From 4614dddebe4726a92fcf81f22956840e4de27767 Mon Sep 17 00:00:00 2001
From: charlielito <candres.alv@gmail.com>
Date: Mon, 9 Aug 2021 20:49:18 -0700
Subject: [PATCH] Add new params, video and use_sim_time param

---
 README.md                          | 30 +++++++++++++++++++++++++++---
 explore/config/params.yaml         |  2 +-
 explore/config/params_costmap.yaml |  2 +-
 explore/launch/explore.launch.py   | 14 ++++++++++++--
 4 files changed, 41 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 1631d4b..cf89ee7 100644
--- a/README.md
+++ b/README.md
@@ -4,15 +4,14 @@ ROS2 package port for (not yet multi) robot exploration of [m-explore](https://g
 
 
 ### TB3
-https://user-images.githubusercontent.com/8033598/127044265-f59ee9d1-93c6-4b73-b022-467eeb671d2a.mp4
-
+https://user-images.githubusercontent.com/8033598/128805356-be90a880-16c6-4fc9-8f54-e3302873dc8c.mp4
 
 
+### On a JetBot with realsense cameras
 https://user-images.githubusercontent.com/18732666/128493567-6841dde0-2250-4d81-9bcb-8b216e0fb34d.mp4
 
 
 
-
 Installing
 ----------
 
@@ -32,6 +31,31 @@ To run with a params file just run it with
 ros2 run explore_lite explore --ros-args --params-file <path_to_ros_ws>/m-explore/explore/config/params.yaml
 ```
 
+### Running the demo with TB3
+Install nav2 and tb3 simulation. You can follow the [tutorial](https://navigation.ros.org/getting_started/index.html#installation).
+Then just run the nav2 stack with slam:
+```
+ros2 launch nav2_bringup tb3_simulation_launch.py slam:=true
+```
+
+And run this package with
+```
+ros2 launch explore_lite explore.launch.py
+```
+
+
+#### TB3 troubleshooting
+If you have trouble with TB3 in simulation like we did, add this extra steps for configuring it.
+
+```
+source /opt/ros/${ROS_DISTRO}/setup.bash
+export TURTLEBOT3_MODEL=waffle
+sudo rm -rf /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
+sudo git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations/turtlebot3_gazebo/models
+```
+Then you'll be able to run it.
+
 WIKI
 ----
 No wiki yet.
diff --git a/explore/config/params.yaml b/explore/config/params.yaml
index cb12a10..305f3f4 100644
--- a/explore/config/params.yaml
+++ b/explore/config/params.yaml
@@ -4,7 +4,7 @@ explore_node:
     costmap_topic: map
     costmap_updates_topic: map_updates
     visualize: true
-    planner_frequency: 0.33
+    planner_frequency: 0.25
     progress_timeout: 30.0
     potential_scale: 3.0
     orientation_scale: 0.0
diff --git a/explore/config/params_costmap.yaml b/explore/config/params_costmap.yaml
index e609fb4..515d622 100644
--- a/explore/config/params_costmap.yaml
+++ b/explore/config/params_costmap.yaml
@@ -4,7 +4,7 @@ explore_node:
     costmap_topic: /global_costmap/costmap
     costmap_updates_topic: /global_costmap/costmap_updates
     visualize: true
-    planner_frequency: 0.33
+    planner_frequency: 0.25
     progress_timeout: 30.0
     potential_scale: 3.0
     orientation_scale: 0.0
diff --git a/explore/launch/explore.launch.py b/explore/launch/explore.launch.py
index d60daad..4beda5c 100644
--- a/explore/launch/explore.launch.py
+++ b/explore/launch/explore.launch.py
@@ -1,21 +1,31 @@
 import os
+
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
 from launch_ros.actions import Node
 
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
 
 def generate_launch_description():
     ld = LaunchDescription()
     config = os.path.join(
         get_package_share_directory("explore_lite"), "config", "params.yaml"
     )
+    use_sim_time = LaunchConfiguration("use_sim_time")
+
+    declare_use_sim_time_argument = DeclareLaunchArgument(
+        "use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
+    )
 
     node = Node(
         package="explore_lite",
         name="explore_node",
         executable="explore",
-        parameters=[config],
+        parameters=[config, {"use_sim_time": use_sim_time}],
         output="screen",
     )
+    ld.add_action(declare_use_sim_time_argument)
     ld.add_action(node)
     return ld