├── README.md ├── aruco_ros ├── README.md ├── aruco │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ArucoThreshold.cfg │ ├── include │ │ └── aruco │ │ │ ├── aruco.h │ │ │ ├── arucofidmarkers.h │ │ │ ├── board.h │ │ │ ├── boarddetector.h │ │ │ ├── cameraparameters.h │ │ │ ├── cvdrawingutils.h │ │ │ ├── exports.h │ │ │ ├── marker.h │ │ │ └── markerdetector.h │ ├── package.xml │ └── src │ │ └── aruco │ │ ├── aruco_selectoptimalmarkers.cpp │ │ ├── arucofidmarkers.cpp │ │ ├── board.cpp │ │ ├── boarddetector.cpp │ │ ├── cameraparameters.cpp │ │ ├── cvdrawingutils.cpp │ │ ├── marker.cpp │ │ └── markerdetector.cpp ├── aruco_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── Marker.msg │ │ └── MarkerArray.msg │ └── package.xml └── aruco_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── ArucoThreshold.cfg │ ├── etc │ ├── marker26_5cm.jpg │ ├── marker26_5cm_margin_1cm.jpg │ ├── marker26_5cm_margin_2cm.jpg │ ├── marker582_5cm.jpg │ ├── marker582_5cm_margin_2cm.jpg │ ├── marker_in_hand.jpg │ ├── marker_in_object.jpg │ ├── reem_gazebo_floating_marker.png │ └── reem_gazebo_floating_marker_world.png │ ├── include │ └── aruco_ros │ │ └── aruco_ros_utils.h │ ├── launch │ ├── aruco_detection.launch │ ├── double.launch │ ├── double_MUAR_2.launch │ ├── marker_publisher.launch │ ├── single.launch │ └── single_MUAR.launch │ ├── package.xml │ └── src │ ├── aruco_ros_utils.cpp │ ├── marker_publish.cpp │ ├── simple_double.cpp │ ├── simple_double.cpp.ORIG │ └── simple_single.cpp ├── darknet_ros ├── .CATKIN ├── .gitmodules ├── LICENSE ├── README.md ├── darknet │ ├── .gitignore │ ├── LICENSE │ ├── LICENSE.fuck │ ├── LICENSE.gen │ ├── LICENSE.gpl │ ├── LICENSE.meta │ ├── LICENSE.mit │ ├── LICENSE.v1 │ ├── Makefile │ ├── README.md │ ├── examples │ │ ├── art.c │ │ ├── attention.c │ │ ├── captcha.c │ │ ├── cifar.c │ │ ├── classifier.c │ │ ├── coco.c │ │ ├── darknet.c │ │ ├── detector-scipy-opencv.py │ │ ├── detector.c │ │ ├── detector.py │ │ ├── dice.c │ │ ├── go.c │ │ ├── lsd.c │ │ ├── nightmare.c │ │ ├── regressor.c │ │ ├── rnn.c │ │ ├── rnn_vid.c │ │ ├── segmenter.c │ │ ├── super.c │ │ ├── swag.c │ │ ├── tag.c │ │ ├── voxel.c │ │ ├── writing.c │ │ └── yolo.c │ ├── include │ │ └── darknet.h │ ├── python │ │ ├── darknet.py │ │ └── proverbot.py │ ├── scripts │ │ ├── dice_label.sh │ │ ├── gen_tactic.sh │ │ ├── get_coco_dataset.sh │ │ ├── imagenet_label.sh │ │ └── voc_label.py │ └── src │ │ ├── activation_kernels.cu │ │ ├── activation_layer.c │ │ ├── activation_layer.h │ │ ├── activations.c │ │ ├── activations.h │ │ ├── avgpool_layer.c │ │ ├── avgpool_layer.h │ │ ├── avgpool_layer_kernels.cu │ │ ├── batchnorm_layer.c │ │ ├── batchnorm_layer.h │ │ ├── blas.c │ │ ├── blas.h │ │ ├── blas_kernels.cu │ │ ├── box.c │ │ ├── box.h │ │ ├── classifier.h │ │ ├── col2im.c │ │ ├── col2im.h │ │ ├── col2im_kernels.cu │ │ ├── compare.c │ │ ├── connected_layer.c │ │ ├── connected_layer.h │ │ ├── convolutional_kernels.cu │ │ ├── convolutional_layer.c │ │ ├── convolutional_layer.h │ │ ├── cost_layer.c │ │ ├── cost_layer.h │ │ ├── crnn_layer.c │ │ ├── crnn_layer.h │ │ ├── crop_layer.c │ │ ├── crop_layer.h │ │ ├── crop_layer_kernels.cu │ │ ├── cuda.c │ │ ├── cuda.h │ │ ├── data.c │ │ ├── data.h │ │ ├── deconvolutional_kernels.cu │ │ ├── deconvolutional_layer.c │ │ ├── deconvolutional_layer.h │ │ ├── demo.c │ │ ├── demo.h │ │ ├── detection_layer.c │ │ ├── detection_layer.h │ │ ├── dropout_layer.c │ │ ├── dropout_layer.h │ │ ├── dropout_layer_kernels.cu │ │ ├── gemm.c │ │ ├── gemm.h │ │ ├── gru_layer.c │ │ ├── gru_layer.h │ │ ├── im2col.c │ │ ├── im2col.h │ │ ├── im2col_kernels.cu │ │ ├── image.c │ │ ├── image.h │ │ ├── l2norm_layer.c │ │ ├── l2norm_layer.h │ │ ├── layer.c │ │ ├── layer.h │ │ ├── list.c │ │ ├── list.h │ │ ├── local_layer.c │ │ ├── local_layer.h │ │ ├── logistic_layer.c │ │ ├── logistic_layer.h │ │ ├── lstm_layer.c │ │ ├── lstm_layer.h │ │ ├── matrix.c │ │ ├── matrix.h │ │ ├── maxpool_layer.c │ │ ├── maxpool_layer.h │ │ ├── maxpool_layer_kernels.cu │ │ ├── network.c │ │ ├── network.h │ │ ├── normalization_layer.c │ │ ├── normalization_layer.h │ │ ├── option_list.c │ │ ├── option_list.h │ │ ├── parser.c │ │ ├── parser.h │ │ ├── region_layer.c │ │ ├── region_layer.h │ │ ├── reorg_layer.c │ │ ├── reorg_layer.h │ │ ├── rnn_layer.c │ │ ├── rnn_layer.h │ │ ├── route_layer.c │ │ ├── route_layer.h │ │ ├── shortcut_layer.c │ │ ├── shortcut_layer.h │ │ ├── softmax_layer.c │ │ ├── softmax_layer.h │ │ ├── stb_image.h │ │ ├── stb_image_write.h │ │ ├── tree.c │ │ ├── tree.h │ │ ├── upsample_layer.c │ │ ├── upsample_layer.h │ │ ├── utils.c │ │ ├── utils.h │ │ ├── yolo_layer.c │ │ └── yolo_layer.h ├── darknet_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── ros.yaml │ │ ├── yolo-lab.yaml │ │ ├── yolov2-tiny-voc.yaml │ │ ├── yolov2-tiny.yaml │ │ ├── yolov2-voc.yaml │ │ ├── yolov2.yaml │ │ ├── yolov3-voc.yaml │ │ └── yolov3.yaml │ ├── doc │ │ ├── quadruped_anymal_and_person.JPG │ │ ├── test_detection.png │ │ └── test_detection_anymal.png │ ├── include │ │ └── darknet_ros │ │ │ ├── YoloObjectDetector.hpp │ │ │ └── image_interface.h │ ├── launch │ │ ├── darknet_ros.launch │ │ ├── darknet_ros_gdb.launch │ │ ├── yolo_lab.launch │ │ └── yolo_v3.launch │ ├── package.xml │ ├── src │ │ ├── YoloObjectDetector.cpp │ │ ├── image_interface.c │ │ └── yolo_object_detector_node.cpp │ ├── test │ │ ├── ObjectDetection.cpp │ │ ├── object_detection.test │ │ ├── test_main.cpp │ │ └── yolov2.yaml │ └── yolo_network_config │ │ ├── cfg │ │ ├── yolo-obj.cfg │ │ ├── yolov2-tiny-voc.cfg │ │ ├── yolov2-tiny.cfg │ │ ├── yolov2-voc.cfg │ │ ├── yolov2.cfg │ │ ├── yolov3-voc.cfg │ │ └── yolov3.cfg │ │ └── weights │ │ ├── .gitignore │ │ └── how_to_download_weights.txt ├── darknet_ros_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── action │ │ └── CheckForObjects.action │ ├── msg │ │ ├── BoundingBox.msg │ │ └── BoundingBoxes.msg │ └── package.xml └── jenkins-pipeline ├── depthimage_to_laserscan ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cfg │ └── Depth.cfg ├── include │ └── depthimage_to_laserscan │ │ ├── DepthImageToLaserScan.h │ │ ├── DepthImageToLaserScanROS.h │ │ └── depth_traits.h ├── mainpage.dox ├── nodelets.xml ├── package.xml ├── src │ ├── DepthImageToLaserScan.cpp │ ├── DepthImageToLaserScanNodelet.cpp │ ├── DepthImageToLaserScanROS.cpp │ └── depthimage_to_laserscan.cpp └── test │ ├── DepthImageToLaserScanTest.cpp │ ├── depthimage_to_laserscan_rostest.cpp │ └── rostest │ └── depthimage_to_laserscan.test ├── explore ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── architecture.dia │ ├── screenshot.png │ └── wiki_doc.txt ├── include │ └── explore │ │ ├── costmap_client.h │ │ ├── costmap_tools.h │ │ ├── explore.h │ │ └── frontier_search.h ├── launch │ ├── explore.launch │ ├── explore_costmap.launch │ └── explore_costmap.launch.bak ├── package.xml ├── src │ ├── costmap_client.cpp │ ├── explore.cpp │ └── frontier_search.cpp └── srv │ └── setExpRes.srv ├── image_rectification ├── CMakeLists.txt ├── config │ └── rectification.yaml ├── include │ └── image_rectification │ │ └── ImageRectificationClass.hpp ├── launch │ └── rectification.launch ├── package.xml └── src │ ├── ImageRectificationClass.cpp │ └── ImageRectificationNode.cpp ├── labrob_gazebo ├── CMakeLists.txt ├── launch │ ├── labrob.launch │ ├── plugin_sim.launch │ ├── plugin_sim_aruco.launch │ ├── plugin_sim_final.launch │ └── sim_world.launch ├── models │ ├── airplane_blue │ │ ├── meshes │ │ │ ├── plane.dae │ │ │ └── plane_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── airplane_green │ │ ├── meshes │ │ │ ├── plane.dae │ │ │ └── plane_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── airplane_red │ │ ├── meshes │ │ │ ├── plane.dae │ │ │ └── plane_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── aruco_cube │ │ ├── materials │ │ │ ├── scripts │ │ │ │ ├── aruco_1.material │ │ │ │ ├── aruco_10.material │ │ │ │ ├── aruco_11.material │ │ │ │ ├── aruco_12.material │ │ │ │ ├── aruco_2.material │ │ │ │ ├── aruco_3.material │ │ │ │ ├── aruco_4.material │ │ │ │ ├── aruco_5.material │ │ │ │ ├── aruco_6.material │ │ │ │ ├── aruco_7.material │ │ │ │ ├── aruco_8.material │ │ │ │ └── aruco_9.material │ │ │ └── textures │ │ │ │ ├── Aruco1.png │ │ │ │ ├── Aruco10.png │ │ │ │ ├── Aruco11.png │ │ │ │ ├── Aruco12.jpg │ │ │ │ ├── Aruco2.png │ │ │ │ ├── Aruco3.png │ │ │ │ ├── Aruco4.png │ │ │ │ ├── Aruco5.png │ │ │ │ ├── Aruco6.png │ │ │ │ ├── Aruco7.jpg │ │ │ │ ├── Aruco8.jpg │ │ │ │ ├── Aruco9.png │ │ │ │ └── kinetic.png │ │ ├── model.config │ │ ├── model_1.sdf │ │ ├── model_10.sdf │ │ ├── model_11.sdf │ │ ├── model_12.sdf │ │ ├── model_2.sdf │ │ ├── model_3.sdf │ │ ├── model_4.sdf │ │ ├── model_5.sdf │ │ ├── model_6.sdf │ │ ├── model_7.sdf │ │ ├── model_8.sdf │ │ └── model_9.sdf │ ├── barrier_1 │ │ ├── model.config │ │ └── model.sdf │ ├── barrier_2 │ │ ├── model.config │ │ └── model.sdf │ ├── barrier_3 │ │ ├── model.config │ │ └── model.sdf │ ├── bike_blue │ │ ├── meshes │ │ │ └── bike.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bike_green │ │ ├── meshes │ │ │ └── bike.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bike_red │ │ ├── meshes │ │ │ └── bike.dae │ │ ├── model.config │ │ └── model.sdf │ ├── boat_blue │ │ ├── meshes │ │ │ ├── boat.dae │ │ │ └── boat_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── boat_green │ │ ├── meshes │ │ │ ├── boat.dae │ │ │ └── boat_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── boat_red │ │ ├── meshes │ │ │ ├── boat.dae │ │ │ └── boat_fixed.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bomb │ │ ├── model.config │ │ └── model.sdf │ ├── borders │ │ ├── model.config │ │ └── model.sdf │ ├── bottle_blue │ │ ├── meshes │ │ │ └── bottle.