beluga_example package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial

Package Summary

Tags	No category tags.
Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2024-10-25
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Example launch files for Beluga AMCL.

Additional Links

No additional links.

Maintainers

Gerardo Puga
Ivan Paunovic
Nahuel Espinosa

Authors

No additional authors.

beluga_example/README.md

Beluga Example

This package contains example launch files that demonstrate the use of Beluga-based nodes (e.g. Beluga AMCL) with external ROS bags or simulation software.

Examples

The following examples are easier to run in Beluga development containers.

Run an example application using a ROS bag.

For ROS 2 distributions, run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example perfect_odometry.launch.xml
    

For ROS 1 distributions, run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example perfect_odometry.launch
    

Run an example application using a simulation and teleop controls.

For ROS 2 distributions, in two separate terminals run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example simulation.launch.xml
    

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

For ROS 1 distributions, in two separate terminals run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example simulation.launch
    

    rosrun teleop_twist_keyboard teleop_twist_keyboard

Note that this example uses [Flatland](https://flatland-simulator.readthedocs.io) for simulation.
A Flatland source installation is provisioned in development containers.
You will have to provision one yourself to run this elsewhere.

Launch a localization node manually.

For ROS 2 distributions, run:

   ros2 launch beluga_example localization_launch.py use_composition:=True localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

For ROS 1 distributions, run:

   roslaunch beluga_example localization.launch localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

The localization_params_file argument can be ommited if the default AMCL parameters are compatible with the robot.

Use RViz to visualize the localization output.

For ROS 2 distributions, run:

   rviz2 -d $(ros2 pkg prefix --share beluga_example)/rviz/amcl.ros2.rviz
   

For ROS 1 distributions, run:

   rviz -d $(rospack find beluga_example)/rviz/amcl.ros.rviz
   

Quality of Service

In ROS 2, when subscribing to the output topics from localization, we recommend the following QoS settings:

Topic	Depth	History	Reliability	Durability
`map`	5	Keep last	Reliable	Transient local
`particle_cloud`	5	Keep last	Best effort	Volatile
`pose`	5	Keep last	Reliable	Volatile

CHANGELOG

Changelog for package beluga_example

2.0.2 (2024-06-18)

Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Remap [/turtlebot/scan]{.title-ref} to [/scan]{.title-ref} for Flatland (#373)
Update more ROS version detection logic (#367)
Add example for NDT sensor model in beluga_example (#360)
Isolate Flatland dependency (#361)
Unify Beluga documentation (#346)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix [perfect_odometry]{.title-ref} rosbag (#238)
Add cmake-format to pre-commit hooks (#243)
Reduce simulated odometry noise (#241)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Add ROS Noetic support to [beluga_example]{.title-ref} (#223)
Refactor launch files (#211)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Improve documentation and guidelines (#186)
Initialize particle filter with last known estimate (#185)
Update license year to 2023 (#175)
Add beam sensor model (#160)
Remove Git LFS from the repository (#162)
Performance comparison with nav2_amcl (#142)
Select mixin components at runtime (#126)
Add top level-readme (#125)
Update list of maintainers (#130)
Add script to run benchmarks (#117)
Add flake8 and pep257 to pre-commit hooks (#115)
Broadcast map-to-odom transform (#81)
Set initial pose from params (#105)
More configurable launch files (#103)
Make execution policy configurable (#100)
Add profiling instructions (#96)
Add max_beams parameter to [beluga_amcl]{.title-ref} (#84)
Refactor laser_callback method (#89)
Add launch params to select localization node (#83)
Fix node clean up (#69)
Extract common nodes from example launch files (#71)
Add launch example with ROS bag (#65)
Export AMCL as a loadable component (#63)
Add reinitialize method to the particle filter (#51)
Add initial pose subscriber (#45)
Add lint step to CI (#37)
Integrate differential drive motion model (#33)
Fix robot geometry and reduce laser rate (#31)
Add pose estimation publisher (#30)
Implement likelihood estimation for particles (#25)
Add likelihood field pre-computation (#24)
Add flatland simulation (#23)
Add [beluga_amcl]{.title-ref} package and example launch file (#21)
Contributors: Gerardo Puga, Ivan Santiago Paunovic, Michel Hidalgo, Nahuel Espinosa, Olmer Garcia-Bedoya, Ramiro Serra

