2026RM仿真
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368d25494c
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16
mapping.sh
16
mapping.sh
@ -3,14 +3,14 @@ source install/setup.bash
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commands=(
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"ros2 launch rm_serial_driver rm_serial_driver.launch.py"
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"ros2 launch rm_decision decision.launch.py"
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# "ros2 launch rm_simpal_move simple_move.launch.py"
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# "ros2 launch rm_nav_bringup bringup_real.launch.py \
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# world:=wanzheng \
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# mode:=mapping \
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# lio:=fastlio \
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# lio_rviz:=True \
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# nav_rviz:=True
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# "
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"ros2 launch rm_simpal_move simple_move.launch.py"
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"ros2 launch rm_nav_bringup bringup_sim.launch.py \
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world:=2026RMUL \
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mode:=mapping \
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lio:=fastlio \
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lio_rviz:=True \
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nav_rviz:=True
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"
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)
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for cmd in "${commands[@]}"; do
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2
sim.sh
2
sim.sh
@ -5,7 +5,7 @@ commands=(
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# "ros2 launch rm_decision decision.launch.py"
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"ros2 launch rm_simpal_move simple_move.launch.py"
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"ros2 launch rm_nav_bringup bringup_sim.launch.py \
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world:=RMUC \
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world:=2026RMUL \
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mode:=nav \
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lio:=fastlio \
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localization:=gicp \
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BIN
src/rm_nav/rm_nav_bringup/PCD/2026RMUL.pcd
Normal file
BIN
src/rm_nav/rm_nav_bringup/PCD/2026RMUL.pcd
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Binary file not shown.
@ -7,7 +7,7 @@
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filter_size_map: 0.5
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cube_side_length: 1000.0
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runtime_pos_log_enable: false
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map_file_path: "src/rm_nav/rm_nav_bringup/PCD/RMUL2026.pcd"
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map_file_path: "src/rm_nav/rm_nav_bringup/PCD/2026RMUL.pcd"
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common:
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lid_topic: "/livox/lidar"
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BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.data
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BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.data
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Binary file not shown.
BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.pgm
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BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.pgm
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Binary file not shown.
BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.posegraph
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BIN
src/rm_nav/rm_nav_bringup/map/2026RMUL.posegraph
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Binary file not shown.
7
src/rm_nav/rm_nav_bringup/map/2026RMUL.yaml
Normal file
7
src/rm_nav/rm_nav_bringup/map/2026RMUL.yaml
Normal file
@ -0,0 +1,7 @@
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image: 2026RMUL.pgm
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mode: trinary
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resolution: 0.05
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origin: [-0.921, -6.36, 0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.25
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@ -18,6 +18,7 @@ class WorldType:
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RMUC = 'RMUC'
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RMUL = 'RMUL'
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RMUL2026 = 'RMUL2026'
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_2026RMUL = '2026RMUL'
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def get_world_config(world_type):
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world_configs = {
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@ -42,6 +43,13 @@ def get_world_config(world_type):
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'z': '0.063720',
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'yaw': '0.0',
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'world_path': 'RMUL2026_world/RMUL2026_world.world'
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},
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WorldType._2026RMUL: {
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'x': '-5.3',
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'y': '2.3',
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'z': '0.063720',
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'yaw': '0.0',
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'world_path': '2026RMUL_world/2026RMUL_world.world'
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}
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}
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return world_configs.get(world_type, None)
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@ -155,6 +163,7 @@ def generate_launch_description():
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bringup_RMUC_cmd_group = create_gazebo_launch_group(WorldType.RMUC)
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bringup_RMUL_cmd_group = create_gazebo_launch_group(WorldType.RMUL)
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bringup_RMUL2026_cmd_group = create_gazebo_launch_group(WorldType.RMUL2026)
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bringup_2026RMUL_cmd_group = create_gazebo_launch_group(WorldType._2026RMUL)
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# Create the launch description and populate
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ld = LaunchDescription()
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@ -172,6 +181,7 @@ def generate_launch_description():
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ld.add_action(bringup_RMUL_cmd_group) # type: ignore
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ld.add_action(bringup_RMUC_cmd_group) # type: ignore
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ld.add_action(bringup_RMUL2026_cmd_group) # type: ignore
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ld.add_action(bringup_2026RMUL_cmd_group) # type: ignore
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# Uncomment this line if you want to start RViz
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ld.add_action(start_rviz_cmd)
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Binary file not shown.
@ -0,0 +1,6 @@
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<?xml version="1.0"?>
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<model>
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<name>2026RMUL_world</name>
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<version>1.0</version>
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<sdf version="1.7">model.sdf</sdf>
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</model>
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@ -0,0 +1,45 @@
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<?xml version="1.0"?>
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<sdf version="1.7">
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<model name="2026RMUL">
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<static>true</static>
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<link name="link">
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<visual name="visual">
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<pose>0 0 0 1.5705 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<ambient>0.3 0.3 0.3 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<collision name="collision">
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<pose>0 0 0 1.5705 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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</model>
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</sdf>
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@ -0,0 +1,149 @@
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<sdf version='1.7'>
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<world name='default'>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>65535</collide_bitmask>
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<ode/>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<bounce/>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>0</shadows>
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</scene>
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<model name='2026RMUL'>
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<link name='link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<pose>0 0 0 1.5705 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<ambient>0.3 0.3 0.3 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<collision name='collision'>
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<pose>0 0 0 1.5705 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<static>1</static>
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<pose>-6.2 4.2 0 0 0 0</pose>
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</model>
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<light name='user_directional_light_0' type='directional'>
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<pose>0.5 0.5 13 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<direction>0 0 -1</direction>
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<attenuation>
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<range>20</range>
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<constant>0.5</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<cast_shadows>0</cast_shadows>
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</light>
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<light name='user_point_light_0' type='point'>
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<pose>0.5 0.5 14 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<attenuation>
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<range>20</range>
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<constant>0.5</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<cast_shadows>0</cast_shadows>
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<direction>0 0 -1</direction>
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</light>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>7.46312 3.78907 13.2486 -2.7e-05 1.5698 1.56647</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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