I create isaac project based on kaya robot (change to differential model). For test purposes use triangle map and put robot in corner.
Robot recognize location in global map, generate goal, create plan to goal, but hardware commands for speeds are zero.
Imu returns data, in virtual gamepad mode robot moves normally.
“config_files”: [
“apps/assets/maps/gtc_triangle_190317.config.json”
],
“graph_files”: [
“apps/assets/maps/gtc_triangle_190317.graph.json”
],
“graph”: {
“nodes”: [
{
“name”: “2d_natrix”,
“subgraph”: “apps/natrix/2d_natrix.subgraph.json”
},
{
“name”: “navigation”,
“subgraph”: “packages/navigation/apps/differential_base_navigation.subgraph.json”
},
{
“name”: “goals”,
“subgraph”: “packages/navigation/apps/goal_generators.subgraph.json”
},
{
“name”: “commander”,
“subgraph”: “packages/navigation/apps/differential_base_commander.subgraph.json”
}
],
“edges”: [
{
“source”: “commander.subgraph/interface/command”,
“__source”: “navigation.subgraph/interface/command”,
“target”: “2d_natrix.subgraph/interface/base_command”
},
{
“source”: “goals.subgraph/interface/goal”,
“target”: “navigation.subgraph/interface/goal”
},
{
“source”: “goals.subgraph/interface/goal”,
“target”: “2d_natrix.subgraph/interface/goal”
},
{
“source”: “navigation.subgraph/interface/plan”,
“target”: “2d_natrix.subgraph/interface/plan”
},
{
“source”: “navigation.subgraph/interface/feedback”,
“target”: “goals.subgraph/interface/feedback”
},
{
“source”: “2d_natrix.subgraph/interface/flatscan”,
“target”: “navigation.subgraph/interface/flatscan_for_localization”
},
{
“source”: “2d_natrix.subgraph/interface/flatscan”,
“target”: “navigation.subgraph/interface/flatscan_for_obstacles”
},
{
“source”: “2d_natrix.subgraph/interface/base_state”,
“target”: “navigation.subgraph/interface/state”
},
{
“source”: “2d_natrix.subgraph/interface/imu_raw”,
“target”: “navigation.subgraph/interface/imu_raw”
},
{
“source”: “navigation.subgraph/interface/odometry”,
“target”: “2d_natrix.subgraph/interface/navodometry”
},
{
“source”: “navigation.subgraph/interface/command”,
“target”: “commander.subgraph/interface/control”
}
]
},
“config”: {
“navigation.shared_robot_model”: {
“RangeScanModel”: {
“invalid_range_threshold”: 0.0,
“max_beam_error_far”: 0.1,
“max_beam_error_near”: 0.2,
“max_weight”: 0.5,
“out_of_range_threshold”: 2.0,
“percentile”: 0.9,
“sharpness”: 10
}
},
“navigation.range_scan_robot_removal”: {
“RangeScanRobotRemoval”: {
“sensor_frame”: “robot”
}
},
“navigation.localization.global_localization”: {
“GridSearchLocalizer”: {
“robot_radius”: 0.005,
“sample_distance”: 0.01,
“flatscan_frame”: “robot”,
“num_beams_gpu”: 128,
“use_second_flatscan”: false
}
},
“navigation.localization.viewers”: {
“FlatscanViewer”: {
“flatscan_frame”: “robot”
}
},
“navigation.localization.scan_localization”: {
“ParticleFilterLocalization”: {
“flatscan_frame”: “robot”,
“num_particles”: 50,
“initial_sigma”: [
0.01,
0.01,
0.01
],
“absolute_predict_sigma”: [
0.01,
0.01,
0.02
],
“relative_predict_sigma”: [
0.2,
0.2,
0.2
]
}
},
“navigation.local_map.local_map”: {
“isaac.navigation.LocalMap”: {
“flatscan_frame”: “robot”,
“map_decay_factor”: 0.995,
“dimensions”: [
128,
128
],
“map_offset_relative”: [
-0.125,
-0.5
],
“__cell_size”: 0.025,
“cell_size”: 0.05
}
},
“navigation.local_map.local_map_postprocessing”: {