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bottle_green │ │ ├── meshes │ │ │ └── bottle.dae │ │ ├── model.config │ │ └── model.sdf │ ├── bottle_red │ │ ├── meshes │ │ │ └── bottle.dae │ │ ├── model.config │ │ └── model.sdf │ ├── coin │ │ ├── model.config │ │ └── model.sdf │ ├── cube_blue │ │ ├── model.config │ │ └── model.sdf │ ├── cube_green │ │ ├── model.config │ │ └── model.sdf │ ├── cube_red │ │ ├── model.config │ │ └── model.sdf │ ├── cylinder_blue │ │ ├── model.config │ │ └── model.sdf │ ├── cylinder_green │ │ ├── model.config │ │ └── model.sdf │ ├── cylinder_red │ │ ├── model.config │ │ └── model.sdf │ ├── labrob_ground │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── asphalt.material │ │ │ └── textures │ │ │ │ └── tarmac.png │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── my_robot_01 │ │ ├── model.config │ │ └── model.sdf │ ├── my_robot_05 │ │ ├── model.config │ │ └── model.sdf │ ├── sphere_blue │ │ ├── model.config │ │ └── model.sdf │ ├── sphere_green │ │ ├── model.config │ │ └── model.sdf │ └── sphere_red │ │ ├── model.config │ │ └── model.sdf ├── package.xml └── worlds │ ├── Mundo1.world │ ├── Mundo2.world │ ├── Mundo3.world │ ├── bike.dae │ ├── boat.dae │ ├── bottle.dae │ ├── final_test.world │ ├── final_test_2.world │ ├── final_test_aruco_10.world │ ├── labrob.world │ ├── my_mesh.world │ ├── plane.dae │ ├── sim_test.world │ └── sim_world.world ├── ros_plugins ├── CMakeLists.txt ├── package.xml └── src │ └── source │ ├── ros_plugins.cpp │ ├── ros_plugins_aruco.cpp │ └── ros_plugins_final.cpp ├── simple_navigation_goals ├── CMakeLists.txt ├── action │ └── ObjectRVIZMapping.action ├── launch │ └── lab_mission.launch ├── package.xml ├── src │ ├── IGNORE_object_mapping_server (copy).cpp │ ├── object_mapping.cpp │ ├── object_mapping_request.cpp │ ├── object_mapping_server.cpp │ ├── scheduler.cpp │ ├── simple_camera_goals.cpp │ ├── simple_exploration_goal.cpp │ ├── simple_navigation_goals.cpp │ └── tf_echo_map_camera.cpp └── srv │ ├── getWorldPose.srv │ └── setExplorerStatus.srv ├── slam_gmapping ├── .gitignore ├── .travis.yml ├── gmapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── slam_gmapping_pr2.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── src │ │ ├── main.cpp │ │ ├── nodelet.cpp │ │ ├── replay.cpp │ │ ├── slam_gmapping.cpp │ │ └── slam_gmapping.h │ └── test │ │ ├── basic_localization_laser_different_beamcount.test │ │ ├── basic_localization_stage.launch │ │ ├── basic_localization_stage_replay.launch │ │ ├── basic_localization_stage_replay2.launch │ │ ├── basic_localization_symmetry.launch │ │ ├── basic_localization_upside_down.launch │ │ ├── rtest.cpp │ │ └── test_map.py └── slam_gmapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot ├── READ_ME.md ├── setup_create.sh ├── setup_kobuki.sh ├── turtlebot.rosinstall ├── turtlebot │ ├── .cproject │ ├── .project │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── turtlebot_bringup │ ├── .cproject │ ├── .project │ ├── .pydevproject │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── env-hooks │ │ └── 25.turtlebot.sh.em │ ├── icons │ │ └── turtlebot2.png │ ├── interactions │ │ ├── admin.interactions │ │ ├── documentation.interactions │ │ ├── pairing.interactions │ │ └── visualisation.interactions │ ├── launch │ │ ├── 3dsensor.launch │ │ ├── concert_client.launch │ │ ├── concert_minimal.launch │ │ ├── includes │ │ │ ├── 3dsensor │ │ │ │ ├── astra.launch.xml │ │ │ │ ├── asus_xtion_pro.launch.xml │ │ │ │ ├── asus_xtion_pro_offset.launch.xml │ │ │ │ ├── kinect.launch.xml │ │ │ │ └── r200.launch.xml │ │ │ ├── capabilities.launch.xml │ │ │ ├── create │ │ │ │ └── mobile_base.launch.xml │ │ │ ├── description.launch.xml │ │ │ ├── kobuki │ │ │ │ ├── bumper2pc.launch.xml │ │ │ │ ├── mobile_base.launch.xml │ │ │ │ └── safety_controller.launch.xml │ │ │ ├── mobile_base.launch.xml │ │ │ ├── netbook.launch.xml │ │ │ ├── robot.launch.xml │ │ │ ├── roomba │ │ │ │ └── mobile_base.launch.xml │ │ │ └── zeroconf.launch.xml │ │ └── minimal.launch │ ├── package.xml │ ├── param │ │ ├── 3dsensor.yaml │ │ ├── capabilities │ │ │ └── defaults_tb2.yaml │ │ ├── create │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── defaults │ │ │ ├── capability_providers.yaml │ │ │ └── smoother.yaml │ │ ├── kinect │ │ │ └── capability_providers.yaml │ │ ├── kobuki │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── mux.yaml │ │ ├── preferred_rapp.yaml │ │ ├── roomba │ │ │ ├── capability_providers.yaml │ │ │ └── diagnostics.yaml │ │ ├── xtion │ │ │ └── capability_providers.yaml │ │ └── zeroconf.yaml │ └── scripts │ │ └── turtlebot_addr.py ├── turtlebot_capabilities.rosinstall ├── turtlebot_capabilities │ ├── .cproject │ ├── .project │ ├── .pydevproject │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── interfaces │ │ └── TurtleBotBringup.yaml │ ├── package.xml │ └── providers │ │ ├── depthimage_to_laserscan.yaml │ │ ├── diagnostics.yaml │ │ ├── differential_mobile_base.yaml │ │ ├── launch │ │ ├── depthimage_to_laserscan.launch │ │ ├── diagnostics.launch │ │ ├── placeholder.py │ │ ├── rgbd_sensor.launch │ │ ├── robot_state_publisher.launch │ │ ├── turtlebot2_bringup.launch │ │ └── turtlebot_bringup.launch │ │ ├── rgbd_sensor.yaml │ │ ├── robot_state_publisher.yaml │ │ ├── turtlebot2_bringup.yaml │ │ └── turtlebot_bringup.yaml ├── turtlebot_description │ ├── .cproject │ ├── .project │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── meshes │ │ ├── sensors │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── sonar_hector_gazebo.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ └── stacks │ │ │ ├── circles │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ ├── plate_0_logo.dae │ │ │ ├── plate_0_logo.tga │ │ │ ├── plate_1_logo.dae │ │ │ ├── plate_1_logo.tga │ │ │ ├── plate_2_logo.dae │ │ │ └── plate_2_logo.tga │ │ │ └── hexagons │ │ │ ├── images │ │ │ ├── 1f_pole.jpg │ │ │ ├── 1f_stack.jpg │ │ │ ├── 2f_pole.jpg │ │ │ ├── 2f_stack.jpg │ │ │ ├── 3f_pole.jpg │ │ │ ├── 3f_stack.jpg │ │ │ ├── 3f_stack1.jpg │ │ │ ├── kinect_pole.jpg │ │ │ └── kinect_pole_old.jpg │ │ │ ├── plate_bottom.dae │ │ │ ├── plate_middle.dae │ │ │ ├── plate_top.dae │ │ │ ├── pole_bottom.dae │ │ │ ├── pole_kinect.dae │ │ │ ├── pole_middle.dae │ │ │ └── pole_top.dae │ ├── package.xml │ ├── robots │ │ ├── create_circles_asus_xtion_pro.urdf.xacro │ │ ├── create_circles_kinect.urdf.xacro │ │ ├── kobuki_hexagons_astra.urdf.xacro │ │ ├── kobuki_hexagons_asus_xtion_pro.urdf.xacro │ │ ├── kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro │ │ ├── kobuki_hexagons_kinect.urdf.xacro │ │ ├── kobuki_hexagons_kinect_sonar.urdf.xacro │ │ ├── kobuki_hexagons_r200.urdf.xacro │ │ ├── roomba_circles_asus_xtion_pro.urdf.xacro │ │ ├── roomba_circles_kinect.urdf.xacro │ │ └── roomba_circles_sonar.urdf.xacro │ ├── scripts │ │ └── calc_inertia.m │ ├── test.launch │ ├── test │ │ └── test_urdf.cpp │ └── urdf │ │ ├── common_properties.urdf.xacro │ │ ├── sensors │ │ ├── astra.urdf.xacro │ │ ├── asus_xtion_pro.urdf.xacro │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ ├── kinect.urdf.xacro │ │ ├── r200.urdf.xacro │ │ ├── sonar.urdf.xacro │ │ ├── sonar.urdf.xacro.2 │ │ └── sonar_III.urdf.xacro │ │ ├── stacks │ │ ├── circles.urdf.xacro │ │ ├── hexagons.urdf.xacro │ │ └── hexagons.urdf.xacro.orig │ │ ├── turtlebot_common_library.urdf.xacro │ │ ├── turtlebot_gazebo.urdf.xacro │ │ ├── turtlebot_gazebo_II.urdf.xacro │ │ └── turtlebot_properties.urdf.xacro └── turtlebot_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ ├── includes │ │ └── velocity_smoother.launch.xml │ ├── keyboard_teleop.launch │ ├── logitech.launch │ ├── ps3_teleop.launch │ └── xbox360_teleop.launch │ ├── package.xml │ ├── param │ └── mux.yaml │ ├── scripts │ └── turtlebot_teleop_key │ └── src │ └── turtlebot_joy.cpp ├── turtlebot_navigation ├── .cproject ├── .gitignore ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── env-hooks │ └── 25.turtlebot-navigation.sh.em ├── laser │ ├── costmap_common_params.yaml │ ├── laser_amcl_demo.launch │ ├── laser_gmapping_demo.launch │ └── move_base_laser.launch ├── launch │ ├── amcl_demo.launch │ ├── exploration.launch │ ├── gmapping_demo.launch │ ├── graveyard │ │ └── graveyard_bump_navi_demo.launch │ ├── includes │ │ ├── gmapping │ │ │ └── gmapping.launch.xml │ │ ├── move_base.launch.xml │ │ ├── safety_controller.launch.xml │ │ └── velocity_smoother.launch.xml │ └── move_base_respawn.launch ├── maps │ ├── willow-2010-02-18-0.10.pgm │ └── willow-2010-02-18-0.10.yaml ├── package.xml ├── param │ ├── Mod_params │ │ ├── astra_costmap_params.yaml │ │ ├── asus_xtion_pro_costmap_params.yaml │ │ ├── asus_xtion_pro_offset_costmap_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dummy.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── global_planner_params.yaml │ │ ├── kinect_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ ├── navfn_global_planner_params.yaml │ │ └── r200_costmap_params.yaml │ ├── Orig_params │ │ ├── astra_costmap_params.yaml │ │ ├── asus_xtion_pro_costmap_params.yaml │ │ ├── asus_xtion_pro_offset_costmap_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dummy.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── global_planner_params.yaml │ │ ├── kinect_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ ├── navfn_global_planner_params.yaml │ │ └── r200_costmap_params.yaml │ ├── astra_costmap_params.yaml │ ├── asus_xtion_pro_costmap_params.yaml │ ├── asus_xtion_pro_offset_costmap_params.yaml │ ├── costmap_common_params.yaml │ ├── costmap_exploration.yaml │ ├── dummy.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── global_planner_params.yaml │ ├── kinect_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ ├── navfn_global_planner_params.yaml │ └── r200_costmap_params.yaml └── src │ └── laser_footprint_filter.cpp └── turtlebot_simulator ├── README.md ├── turtlebot_gazebo ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── env-hooks │ └── 25.turtlebot-gazebo.sh.em ├── launch │ ├── amcl_demo.launch │ ├── frontier_demo.launch │ ├── gmapping_demo.launch │ ├── gmapping_demo_2.launch │ ├── gmapping_demo_frontier.launch │ ├── includes │ │ ├── create.launch.xml │ │ ├── kobuki.launch .xml │ │ ├── orig_kobuki.launch.xml │ │ └── roomba.launch.xml │ ├── turtlebot_lab.launch │ ├── turtlebot_world.launch │ └── turtlebot_world_II.launch ├── maps │ ├── playground.pgm │ └── playground.yaml ├── package.xml ├── rviz │ ├── turtlebot_simulator.rosinstall │ ├── turtlebot_slam.rviz │ ├── turtlebot_slam_2.rviz │ └── turtlebot_slam_3.rviz └── worlds │ ├── corridor.world │ ├── empty.world │ └── playground.world ├── turtlebot_simulator ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── turtlebot_stage ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── env-hooks │ └── 25.turtlebot-stage.sh.em ├── launch │ └── turtlebot_in_stage.launch ├── maps │ ├── maze.png │ ├── maze.yaml │ ├── robopark2.bmp │ ├── robopark_plan.yaml │ └── stage │ │ ├── maze.world │ │ ├── robopark_plan.world │ │ └── turtlebot.inc ├── package.xml └── rviz │ └── robot_navigation.rviz └── turtlebot_stdr ├── CHANGELOG.rst ├── CMakeLists.txt ├── documentation └── architecture_overview.png ├── env-hooks └── 25.turtlebot-stdr.sh.em ├── launch ├── includes │ └── relays.launch.xml └── turtlebot_in_stdr.launch ├── maps ├── frieburg.png ├── frieburg.yaml ├── hospital_section.png ├── hospital_section.yaml ├── mines.png ├── mines.yaml ├── robocup.png ├── robocup.yaml ├── simple_rooms.png ├── simple_rooms.yaml ├── sparse_obstacles.png └── sparse_obstacles.yaml ├── nodes └── tf_connector.py ├── package.xml ├── robot └── turtlebot.yaml └── rviz └── robot_navigation.rviz /aruco_ros/aruco/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package aruco 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.2.2 (2017-07-25) 6 | ------------------ 7 | 8 | 0.2.1 (2017-07-21) 9 | ------------------ 10 | 11 | 0.2.0 (2016-10-19) 12 | ------------------ 13 | * Fix compilation error in Ubuntu 16.04 14 | With this change, aruco_ros compiles properly in Ubuntu 16.04, ROS kinetic. 15 | * Contributors: Francisco 16 | 17 | 0.1.0 (2015-08-10) 18 | ------------------ 19 | * Depend on libopencv-dev directly 20 | * Replace opencv2 dependency with cv_bridge 21 | * Update changelogs and maintainer email 22 | * Add aruco marker generator and opencv dependency 23 | * Remove duplicated images 24 | * Remove old launch files 25 | * Contributors: Bence Magyar 26 | 27 | 0.0.1 (2015-05-20) 28 | ------------------ 29 | * Initial release 30 | * Contributors: Bence Magyar 31 | -------------------------------------------------------------------------------- /aruco_ros/aruco/cfg/ArucoThreshold.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "aruco_ros" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 4, 1, 15) 9 | gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 8, 1, 15) 10 | gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) 11 | gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) 12 | gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) 13 | 14 | exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) 15 | -------------------------------------------------------------------------------- /aruco_ros/aruco/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | aruco 4 | 0.2.2 5 | 6 | The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). 7 | It provides real-time marker based 3D pose estimation using AR markers. 