c98
Navigation integration
lewandowskikacper Aug 18, 2023
427a470
simple script following a line
lewandowskikacper Aug 22, 2023
ecc56ab
follows a straight line, but rotations don't work well
lewandowskikacper Aug 22, 2023
43acd99
simple FollowWaypoints
lewandowskikacper Aug 23, 2023
31cae45
launchfile for static transform
lewandowskikacper Aug 23, 2023
eec7934
simple loop around UR
lewandowskikacper Aug 23, 2023
9a47595
tf launch fixed
lewandowskikacper Aug 23, 2023
56163f8
lifting platform
Aug 22, 2023
f423083
experimets with splines
lewandowskikacper Aug 23, 2023
175efe8
spline waypoint following
lewandowskikacper Aug 25, 2023
c3880bd
Merge branch 'af/OTTO1500_pallet_platform' into navigation_otto
lewandowskikacper Aug 25, 2023
4b5cb34
waypoint following to pickup pallet, sometimes succesful
lewandowskikacper Aug 25, 2023
a1e44d8
shorter path for tests, moved pallet
lewandowskikacper Aug 25, 2023
7e51a25
navigate through poses
lewandowskikacper Aug 29, 2023
182a6f1
one robot nav through poses, local only
lewandowskikacper Aug 29, 2023
94a710f
navigate through poses configuration
lewandowskikacper Aug 30, 2023
041f387
navigate through poses for many robots
lewandowskikacper Aug 30, 2023
8dddbf2
static tf publisher for amrs correclty launched
lewandowskikacper Sep 1, 2023
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842 changes: 839 additions & 3 deletions Project/Assets/Importer/OTTO1500.prefab
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7,844 changes: 7,844 additions & 0 deletions Project/Levels/VideoLevelNav/VideoLevelNav.prefab
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8,566 changes: 8,566 additions & 0 deletions Project/Levels/VideoLevel_map_creation/VideoLevel_map_creation.prefab
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1,820 changes: 1,820 additions & 0 deletions Project/Prefabs/OTTO1500_Platform/LiftAnimation.scriptcanvas
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577 changes: 577 additions & 0 deletions Project/Prefabs/OTTO1500_Platform/OTTO1500LiftingPlatform.prefab
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Binary file added ...Prefabs/OTTO1500_Platform/Otto1500_Platform_A/Otto1500_Platform_A_BaseColor.png
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Binary file added ...ct/Prefabs/OTTO1500_Platform/Otto1500_Platform_A/Otto1500_Platform_A_Normal.png
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100 changes: 100 additions & 0 deletions ...ct/Prefabs/OTTO1500_Platform/Otto1500_Platform_A/Otto1500_Platform_A_Normal.png.assetinfo
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25 changes: 25 additions & 0 deletions ...bs/OTTO1500_Platform/Otto1500_Platform_A/Otto1500_Platform_A_Otto1500_Platform_A.material
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27 changes: 27 additions & 0 deletions Project/Prefabs/OTTO1500_Platform/Otto_1500_Platfrom_B/PlatformB_Platfrom_B.material
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1 change: 1 addition & 0 deletions ros2_ws/src/o3de_fleet_nav/NOTICE
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This package contains a modified code from "nav2_bringup" package (https://github.com/ros-planning/navigation2).
38 changes: 38 additions & 0 deletions ...s/src/o3de_fleet_nav/behaviour_trees/navigate_through_poses_w_replanning_and_recovery.xml
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<!--
This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
and it also has recovery actions specific to planning / control as well as general system issues.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="0.333">
<RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
<ReactiveSequence>
<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" robot_base_frame="robot_namespace/base_link"/>
<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
</ReactiveSequence>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="1" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated/>
<RoundRobin name="RecoveryActions">
<Sequence name="ClearingActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57"/>
<Wait wait_duration="5"/>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root>
21 changes: 21 additions & 0 deletions ros2_ws/src/o3de_fleet_nav/config/fleet_config.yaml
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fleet:
- robot_name: otto
robot_namespace: otto_1
position:
x: -4.0
y: 3.2
z: 0.2

- robot_name: otto
robot_namespace: otto_2
position:
x: -13.0
y: 0.5
z: 0.2

# - robot_name: otto
# robot_namespace: otto_3
# position:
# x: 1.0
# y: -2.5
# z: 0.2
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