diff --git a/runLite.sh b/runLite.sh index 0fbbc51..e317266 100755 --- a/runLite.sh +++ b/runLite.sh @@ -15,7 +15,6 @@ -p 8308:8308/udp \ -e HOME=/home/ubuntu \ -e SHELL=/bin/bash \ - -v /home/kbkn/tsukuba2022/waypoint_navigation:/home/ubuntu/catkin_ws/src/waypoint_navigation \ --shm-size=512m \ --entrypoint '/startup.sh'\ bvbnatsu/tsukuba2022:$TAG diff --git a/src/tsukuba2022/CMakeLists.txt b/src/tsukuba2022/CMakeLists.txt new file mode 100644 index 0000000..632f934 --- /dev/null +++ b/src/tsukuba2022/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tsukuba2022) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED + roscpp + rospy + std_msgs + geometry_msgs + move_base_msgs + actionlib_msgs + sensor_msgs + tf2_sensor_msgs + move_base + actionlib + hardware_interface + controller_manager + message_filters + nodelet + std_srvs + tf + tf2 + tf2_ros +) + + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include + CATKIN_DEPENDS roscpp std_msgs message_filters nodelet sensor_msgs tf2 tf2_ros tf2_sensor_msgs + LIBRARIES ${PROJECT_NAME} +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/tsukuba2022.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/tsukuba2022_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_tsukuba2022.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/tsukuba2022/config/elecom_joy.yaml b/src/tsukuba2022/config/elecom_joy.yaml new file mode 100644 index 0000000..ed40e4b --- /dev/null +++ b/src/tsukuba2022/config/elecom_joy.yaml @@ -0,0 +1,9 @@ +axis_linear: 1 +scale_linear: 0.4 #0.4 +scale_linear_turbo: 1.0 #0.8 + +axis_angular: 0 +scale_angular: 0.5 #0.9 + +enable_button: 8 # L1 shoulder button +enable_turbo_button: 9 # R1 shoulder button diff --git a/src/tsukuba2022/config/gps_parameters.yaml b/src/tsukuba2022/config/gps_parameters.yaml new file mode 100644 index 0000000..38970f9 --- /dev/null +++ b/src/tsukuba2022/config/gps_parameters.yaml @@ -0,0 +1,37 @@ +# maintainer:kbkn/mori +# +# name of the port that connects to gps device +dev_name: /dev/sensors/rtkgps +# directory of the file where waypoints will be saved +output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/gps_waypoints.yaml +#output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/qualification_waypoints.yaml +# country_id: 0, then Japan +# country_id: 1, then USA +country_id: 0 +# true north is 0 degrees, clockwise angle +azimuth: 180 +# latitude and longitude information given by the organizer at IGVC +# - - latitude(1) +# - longitude(1) +# - - latitude(2) +# - longitude(2) +# ............ +latitude_longitude: + - - 42.66792770 + - -83.21932764 + - - 42.66807663 + - -83.21935915 + - - 42.66812064 + - -83.21936060 + - - 42.66826972 + - -83.21934030 + + +# - - 42.66826972 +# - -83,21934030 +# - - 42.66812064 +# - -83.21936060 +# - - 42.66807663 +# - -83.21935915 +# - - 42.66792770 +# - -83.21932764 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml new file mode 100644 index 0000000..1de4c59 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 23.832395277342513 + y: -39.51859423889264 + z: 0 + - point: + x: 7.288423107180874 + y: -42.101774823056566 + z: 0 + - point: + x: 2.399529025831852 + y: -42.22065671153237 + z: 0 + - point: + x: -14.161232871434652 + y: -40.556537994560074 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml new file mode 100644 index 0000000..ff46ecf --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 18.6965 + y: 41.0993 + z: 0 + - point: + x: 4.5435 + y: 41.0993 + z: 0 + - point: + x: -5.1435 + y: 41.0993 + z: 0 + - point: + x: -19.2965 + y: 41.0993 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml new file mode 100644 index 0000000..01d3b85 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 15.799 + y: 30.600 + z: 0 + - point: + x: 4.700 + y: 30.142 + z: 0 + - point: + x: -4.420 + y: 30.514 + z: 0 + - point: + x: -15.912 + y: 30.702 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml new file mode 100644 index 0000000..9897947 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: -15.799 + y: -30.600 + z: 0 + - point: + x: -4.700 + y: -30.142 + z: 0 + - point: + x: 4.420 + y: -30.514 + z: 0 + - point: + x: 15.912 + y: -30.702 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml new file mode 100644 index 0000000..f08bc57 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 19.2965 + y: -41.0993 + z: 0 + - point: + x: 5.1435 + y: -41.0993 + z: 0 + - point: + x: -4.5435 + y: -41.0993 + z: 0 + - point: + x: -18.6965 + y: -41.0993 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml new file mode 100644 index 0000000..de097ab --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 7.058685 + y: 0.5 + z: 0 + - point: + x: 14.117370781974484 + y: 1 + z: 0 + - point: + x: 14.117370781974484 + y: -2.1647149478696024 + z: 0 + - point: + x: -258532440.12709326 + y: 18422863.225660857 + z: 0 diff --git a/src/tsukuba2022/config/igvc_robot_control.yaml b/src/tsukuba2022/config/igvc_robot_control.yaml new file mode 100644 index 0000000..bb3afc4 --- /dev/null +++ b/src/tsukuba2022/config/igvc_robot_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'right_wheel_hinge' + right_wheel : 'left_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/tsukuba2022/config/igvc_robot_control_sim.yaml b/src/tsukuba2022/config/igvc_robot_control_sim.yaml new file mode 100644 index 0000000..cb6b6b3 --- /dev/null +++ b/src/tsukuba2022/config/igvc_robot_control_sim.yaml @@ -0,0 +1,45 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + #type: "icart_mini_controller/ICartMiniController" + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + #pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + #twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 + diff --git a/src/tsukuba2022/config/initial_pose.yaml b/src/tsukuba2022/config/initial_pose.yaml new file mode 100644 index 0000000..17a3691 --- /dev/null +++ b/src/tsukuba2022/config/initial_pose.yaml @@ -0,0 +1,7 @@ +# initial pose config +initial_pose_x: 0.0 #1>-24.5767439585681 2>-245.4480394671959 3>-370.909143639328 4>-369.881981133847 +initial_pose_y: 0.0 #1>-31.51237091 2>36.445157264051545 3>86.6870392345253 4>88.4367336233475 +initial_pose_a: 0.0 #1>3.14159263 2>3.14159263 3>1.57079632 4>-1.57079632 +initial_cov_xx: 0.065 +initial_cov_yy: 0.065 +initial_cov_aa: 0.065 diff --git a/src/tsukuba2022/config/waypoints/waypoints.yaml b/src/tsukuba2022/config/waypoints/waypoints.yaml new file mode 100644 index 0000000..ebd8cfe --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints.yaml @@ -0,0 +1,28 @@ +waypoints: + - point: + x: 22.5481 + y: -1.70773 + z: 0 + - point: + x: 28.3916 + y: -0.557724 + z: 0 + - point: + x: 34.159 + y: -1.72355 + z: 0 +finish_pose: + header: + seq: 0 + stamp: 1651810719.399999678 + frame_id: map + pose: + position: + x: 38.532 + y: -1.92273 + z: 0 + orientation: + x: 0 + y: 0 + z: 0.00701728 + w: 0.999975 diff --git a/src/tsukuba2022/launch/start_sim.launch b/src/tsukuba2022/launch/start_sim.launch new file mode 100644 index 0000000..287dc1b --- /dev/null +++ b/src/tsukuba2022/launch/start_sim.launch @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git 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a/src/tsukuba2022/models/ramp/model.sdf b/src/tsukuba2022/models/ramp/model.sdf new file mode 100644 index 0000000..38884e5 --- /dev/null +++ b/src/tsukuba2022/models/ramp/model.sdf @@ -0,0 +1,73 @@ + + + + True + + + 0 -0.9889 0.1484 0.148 0 0 + + + + 4 2 0.05 + + + + + + + + + + + 4 2 0.05 + + + + + + 2 + 2 + + + + + + + + 0 0.9889 0.1484 -0.148 0 0 + + + + 4 2 0.05 + + + + + + + + + + + 4 2 0.05 + + + + + + 2 + 2 + + + + + + + + diff --git a/src/tsukuba2022/package.xml b/src/tsukuba2022/package.xml new file mode 100644 index 0000000..f01ac38 --- /dev/null +++ b/src/tsukuba2022/package.xml @@ -0,0 +1,93 @@ + + + tsukuba2022 + 0.0.1 + The tsukuba2022 package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + catkin + + roscpp + rospy + std_msgs + hardware_interface + controller_manager + controller_interface + diff_drive_controller + message_filters + nodelet + sensor_msgs + tf + tf2 + tf2_ros + tf2_sensor_msgs + move_base + move_base_msgs + geometry_msgs + actionlib + actionlib_msgs + yaml-cpp + std_srvs + gazebo + + + +roscpp + rospy + std_msgs + hardware_interface + controller_manager + controller_interface + diff_drive_controller + joint_state_controller + urg_node + robot_pose_ekf + rosserial_python + message_filters + nodelet + sensor_msgs + tf + tf2 + tf2_ros + tf2_sensor_msgs + move_base + move_base_msgs + geometry_msgs + actionlib + actionlib_msgs + yaml-cpp + ruamel.yaml + std_srvs + gazebo_ros + + roslint + + + + + + + diff --git a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml new file mode 100644 index 0000000..3687b3d --- /dev/null +++ b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml @@ -0,0 +1,17 @@ +target_frame: velodyne_link # Leave disabled to output scan in pointcloud frame +transform_tolerance: 0.01 +min_height: -0.7 #-0.4 +max_height: 1.5 +angle_min: -2.3565 +angle_max: 2.3565 +angle_increment: 0.008711645 +scan_time: 0.03333 +range_min: 0.2 +range_max: 100.0 +use_inf: true + +# Concurrency level, affects number of pointclouds queued for processing and number of threads used +# 0 : Detect number of cores +# 1 : Single threaded +# 2->inf : Parallelism level +concurrency_level: 1 \ No newline at end of file diff --git a/src/tsukuba2022/params/segmentation_params.yaml b/src/tsukuba2022/params/segmentation_params.yaml new file mode 100644 index 0000000..ec4aeb1 --- /dev/null +++ b/src/tsukuba2022/params/segmentation_params.yaml @@ -0,0 +1,22 @@ +n_threads: 1 # number of threads to use. + +r_min: 0.5 # minimum point distance. +r_max: 100 # maximum point distance. +n_bins: 200 ## number of radial bins. +n_segments: 720 ## number of radial segments. + +max_dist_to_line: 0.1 ## maximum vertical distance of point to line to be considered ground. + +sensor_height: 1.205 # sensor height above ground. +min_slope: 0.0 # minimum slope of a ground line. +max_slope: 1.5 ## maximum slope of a ground line. +max_fit_error: 0.05 # maximum error of a point during line fit. +long_threshold: 2.0 ## distance between points after which they are considered far from each other. +max_long_height: 0.2 # maximum height change to previous point in long line. +max_start_height: 0.3 ## maximum difference to estimated ground height to start a new line. +line_search_angle: 0.2 ## how far to search in angular direction to find a line [rad]. + +gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + +latch: false # latch output topics or not +visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING diff --git a/src/tsukuba2022/scripts/rename.sh b/src/tsukuba2022/scripts/rename.sh new file mode 100644 index 0000000..184693b --- /dev/null +++ b/src/tsukuba2022/scripts/rename.sh @@ -0,0 +1,9 @@ +#!/bin/sh + +MAPPATH="/home/ubuntu/catkin_ws/src/tsukuba2022/maps" +WPPATH="/home/ubuntu/catkin_ws/src/tsukuba2022/config/waypoints" +index=`date +%Y%m%d%H%M` + +cp "${MAPPATH}/mymap.pgm" "${MAPPATH}/mymap_${index}.pgm" +cp "${MAPPATH}/mymap.yaml" "${MAPPATH}/mymap_${index}.yaml" +cp "${WPPATH}/waypoints.yaml" "${WPPATH}/waypoints_${index}.yaml" \ No newline at end of file diff --git a/src/tsukuba2022/urdf/igvc_robot.gazebo b/src/tsukuba2022/urdf/igvc_robot.gazebo new file mode 100644 index 0000000..f32242a --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot.gazebo @@ -0,0 +1,76 @@ + + + + + + + + + igvc_robot/cmd_vel + igvc_robot/odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.670 + 0.192 + 1 + 10 + na + false + + + + + + + Gazebo/Black + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + + diff --git a/src/tsukuba2022/urdf/igvc_robot.xacro b/src/tsukuba2022/urdf/igvc_robot.xacro new file mode 100644 index 0000000..bcf1d93 --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot.xacro @@ -0,0 +1,221 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + + diff --git a/src/tsukuba2022/urdf/igvc_robot_cp.urdf b/src/tsukuba2022/urdf/igvc_robot_cp.urdf new file mode 100644 index 0000000..3ecfca1 --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot_cp.urdf @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + diff --git a/src/tsukuba2022/urdf/sensors/camera.urdf.xacro b/src/tsukuba2022/urdf/sensors/camera.urdf.xacro new file mode 100644 index 0000000..9326083 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/camera.