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	beluga_amcl
	amcl
	map_server
	roslaunch
	rviz
	launch_ros
	nav2_amcl
	nav2_lifecycle_manager
	nav2_map_server
	rviz2
	teleop_twist_keyboard
	launch
	launch_testing

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark

Launch files

launch/simulation.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rosbag.launch
- - start_paused [default: false] — Start the rosbag player in a paused state.
  - playback_rate [default: 3.0] — Rate used to playback the bag.
  - rosbag_path [default: $(find beluga_example)/bags/perfect_odometry.bag] — Path of the rosbag to playback.
  - record_bag [default: false] — Whether to record a bagfile or not.
  - topics_to_record [default: /tf /amcl_pose /pose /odometry/ground_truth] — Topics to record in a new bagfile.
  - bagfile_output [default: ] — Destination bagfile to create, defaults to timestamped folder
launch/utils/flatland.launch
launch/utils/localization.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - localization_params_file [default: $(find beluga_example)/params/default.ros.yaml] — Parameters file to be used to run the localization node.
  - localization_map [default: $(find beluga_example)/maps/turtlebot3_world.yaml] — Map YAML file to be used by the localization node.
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rviz.launch
- - display_config [default: $(find beluga_example)/rviz/rviz.rviz] — A display config file (.rviz) to load.
launch/perfect_odometry.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/ndt_simulation.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt.ros2.yaml]
launch/ndt_replay_3d.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt_3d.ros2.yaml]
  - localization_ndt_map
  - bag_path
launch/perfect_odometry.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default.ros2.yaml]
launch/simulation.launch.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `beluga_example` at Robotics Stack Exchange

API Docs Browse Code Wiki

beluga_example package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2024-10-25
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Example launch files for Beluga AMCL.

Additional Links

No additional links.

Maintainers

Gerardo Puga
Ivan Paunovic
Nahuel Espinosa

Authors

No additional authors.

beluga_example/README.md

Beluga Example

This package contains example launch files that demonstrate the use of Beluga-based nodes (e.g. Beluga AMCL) with external ROS bags or simulation software.

Examples

The following examples are easier to run in Beluga development containers.

Run an example application using a ROS bag.

For ROS 2 distributions, run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example perfect_odometry.launch.xml
    

For ROS 1 distributions, run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example perfect_odometry.launch
    

Run an example application using a simulation and teleop controls.

For ROS 2 distributions, in two separate terminals run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example simulation.launch.xml
    

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

For ROS 1 distributions, in two separate terminals run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example simulation.launch
    

    rosrun teleop_twist_keyboard teleop_twist_keyboard

Note that this example uses [Flatland](https://flatland-simulator.readthedocs.io) for simulation.
A Flatland source installation is provisioned in development containers.
You will have to provision one yourself to run this elsewhere.

Launch a localization node manually.

For ROS 2 distributions, run:

   ros2 launch beluga_example localization_launch.py use_composition:=True localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

For ROS 1 distributions, run:

   roslaunch beluga_example localization.launch localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

The localization_params_file argument can be ommited if the default AMCL parameters are compatible with the robot.

Use RViz to visualize the localization output.

For ROS 2 distributions, run:

   rviz2 -d $(ros2 pkg prefix --share beluga_example)/rviz/amcl.ros2.rviz
   

For ROS 1 distributions, run:

   rviz -d $(rospack find beluga_example)/rviz/amcl.ros.rviz
   

Quality of Service

In ROS 2, when subscribing to the output topics from localization, we recommend the following QoS settings:

Topic	Depth	History	Reliability	Durability
`map`	5	Keep last	Reliable	Transient local
`particle_cloud`	5	Keep last	Best effort	Volatile
`pose`	5	Keep last	Reliable	Volatile

CHANGELOG

Changelog for package beluga_example

2.0.2 (2024-06-18)

Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Remap [/turtlebot/scan]{.title-ref} to [/scan]{.title-ref} for Flatland (#373)
Update more ROS version detection logic (#367)
Add example for NDT sensor model in beluga_example (#360)
Isolate Flatland dependency (#361)
Unify Beluga documentation (#346)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix [perfect_odometry]{.title-ref} rosbag (#238)
Add cmake-format to pre-commit hooks (#243)
Reduce simulated odometry noise (#241)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Add ROS Noetic support to [beluga_example]{.title-ref} (#223)
Refactor launch files (#211)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Improve documentation and guidelines (#186)
Initialize particle filter with last known estimate (#185)
Update license year to 2023 (#175)
Add beam sensor model (#160)
Remove Git LFS from the repository (#162)
Performance comparison with nav2_amcl (#142)
Select mixin components at runtime (#126)
Add top level-readme (#125)
Update list of maintainers (#130)
Add script to run benchmarks (#117)
Add flake8 and pep257 to pre-commit hooks (#115)
Broadcast map-to-odom transform (#81)
Set initial pose from params (#105)
More configurable launch files (#103)
Make execution policy configurable (#100)
Add profiling instructions (#96)
Add max_beams parameter to [beluga_amcl]{.title-ref} (#84)
Refactor laser_callback method (#89)
Add launch params to select localization node (#83)
Fix node clean up (#69)
Extract common nodes from example launch files (#71)
Add launch example with ROS bag (#65)
Export AMCL as a loadable component (#63)
Add reinitialize method to the particle filter (#51)
Add initial pose subscriber (#45)
Add lint step to CI (#37)
Integrate differential drive motion model (#33)
Fix robot geometry and reduce laser rate (#31)
Add pose estimation publisher (#30)
Implement likelihood estimation for particles (#25)
Add likelihood field pre-computation (#24)
Add flatland simulation (#23)
Add [beluga_amcl]{.title-ref} package and example launch file (#21)
Contributors: Gerardo Puga, Ivan Santiago Paunovic, Michel Hidalgo, Nahuel Espinosa, Olmer Garcia-Bedoya, Ramiro Serra

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	beluga_amcl
	amcl
	map_server
	roslaunch
	rviz
	launch_ros
	nav2_amcl
	nav2_lifecycle_manager
	nav2_map_server
	rviz2
	teleop_twist_keyboard
	launch
	launch_testing

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark

Launch files

launch/simulation.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rosbag.launch
- - start_paused [default: false] — Start the rosbag player in a paused state.
  - playback_rate [default: 3.0] — Rate used to playback the bag.
  - rosbag_path [default: $(find beluga_example)/bags/perfect_odometry.bag] — Path of the rosbag to playback.
  - record_bag [default: false] — Whether to record a bagfile or not.
  - topics_to_record [default: /tf /amcl_pose /pose /odometry/ground_truth] — Topics to record in a new bagfile.
  - bagfile_output [default: ] — Destination bagfile to create, defaults to timestamped folder
launch/utils/flatland.launch
launch/utils/localization.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - localization_params_file [default: $(find beluga_example)/params/default.ros.yaml] — Parameters file to be used to run the localization node.
  - localization_map [default: $(find beluga_example)/maps/turtlebot3_world.yaml] — Map YAML file to be used by the localization node.
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rviz.launch
- - display_config [default: $(find beluga_example)/rviz/rviz.rviz] — A display config file (.rviz) to load.
launch/perfect_odometry.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/ndt_simulation.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt.ros2.yaml]
launch/ndt_replay_3d.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt_3d.ros2.yaml]
  - localization_ndt_map
  - bag_path
launch/perfect_odometry.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default.ros2.yaml]
launch/simulation.launch.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `beluga_example` at Robotics Stack Exchange

API Docs Browse Code Wiki

beluga_example package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2024-10-25
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Example launch files for Beluga AMCL.

Additional Links

No additional links.

Maintainers

Gerardo Puga
Ivan Paunovic
Nahuel Espinosa

Authors

No additional authors.

beluga_example/README.md

Beluga Example

This package contains example launch files that demonstrate the use of Beluga-based nodes (e.g. Beluga AMCL) with external ROS bags or simulation software.

Examples

The following examples are easier to run in Beluga development containers.

Run an example application using a ROS bag.

For ROS 2 distributions, run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example perfect_odometry.launch.xml
    

For ROS 1 distributions, run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example perfect_odometry.launch
    

Run an example application using a simulation and teleop controls.

