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added offboard launch file and init core filter node
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| core_filter: | ||
| landmark_ground_truth: | ||
| my_global_param: "Test" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| import os | ||
| from ament_index_python.packages import get_package_share_directory | ||
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| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
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| from launch_ros.substitutions import FindPackageShare | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import PathJoinSubstitution, TextSubstitution | ||
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| def generate_launch_description(): | ||
| config = os.path.join( | ||
| get_package_share_directory('particle_filter'), | ||
| 'config', | ||
| 'landmark_ground_truth.yaml' | ||
| ) | ||
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| pf_landmark_detector = Node( | ||
| package='particle_filter', | ||
| executable='landmark_detector.py', | ||
| name='landmark_detector' | ||
| ) | ||
| visualizer = Node( | ||
| package='particle_filter', | ||
| executable='visualizer.py', | ||
| name='visualizer' | ||
| ) | ||
| tb3_teleop = Node( | ||
| package='turtlebot3_teleop', | ||
| executable='teleop_keyboard', | ||
| name = 'tb3_teleop_keyboard', | ||
| output='screen' | ||
| # remappings=[ | ||
| # ('/cmd_vel', '/wheel_commands'), | ||
| ) | ||
| rviz_config = os.path.join( | ||
| get_package_share_directory('particle_filter'), | ||
| 'rviz', | ||
| 'particle_filter.rviz' | ||
| ) | ||
| rviz = Node( | ||
| package='rviz2', | ||
| executable='rviz2', | ||
| name='rviz2', | ||
| arguments=['-d', str(rviz_config)] | ||
| ) | ||
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| return LaunchDescription([ | ||
| rviz, | ||
| pf_landmark_detector, | ||
| visualizer | ||
| ]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
| from std_msgs.msg import String | ||
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| from geometry_msgs.msg import Point, Pose, Point, Quaternion, Vector3 | ||
| from rclpy.qos import qos_profile_sensor_data, QoSProfile | ||
| from std_msgs.msg import Float64 | ||
| import numpy as np | ||
| from particle_filter.helper import polar2cartesian, scan2cartesian, circlefit, cartesian2polar, clustering, cartesian_clustering | ||
| from particle_filter.msg import LdPose | ||
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| class MinimalPublisher(Node): | ||
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| def __init__(self): | ||
| super().__init__('minimal_publisher') | ||
| self.publisher_ = self.create_publisher(String, 'topic', 10) | ||
| timer_period = 0.5 # seconds | ||
| self.timer = self.create_timer(timer_period, self.timer_callback) | ||
| self.i = 0 | ||
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| def timer_callback(self): | ||
| msg = String() | ||
| msg.data = 'Hello World: %d' % self.i | ||
| self.publisher_.publish(msg) | ||
| self.get_logger().info('Publishing: "%s"' % msg.data) | ||
| self.i += 1 | ||
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| def main(args=None): | ||
| rclpy.init(args=args) | ||
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| minimal_publisher = MinimalPublisher() | ||
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| rclpy.spin(minimal_publisher) | ||
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| # Destroy the node explicitly | ||
| # (optional - otherwise it will be done automatically | ||
| # when the garbage collector destroys the node object) | ||
| minimal_publisher.destroy_node() | ||
| rclpy.shutdown() | ||
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| if __name__ == '__main__': | ||
| main() |