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30.0 + + 0 0 0 0 ${PI/2} 0 + 3.1415 + + R8G8B8 + 800 + 800 + + + 0.01 + 100 + + + stereographic + 1 + 1.5707 + 512 + + + + + true + 0.0 + cv_camera + image_raw + camera_info + camera_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + Gazebo/DarkGray + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro b/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro new file mode 100644 index 0000000..999bf08 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 40 + + + + 1 + ${samples} + ${min_angle} + ${max_angle} + + + + 0.10 + 30.0 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + /hokuyo_scan + hokuyo_link + + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/imu.urdf.xacro b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro new file mode 100644 index 0000000..dc674a6 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + imu + + ${name}_link + ${name}_link + imu + 10.0 + 0.001 + 0 0 0 + 0 0 0 + + + Gazebo/Turquoise + + + + diff --git a/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro b/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro new file mode 100644 index 0000000..90303e5 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 10 + + + + 1 + 1875 + ${-PI} + ${PI} + + + 1 + 16 + ${-PI/12} + ${PI/12} + + + + 0.9 + 100 + 0.001 + + + + + velodyne_points + velodyne_link + 0.9 + 100 + 0.01 + + + + + + + + + diff --git a/src/tsukuba2022/world/course.world b/src/tsukuba2022/world/course.world new file mode 100644 index 0000000..19db764 --- /dev/null +++ b/src/tsukuba2022/world/course.world @@ -0,0 +1,232 @@ + + + + + + 0 -30 60 0 1.1 1.5708 + + + + 0 + 1 + + + + model://sun + + + + model://course + 0 0 0 0 0 0 + Course + + + + model://ramp + 0 13.269552 0 0 0 1.570796 + Ramp1 + + + + + + + model://barricade + -19.1652 -17.2165 0 0 -0 -0.8 + Barricade 1 + + + model://barricade + 18.8846 -17.517 0 0 0 0.21445 + Barricade 2 + + + model://barricade + 9.57 12.3819 0 0 0 -0.30353 + Barricade 3 + + + model://barricade + -8.5858 12.1745 0 0 0 0.14831 + Barricade 4 + + + + + + + + model://construction_barrel + 14.8591 -15.356 0 0 -0 0 + Construction Barrel 1 + + + model://construction_barrel + 20.9235 -13.6107 -2e-06 -0 7e-06 -2e-06 + Construction Barrel 2 + + + model://construction_barrel + 17.1121 -9.439 -2e-06 -0 7e-06 -2e-06 + Construction Barrel 3 + + + model://construction_barrel + 18.2218 -9.1396 -2e-06 -0 7e-06 -2e-06 + Construction Barrel 4 + + + model://construction_barrel + 17.9234 -6.37453 -0 0 0 -8e-06 + Construction 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-4.2e-05 + Construction Barrel 25 + + + model://construction_barrel + -20.7988 10.4853 -0 0 0 -4.3e-05 + Construction Barrel 26 + + + model://construction_barrel + -18.397 8.225 -2e-06 7e-06 -2e-06 -4.4e-05 + Construction Barrel 27 + + + model://construction_barrel + -18.100 0.857426 1e-06 3e-06 2e-06 -4.6e-05 + Construction Barrel 28 + + + model://construction_barrel + -16.1784 -5.72593 1e-06 3e-06 2e-06 -4.7e-05 + Construction Barrel 29 + + + model://construction_barrel + -19.1376 -6.88455 0 0 0 -4.9e-05 + Construction Barrel 30 + + + model://construction_barrel + -20.0303 -6.42554 -2e-06 -7e-06 -4e-06 -4.9e-05 + Construction Barrel 31 + + + model://construction_barrel + -18.4685 -9.4751 -3e-06 -6e-06 -5e-06 -5.1e-05 + Construction Barrel 32 + + + model://construction_barrel + -17.3279 -9.55999 -2e-06 4e-06 7e-06 -5.1e-05 + Construction Barrel 33 + + + model://construction_barrel + -16.102 -15.2392 -0 0 0 -5.7e-05 + Construction Barrel 34 + + + + + + diff --git a/src/tsukuba2022/world/course_v2.world b/src/tsukuba2022/world/course_v2.world new file mode 100644 index 0000000..b31e86f --- /dev/null +++ b/src/tsukuba2022/world/course_v2.world @@ -0,0 +1,255 @@ + + + + + + 0 -30 60 0 1.1 1.5708 + + + + 0 + 1 + + + + model://sun + + + + model://course_v2 + 0 0 0 0 0 0 + Course + + + + model://ramp + 0 13.269552 0 0 0 1.570796 + Ramp1 + + + + + + + model://barricade + -19.1652 -17.2165 0 0 0 -0.8 + Barricade 1 + + + model://barricade + 18.8846 -17.517 0 0 0 0.21445 + Barricade 2 + + + model://barricade + 9.57 12.3819 0 0 0 0.30353 + Barricade 3 + + + model://barricade + -8.5858 12.1745 0 0 0 0.14831 + Barricade 4 + + + + + + + + model://construction_barrel + 14.8591 -15.356 0 0 0 0 + Construction Barrel 1 + + + model://construction_barrel + 20.9235 -13.6107 0 0 0 0 + Construction Barrel 2 + + + model://construction_barrel + 17.1121 -9.439 0 0 0 0 + Construction Barrel 3 + + + model://construction_barrel + 18.2218 -9.1396 0 0 0 0 + Construction Barrel 4 + + + model://construction_barrel + 17.9234 -6.37453 0 0 0 0 + Construction Barrel 5 + + + model://construction_barrel + 18.8232 -5.70024 0 0 0 0 + Construction Barrel 6 + + + model://construction_barrel + 16.061 -4.40601 0 0 0 0 + Construction Barrel 7 + + + model://construction_barrel + 18.100 1.30974 0 0 0 0 + Construction Barrel 8 + + + model://construction_barrel + 17.4279 7.243 0 0 0 0 + Construction Barrel 9 + + + model://construction_barrel + 20.564 11.0036 0 0 0 0 + Construction Barrel 10 + + + model://construction_barrel + 17.6292 14.470 0 0 0 0 + Construction Barrel 11 + + + model://construction_barrel + 12.9292 12.123 0 0 0 0 + Construction Barrel 12 + + + model://construction_barrel + 12.0142 16.9984 0 0 0 0 + Construction Barrel 13 + + + model://construction_barrel + 9.43968 17.4719 0 0 0 0 + Construction Barrel 14 + + + model://construction_barrel + 7.19005 17.3195 0 0 0 0 + Construction Barrel 15 + + + model://construction_barrel + 6.34524 13.0764 0 0 0 0 + Construction Barrel 16 + + + model://construction_barrel + 3.73125 17.5897 0 0 0 0 + Construction Barrel 17 + + + model://construction_barrel + 0.061325 16.9475 0 0 0 0 + Construction Barrel 18 + + + model://construction_barrel + -3.46882 16.9529 0 0 0 0 + Construction Barrel 19 + + + model://construction_barrel + -6.95984 17.4552 0 0 0 0 + Construction Barrel 20 + + + model://construction_barrel + -10.1446 16.9341 0 0 0 0 + Construction Barrel 21 + + + model://construction_barrel + -6.01782 12.36 0 0 0 0 + Construction Barrel 22 + + + model://construction_barrel + -12.2652 12.7116 0 0 0 0 + Construction Barrel 23 + + + model://construction_barrel + -12.8712 16.2905 0 0 0 0 + Construction Barrel 24 + + + model://construction_barrel + -18.178 16.2268 0 0 0 0 + Construction Barrel 25 + + + model://construction_barrel + -20.7988 10.4853 0 0 0 0 + Construction Barrel 26 + + + model://construction_barrel + -18.397 8.225 0 0 0 0 + Construction Barrel 27 + + + model://construction_barrel + -17.2492 0.7495 0 0 0 0 + Construction Barrel 28 + + + model://construction_barrel + -16.1784 -5.72593 0 0 0 0 + Construction Barrel 29 + + + model://construction_barrel + -19.1376 -6.88455 0 0 0 0 + Construction Barrel 30 + + + model://construction_barrel + -20.0303 -6.42554 0 0 0 0 + Construction Barrel 31 + + + model://construction_barrel + -18.4685 -9.4751 0 0 0 0 + Construction Barrel 32 + + + model://construction_barrel + -17.3279 -9.55999 0 0 0 0 + Construction Barrel 33 + + + model://construction_barrel + -16.102 -15.2392 0 0 0 0 + Construction Barrel 34 + + + + + + + diff --git a/src/tsukuba2022/world/hoseicourse.world b/src/tsukuba2022/world/hoseicourse.world new file mode 100644 index 0000000..55401b4 --- /dev/null +++ b/src/tsukuba2022/world/hoseicourse.world @@ -0,0 +1,28 @@ + + + + + + -10 8 30 0 1.1 0 + + + + 0 + 1 + + + + model://ground_plane + + + + model://sun + + + + model://hoseicourse + 7.5 9.4 0 0 0 3.141592 + Course + + + \ No newline at end of file diff --git a/src/waypoint_navigation/README.md b/src/waypoint_navigation/README.md deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/README.md +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_manager/CMakeLists.txt b/src/waypoint_navigation/waypoint_manager/CMakeLists.txt deleted file mode 100644 index 2941813..0000000 --- a/src/waypoint_navigation/waypoint_manager/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(waypoint_manager) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES waypoint_manager -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/waypoint_manager.