“isaac.navigation.OccupancyToBinaryMap”: {
“is_optimistic”: true
},
“cleanup”: {
“clear_region”: [
[
-0.0,
0.0
],
[
-0.0,
0.0
]
]
}
},
“navigation.local_map.range_scan_to_observation_map”: {
“isaac.navigation.RangeScanToObservationMap”: {
“sensor_frame”: “robot”,
“sensor_lattice_frame”: “sensor_lattice”,
“wall_thickness”: 0.02
}
},
“navigation.planner.global_plan”: {
“isaac.planner.GlobalPlanner”: {
“graph_initialization_steps”: 500,
“graph_in_tick_steps”: 100
}
},
“navigation.control.lqr”: {
“isaac.planner.DifferentialBaseLqrPlanner”: {
“manual_mode_channel”: “commander.robot_remote/isaac.navigation.RobotRemoteControl/manual_mode”
}
},
“navigation.control.control”: {
“isaac.planner.DifferentialBaseControl”: {
“manual_mode_channel”: “commander.robot_remote/isaac.navigation.RobotRemoteControl/manual_mode”
}
}
}
Subgraph 2d_natrix.subgraph:
{
“modules”: [
“rgbd_processing”
],
“graph”: {
“nodes”: [
{
“name”: “subgraph”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “interface”,
“type”: “isaac::alice::Subgraph”
}
]
},
{
“name”: “natrix_hardware”,
“subgraph”: “apps/natrix/natrix_hardware.subgraph.json”
},
{
“name”: “image_flattening”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “isaac.rgbd_processing.DepthImageFlattening”,
“type”: “isaac::rgbd_processing::DepthImageFlattening”
},
{
“name”: “isaac.alice.Throttle”,
“type”: “isaac::alice::Throttle”
},
{
“name”: “FlatscanViewer”,
“type”: “isaac::viewers::FlatscanViewer”
}
]
}
],
“edges”: [
{
“source”: “subgraph/interface/navodometry”,
“target”: “natrix_hardware.subgraph/interface/navodometry”
},
{
“source”: “subgraph/interface/goal”,
“target”: “natrix_hardware.subgraph/interface/goal”
},
{
“source”: “subgraph/interface/plan”,
“target”: “natrix_hardware.subgraph/interface/plan”
},
{
“source”: “natrix_hardware.subgraph/interface/realsense_depth”,
“target”: “image_flattening/isaac.alice.Throttle/input”
},
{
“source”: “image_flattening/isaac.alice.Throttle/output”,
“target”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/depth”
},
{
“source”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/flatscan”,
“target”: “subgraph/interface/flatscan”
},
{
“source”: “subgraph/interface/base_command”,
“target”: “natrix_hardware.subgraph/interface/base_command”
},
{
“source”: “natrix_hardware.subgraph/interface/base_state”,
“target”: “subgraph/interface/base_state”
},
{
“source”: “natrix_hardware.subgraph/interface/imu_raw”,
“target”: “subgraph/interface/imu_raw”
},
{
“source”: “natrix_hardware.subgraph/interface/realsense_depth”,
“target”: “subgraph/interface/realsense_depth”
},
{
“source”: “natrix_hardware.subgraph/interface/realsense_color”,
“target”: “subgraph/interface/realsense_color”
},
{
“source”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/flatscan”,
“target”: “image_flattening/FlatscanViewer/flatscan”
}
]
},
“config”: {
“image_flattening”: {
“isaac.rgbd_processing.DepthImageFlattening”: {
“min_distance”: 0.1,
“max_distance”: 1.7,
“height_min”: 0.08,
“height_max”: 0.20,
“ground_frame”: “robot”,
“camera_frame”: “camera”,
“range_delta”: 0.015,
“sector_delta”: 0.008
},
“isaac.alice.Throttle”: {
“data_channel”: “input”,
“output_channel”: “output”,
“minimum_interval”: 0.1,
“use_signal_channel”: false
}
},
“FlatscanViewer”: {
“flatscan_frame”: “robot”
}
}
}