For ROS 2 distributions, in two separate terminals run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example simulation.launch.xml
    

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

For ROS 1 distributions, in two separate terminals run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example simulation.launch
    

    rosrun teleop_twist_keyboard teleop_twist_keyboard

Note that this example uses [Flatland](https://flatland-simulator.readthedocs.io) for simulation.
A Flatland source installation is provisioned in development containers.
You will have to provision one yourself to run this elsewhere.

Launch a localization node manually.

For ROS 2 distributions, run:

   ros2 launch beluga_example localization_launch.py use_composition:=True localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

For ROS 1 distributions, run:

   roslaunch beluga_example localization.launch localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

The localization_params_file argument can be ommited if the default AMCL parameters are compatible with the robot.

Use RViz to visualize the localization output.

For ROS 2 distributions, run:

   rviz2 -d $(ros2 pkg prefix --share beluga_example)/rviz/amcl.ros2.rviz
   

For ROS 1 distributions, run:

   rviz -d $(rospack find beluga_example)/rviz/amcl.ros.rviz
   

Quality of Service

In ROS 2, when subscribing to the output topics from localization, we recommend the following QoS settings:

Topic	Depth	History	Reliability	Durability
`map`	5	Keep last	Reliable	Transient local
`particle_cloud`	5	Keep last	Best effort	Volatile
`pose`	5	Keep last	Reliable	Volatile

CHANGELOG

Changelog for package beluga_example

2.0.2 (2024-06-18)

Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Remap [/turtlebot/scan]{.title-ref} to [/scan]{.title-ref} for Flatland (#373)
Update more ROS version detection logic (#367)
Add example for NDT sensor model in beluga_example (#360)
Isolate Flatland dependency (#361)
Unify Beluga documentation (#346)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix [perfect_odometry]{.title-ref} rosbag (#238)
Add cmake-format to pre-commit hooks (#243)
Reduce simulated odometry noise (#241)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Add ROS Noetic support to [beluga_example]{.title-ref} (#223)
Refactor launch files (#211)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Improve documentation and guidelines (#186)
Initialize particle filter with last known estimate (#185)
Update license year to 2023 (#175)
Add beam sensor model (#160)
Remove Git LFS from the repository (#162)
Performance comparison with nav2_amcl (#142)
Select mixin components at runtime (#126)
Add top level-readme (#125)
Update list of maintainers (#130)
Add script to run benchmarks (#117)
Add flake8 and pep257 to pre-commit hooks (#115)
Broadcast map-to-odom transform (#81)
Set initial pose from params (#105)
More configurable launch files (#103)
Make execution policy configurable (#100)
Add profiling instructions (#96)
Add max_beams parameter to [beluga_amcl]{.title-ref} (#84)
Refactor laser_callback method (#89)
Add launch params to select localization node (#83)
Fix node clean up (#69)
Extract common nodes from example launch files (#71)
Add launch example with ROS bag (#65)
Export AMCL as a loadable component (#63)
Add reinitialize method to the particle filter (#51)
Add initial pose subscriber (#45)
Add lint step to CI (#37)
Integrate differential drive motion model (#33)
Fix robot geometry and reduce laser rate (#31)
Add pose estimation publisher (#30)
Implement likelihood estimation for particles (#25)
Add likelihood field pre-computation (#24)
Add flatland simulation (#23)
Add [beluga_amcl]{.title-ref} package and example launch file (#21)
Contributors: Gerardo Puga, Ivan Santiago Paunovic, Michel Hidalgo, Nahuel Espinosa, Olmer Garcia-Bedoya, Ramiro Serra

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	beluga_amcl
	amcl
	map_server
	roslaunch
	rviz
	launch_ros
	nav2_amcl
	nav2_lifecycle_manager
	nav2_map_server
	rviz2
	teleop_twist_keyboard
	launch
	launch_testing