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/waypoint_manager_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_waypoint_manager.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch b/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_manager/package.xml b/src/waypoint_navigation/waypoint_manager/package.xml deleted file mode 100644 index e77ca19..0000000 --- a/src/waypoint_navigation/waypoint_manager/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - waypoint_manager - 0.0.0 - The waypoint_manager package - - - - - ubuntu - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt deleted file mode 100644 index af262e2..0000000 --- a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(waypoint_nav) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES waypoint_nav -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/waypoint_nav.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/waypoint_nav_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_waypoint_nav.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h b/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_nav/map/mymap.pgm b/src/waypoint_navigation/waypoint_nav/map/mymap.pgm deleted file mode 100644 index 26ecee0..0000000 --- a/src/waypoint_navigation/waypoint_nav/map/mymap.pgm +++ /dev/null Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/package.xml b/src/waypoint_navigation/waypoint_nav/package.xml deleted file mode 100644 index 45f9037..0000000 --- a/src/waypoint_navigation/waypoint_nav/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - waypoint_nav - 0.0.0 - The waypoint_nav package - - - - - ubuntu - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml b/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml deleted file mode 100644 index 96e2676..0000000 --- a/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml +++ /dev/null @@ -1,13 +0,0 @@ -waypoints: -- point: {x: -8.729468527653239, y: 0.27403092325199907, z: 0.0} -- point: {x: -2.4868552877312595, y: -4.692719756685904, z: 0.0} -- point: {x: 2.8899940722015174, y: -5.102818436680778, z: 0.0} -- point: {x: 14.363099999999989, y: 0.3898580000000038, z: 0.0} -- point: {x: 16.024200000000008, y: 2.0383000000000067, z: 0.0} -- point: {x: 16.2397, y: 8.29131000000001, z: 0.0} -- point: {x: 16.376199999999997, y: 12.534899999999993, z: 0.0} -finish_pose: - header: {seq: 0.0, stamp: 1.6203674303803937E9, frame_id: hokuyo_link} - pose: - position: {x: 1.41991, y: 0.45038, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: -0.705545, w: 0.708666} diff --git a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_saver/CMakeLists.txt b/src/waypoint_navigation/waypoint_saver/CMakeLists.txt deleted file mode 100644 index 497b438..0000000 --- a/src/waypoint_navigation/waypoint_saver/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(waypoint_saver) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES waypoint_saver -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/waypoint_saver.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/waypoint_saver_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_waypoint_saver.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h b/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_saver/package.xml b/src/waypoint_navigation/waypoint_saver/package.xml deleted file mode 100644 index e64c74b..0000000 --- a/src/waypoint_navigation/waypoint_saver/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - waypoint_saver - 0.0.0 - The waypoint_saver package - - - - - ubuntu - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp b/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp +++ /dev/null