Feat/swarinfo 588 turtlebot adaptation (#73)

* New Footprint and main launchfile

* Removed RVIZ and fix move_base launch

* Fix move_base link

* hive_mind_bridge  port

* Changed default port

* Adjusted turtlebot_footprint

Co-authored-by: Etienne <vile2094@usherbrooke.ca>

Author: xgroleau

src/swarmus_turtlebot/launch/full_turtlebot_swarm_bringup.launch

@@ -0,0 +1,12 @@
+
+<launch>
+  <!-- Launchfile that starts the turtlebot navigation stack, serial communication with the OpenCr and the sensors -->
+  
+  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch"/> 
+
+  <include file="$(find swarmus_turtlebot)/launch/turtlebot.launch">
+      <arg name="model" value="burger"/>
+      <arg name="slam_methods" value="gmapping"/>
+  </include>
+
+</launch>

src/swarmus_turtlebot/launch/move_base.launch

@@ -8,12 +8,12 @@
   <!-- move_base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
+    <rosparam file="$(find swarmus_turtlebot)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find swarmus_turtlebot)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find swarmus_turtlebot)/param/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find swarmus_turtlebot)/param/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find swarmus_turtlebot)/param/move_base_params.yaml" command="load" />
+    <rosparam file="$(find swarmus_turtlebot)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
     <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />

src/swarmus_turtlebot/launch/turtlebot.launch

@@ -8,10 +8,12 @@
 
   <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
   <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
+  <arg name="robot_name" default=""/>
 
   <!-- Turtlebot3 -->
   <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
     <arg name="model" value="$(arg model)" />
+    <arg name="multi_robot_name" value="$(arg robot_name)"/>
   </include>
 
   <!--  Bridge -->
@@ -24,14 +26,8 @@
   </include>
 
   <!-- move_base -->
-  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
-    <arg name="model" value="$(arg model)" />
+  <include file="$(find swarmus_turtlebot)/launch/move_base.launch">
+    <arg name="model" value="$(arg model)"/>
     <arg name="move_forward_only" value="$(arg move_forward_only)"/>
   </include>
-
-  <!-- rviz -->
-  <group if="$(arg open_rviz)">
-    <node pkg="rviz" type="rviz" name="rviz" required="true"
-          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
-  </group>
 </launch>

src/swarmus_turtlebot/param/costmap_common_params_burger.yaml

@@ -1,7 +1,7 @@
 obstacle_range: 3.0
 raytrace_range: 3.5
 
-footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
+footprint: [[-0.28,-0.21], [-0.28,0.21], [0.15, 0.21], [0.15,-0.21]]
 #robot_radius: 0.105
 
 inflation_radius: 1.0