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark

Launch files

launch/simulation.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rosbag.launch
- - start_paused [default: false] — Start the rosbag player in a paused state.
  - playback_rate [default: 3.0] — Rate used to playback the bag.
  - rosbag_path [default: $(find beluga_example)/bags/perfect_odometry.bag] — Path of the rosbag to playback.
  - record_bag [default: false] — Whether to record a bagfile or not.
  - topics_to_record [default: /tf /amcl_pose /pose /odometry/ground_truth] — Topics to record in a new bagfile.
  - bagfile_output [default: ] — Destination bagfile to create, defaults to timestamped folder
launch/utils/flatland.launch
launch/utils/localization.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - localization_params_file [default: $(find beluga_example)/params/default.ros.yaml] — Parameters file to be used to run the localization node.
  - localization_map [default: $(find beluga_example)/maps/turtlebot3_world.yaml] — Map YAML file to be used by the localization node.
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rviz.launch
- - display_config [default: $(find beluga_example)/rviz/rviz.rviz] — A display config file (.rviz) to load.
launch/perfect_odometry.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/ndt_simulation.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt.ros2.yaml]
launch/ndt_replay_3d.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt_3d.ros2.yaml]
  - localization_ndt_map
  - bag_path
launch/perfect_odometry.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default.ros2.yaml]
launch/simulation.launch.xml

Messages

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Services

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beluga_example package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2024-10-25
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Example launch files for Beluga AMCL.

Additional Links

No additional links.

Maintainers

Gerardo Puga
Ivan Paunovic
Nahuel Espinosa

Authors

No additional authors.

beluga_example/README.md

Beluga Example

This package contains example launch files that demonstrate the use of Beluga-based nodes (e.g. Beluga AMCL) with external ROS bags or simulation software.

Examples

The following examples are easier to run in Beluga development containers.

Run an example application using a ROS bag.

For ROS 2 distributions, run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example perfect_odometry.launch.xml
    

For ROS 1 distributions, run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example perfect_odometry.launch
    

Run an example application using a simulation and teleop controls.

For ROS 2 distributions, in two separate terminals run:

    cd /ws
    source install/setup.bash
    ros2 launch beluga_example simulation.launch.xml
    

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

For ROS 1 distributions, in two separate terminals run:

    cd /ws
    source devel*/setup.bash
    roslaunch beluga_example simulation.launch
    

    rosrun teleop_twist_keyboard teleop_twist_keyboard

Note that this example uses [Flatland](https://flatland-simulator.readthedocs.io) for simulation.
A Flatland source installation is provisioned in development containers.
You will have to provision one yourself to run this elsewhere.

Launch a localization node manually.

For ROS 2 distributions, run:

   ros2 launch beluga_example localization_launch.py use_composition:=True localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

For ROS 1 distributions, run:

   roslaunch beluga_example localization.launch localization_params_file:=<PARAMS_PATH> localization_map:=<MAP_YAML_PATH>
   

The localization_params_file argument can be ommited if the default AMCL parameters are compatible with the robot.

Use RViz to visualize the localization output.

For ROS 2 distributions, run:

   rviz2 -d $(ros2 pkg prefix --share beluga_example)/rviz/amcl.ros2.rviz
   

For ROS 1 distributions, run:

   rviz -d $(rospack find beluga_example)/rviz/amcl.ros.rviz
   

Quality of Service

In ROS 2, when subscribing to the output topics from localization, we recommend the following QoS settings:

Topic	Depth	History	Reliability	Durability
`map`	5	Keep last	Reliable	Transient local
`particle_cloud`	5	Keep last	Best effort	Volatile
`pose`	5	Keep last	Reliable	Volatile

CHANGELOG

Changelog for package beluga_example

2.0.2 (2024-06-18)

Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Remap [/turtlebot/scan]{.title-ref} to [/scan]{.title-ref} for Flatland (#373)
Update more ROS version detection logic (#367)
Add example for NDT sensor model in beluga_example (#360)
Isolate Flatland dependency (#361)
Unify Beluga documentation (#346)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix [perfect_odometry]{.title-ref} rosbag (#238)
Add cmake-format to pre-commit hooks (#243)
Reduce simulated odometry noise (#241)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Add ROS Noetic support to [beluga_example]{.title-ref} (#223)
Refactor launch files (#211)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Improve documentation and guidelines (#186)
Initialize particle filter with last known estimate (#185)
Update license year to 2023 (#175)
Add beam sensor model (#160)
Remove Git LFS from the repository (#162)
Performance comparison with nav2_amcl (#142)
Select mixin components at runtime (#126)
Add top level-readme (#125)
Update list of maintainers (#130)
Add script to run benchmarks (#117)
Add flake8 and pep257 to pre-commit hooks (#115)
Broadcast map-to-odom transform (#81)
Set initial pose from params (#105)
More configurable launch files (#103)
Make execution policy configurable (#100)
Add profiling instructions (#96)
Add max_beams parameter to [beluga_amcl]{.title-ref} (#84)
Refactor laser_callback method (#89)
Add launch params to select localization node (#83)
Fix node clean up (#69)
Extract common nodes from example launch files (#71)
Add launch example with ROS bag (#65)
Export AMCL as a loadable component (#63)
Add reinitialize method to the particle filter (#51)
Add initial pose subscriber (#45)
Add lint step to CI (#37)
Integrate differential drive motion model (#33)
Fix robot geometry and reduce laser rate (#31)
Add pose estimation publisher (#30)
Implement likelihood estimation for particles (#25)
Add likelihood field pre-computation (#24)
Add flatland simulation (#23)
Add [beluga_amcl]{.title-ref} package and example launch file (#21)
Contributors: Gerardo Puga, Ivan Santiago Paunovic, Michel Hidalgo, Nahuel Espinosa, Olmer Garcia-Bedoya, Ramiro Serra

