added new map world

aws-robomaker-small-warehouse-world/models/map/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apna_ghar</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

aws-robomaker-small-warehouse-world/models/map/model.sdf

@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="apna_ghar">
+    <link name="link">
+      <inertial>
+        <mass>1000</mass>
+        <inertia>
+          <ixx>840083.33</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>475500.0</iyy>
+          <iyz>0</iyz>
+          <izz>1302083.33</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://map/meshes/map.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+		<surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+        </friction>
+          </surface>
+      </collision>
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://map/meshes/map.dae</uri>
+          </mesh>
+        </geometry>
+      <meta> <layer> 2 </layer></meta>
+</visual>
+    </link>
+<static>1</static>
+  </model>
+</sdf>

aws-robomaker-small-warehouse-world/worlds/map_world/map.world

@@ -0,0 +1,51 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.6">
+  <world name="default">
+
+    <gravity>0 0 -9.8</gravity>
+    <physics default="0" name="default_physics" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+
+
+        <!--model name="aws_robomaker_warehouse_RoofB_01_001">
+        <include>
+            <uri>model://aws_robomaker_warehouse_RoofB_01</uri>
+        </include>
+        <pose frame="">0.0 0.0 0 0 0 0</pose>
+	</model-->
+
+        <model name="map">
+        <include>
+            <uri>model://map</uri>
+        </include>
+        <pose frame="">0 0 0 0 0 0</pose>
+	</model>
+
+
+    <light name="Warehouse_CeilingLight_003" type="point">
+      <pose frame="">0 0 9 0 0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>80</range>
+        <constant>0.3</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+      <direction>0.1 0.1 -1</direction>
+    </light>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+  </world>
+</sdf>

ebot_description/launch/start_world_launch_4.py

@@ -63,7 +63,7 @@ def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument(
           'world',
-          default_value=[os.path.join(pkg_models_dir, 'worlds', 'eyantra_warehouse_task4.world'), ''], # Change name of world file if required.
+          default_value=[os.path.join(pkg_models_dir, 'worlds', 'new.world'), ''], # Change name of world file if required.
           description='SDF world file'),
         gazebo
         # ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], output='screen'),

ebot_nav2/maps/map.yaml

@@ -1,7 +1,7 @@
 image: map.pgm
 mode: trinary
 resolution: 0.05
-origin: [-5.02, -9.72, 0]
+origin: [-3.32, -5.35, 0]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.25

ebot_nav2/scripts/ebot_nav_cmd.py

@@ -175,15 +175,19 @@ def set_parameter(self):
 
 		# ])
 
-		# self.get_parameter_or(
-		# 		parameter_name, Parameter(parameter_name_1, Parameter.Type.STRING, parameter_value))
+		ok = self.get_parameter_or(
+				parameter_name, Parameter(parameter_name_1, Parameter.Type.STRING, parameter_value))
 		# # self.declare_parameter(parameter_name, rclpy.Parameter.Type.STRING)
-		# self.set_parameters([Parameter(parameter_name_1, Parameter.Type.STRING, parameter_value)])
+		hmm = self.set_parameters([Parameter(parameter_name_1, Parameter.Type.STRING, parameter_value)])
+		print(ok.value)
+		print(hmm)
+		os.system("ros2 param set /global_costmap/global_costmap footprint '[ [0.4, 0.3], [0.4, -0.3], [-0.4, -0.3], [-0.4,-0.5], [-0.65,-0.5], [-0.65,0.5], [-0.4,0.5], [-0.4, 0.3] ]'")
 
-		self.declare_parameter('nav2_params_file', '/home/kakashi/eyantra_ws/src/eyrc_cosmo_logistic/ebot_nav2/params/nav2_params.yaml')
-		nav2_params_file = self.get_parameter('nav2_params_file').value
+
+		# self.declare_parameter('nav2_params_file', '/home/kakashi/eyantra_ws/src/eyrc_cosmo_logistic/ebot_nav2/params/nav2_params.yaml')
+		# nav2_params_file = self.get_parameter('nav2_params_file').value
 		# Load Nav2 parameters from the specified YAML file
-		self.set_parameters(nav2_params_file)
+		# self.set_parameters(nav2_params_file)
 
 	# def set_parameter(self):
 	# 	polygon_msg = Polygon()
@@ -354,17 +358,17 @@ def main(self):
 		goal_drop_1 = PoseStamped()
 		goal_drop_1.header.frame_id = 'map'
 		goal_drop_1.header.stamp = self.navigator.get_clock().now().to_msg()
-		goal_drop_1.pose.position.x = arm_pose_1[0]
-		goal_drop_1.pose.position.y = arm_pose_1[1]
+		goal_drop_1.pose.position.x = 5.12
+		goal_drop_1.pose.position.y = -0.0418
 		goal_drop_1.pose.orientation.x = goal_theta_4[0]
 		goal_drop_1.pose.orientation.y = goal_theta_4[1]
 		goal_drop_1.pose.orientation.z = goal_theta_4[2]
 		goal_drop_1.pose.orientation.w = goal_theta_4[3]
 
 		goal_drop_2 = PoseStamped()
 		goal_drop_2.header.frame_id = 'map'
-		goal_drop_2.pose.position.x = arm_pose_2[0]
-		goal_drop_2.pose.position.y = arm_pose_2[1]
+		goal_drop_2.pose.position.x = 6.33
+		goal_drop_2.pose.position.y = -1.01
 		goal_drop_2.pose.orientation.x = goal_theta_5[0]
 		goal_drop_2.pose.orientation.y = goal_theta_5[1]
 		goal_drop_2.pose.orientation.z = goal_theta_5[2]
@@ -384,10 +388,12 @@ def main(self):
 
 		self.navigator.waitUntilNav2Active()
 
-		self.set_parameter()
+		# self.set_parameter()
 
 		# self.arm_request(rack_no = "3")
 		# self.navigate_and_dock(goal_pick_1, goal_drop_1, goal_drop_init_1, orientation_rack_1, rack_list[0], "1")
+		self.navigator.goToPose(goal_drop_2)
+		self.nav_reach(goal_drop_2)
 		# self.move_with_linear_x(2.0,0.5,-0.95)
 		# self.navigate_and_dock(goal_pick_2, goal_drop_2, goal_drop_init_2, orientation_rack_2, rack_list[1], "2")
 		# self.move_with_linear_x(2.0,0.5,-0.95)