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	beluga_amcl
	amcl
	map_server
	roslaunch
	rviz
	launch_ros
	nav2_amcl
	nav2_lifecycle_manager
	nav2_map_server
	rviz2
	teleop_twist_keyboard
	launch
	launch_testing

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark

Launch files

launch/simulation.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rosbag.launch
- - start_paused [default: false] — Start the rosbag player in a paused state.
  - playback_rate [default: 3.0] — Rate used to playback the bag.
  - rosbag_path [default: $(find beluga_example)/bags/perfect_odometry.bag] — Path of the rosbag to playback.
  - record_bag [default: false] — Whether to record a bagfile or not.
  - topics_to_record [default: /tf /amcl_pose /pose /odometry/ground_truth] — Topics to record in a new bagfile.
  - bagfile_output [default: ] — Destination bagfile to create, defaults to timestamped folder
launch/utils/flatland.launch
launch/utils/localization.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - localization_params_file [default: $(find beluga_example)/params/default.ros.yaml] — Parameters file to be used to run the localization node.
  - localization_map [default: $(find beluga_example)/maps/turtlebot3_world.yaml] — Map YAML file to be used by the localization node.
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/utils/rviz.launch
- - display_config [default: $(find beluga_example)/rviz/rviz.rviz] — A display config file (.rviz) to load.
launch/perfect_odometry.launch
- - localization_package [default: beluga_amcl] — Package that provides the localization node to launch.
  - localization_node [default: amcl_node] — Localization node to launch.
  - localization_plugin [default: beluga_amcl/AmclNodelet] — Localization nodelet plugin to use if nodelets are enabled.
  - localization_prefix [default: ] — Set of commands/arguments to precede the node command (e.g. 'timem --').
  - use_nodelets [default: false] — Map YAML file to be used by the localization node.
launch/ndt_simulation.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt.ros2.yaml]
launch/ndt_replay_3d.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default_ndt_3d.ros2.yaml]
  - localization_ndt_map
  - bag_path
launch/perfect_odometry.launch.xml
- - localization_params_file [default: $(find-pkg-share beluga_example)/params/default.ros2.yaml]
launch/simulation.launch.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `beluga_example` at Robotics Stack Exchange

API Docs Browse Code Wiki

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beluga_example package from beluga repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Beluga Example

Examples

Changelog for package beluga_example

2.0.2 (2024-06-18)

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged beluga_example at Robotics Stack Exchange

beluga_example package from beluga repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Beluga Example

Examples

Changelog for package beluga_example

2.0.2 (2024-06-18)

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged beluga_example at Robotics Stack Exchange

beluga_example package from beluga repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Beluga Example

Examples

Changelog for package beluga_example

2.0.2 (2024-06-18)

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged beluga_example at Robotics Stack Exchange

beluga_example package from beluga repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Beluga Example

Examples

Changelog for package beluga_example

2.0.2 (2024-06-18)

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Wiki Tutorials

Recent questions tagged `beluga_example` at Robotics Stack Exchange

Recent questions tagged `beluga_example` at Robotics Stack Exchange

Recent questions tagged `beluga_example` at Robotics Stack Exchange

Recent questions tagged `beluga_example` at Robotics Stack Exchange