8 | 9 | Bence Magyar 10 | BSD 11 | http://www.uco.es/investiga/grupos/ava/node/26 12 | Rafael Muñoz Salinas 13 | Bence Magyar 14 | 15 | catkin 16 | libopencv-dev 17 | 18 | -------------------------------------------------------------------------------- /aruco_ros/aruco_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package aruco_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.2.2 (2017-07-25) 6 | ------------------ 7 | 8 | 0.2.1 (2017-07-21) 9 | ------------------ 10 | 11 | 0.2.0 (2016-10-19) 12 | ------------------ 13 | 14 | 0.1.0 (2015-08-10) 15 | ------------------ 16 | * Update changelogs and maintainer email 17 | * Contributors: Bence Magyar 18 | 19 | 0.0.1 (2015-05-20) 20 | ------------------ 21 | * Reorganize aruco_ros into 3 packages 22 | * Contributors: Bence Magyar 23 | -------------------------------------------------------------------------------- /aruco_ros/aruco_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(aruco_msgs) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | message_generation 6 | geometry_msgs 7 | std_msgs) 8 | 9 | add_message_files( FILES Marker.msg MarkerArray.msg ) 10 | generate_messages( DEPENDENCIES std_msgs geometry_msgs ) 11 | 12 | catkin_package( 13 | CATKIN_DEPENDS 14 | message_runtime 15 | geometry_msgs 16 | std_msgs 17 | ) 18 | -------------------------------------------------------------------------------- /aruco_ros/aruco_msgs/msg/Marker.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint32 id 3 | geometry_msgs/PoseWithCovariance pose 4 | float64 confidence 5 | -------------------------------------------------------------------------------- /aruco_ros/aruco_msgs/msg/MarkerArray.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | aruco_msgs/Marker[] markers 3 | -------------------------------------------------------------------------------- /aruco_ros/aruco_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | aruco_msgs 4 | 0.2.2 5 | The aruco_msgs package 6 | Bence Magyar 7 | Bence Magyar 8 | BSD 9 | 10 | catkin 11 | 12 | geometry_msgs 13 | std_msgs 14 | 15 | message_generation 16 | message_runtime 17 | 18 | 19 | -------------------------------------------------------------------------------- /aruco_ros/aruco_ros/cfg/ArucoThreshold.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "aruco_ros" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 7, 1, 15) 9 | gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 7, 1, 15) 10 | gen.add("normalizeImage", bool_t, 0, "normalizeImage", True) 11 | gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4) 12 | gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360) 13 | 14 | exit(gen.generate(PACKAGE, "double", "ArucoThreshold")) 15 | -------------------------------------------------------------------------------- /aruco_ros/aruco_ros/etc/marker26_5cm.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/aruco_ros/aruco_ros/etc/marker26_5cm.jpg -------------------------------------------------------------------------------- /aruco_ros/aruco_ros/etc/marker26_5cm_margin_1cm.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/aruco_ros/aruco_ros/etc/marker26_5cm_margin_1cm.jpg -------------------------------------------------------------------------------- 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/aruco_ros/aruco_ros/etc/reem_gazebo_floating_marker.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/aruco_ros/aruco_ros/etc/reem_gazebo_floating_marker.png -------------------------------------------------------------------------------- /aruco_ros/aruco_ros/etc/reem_gazebo_floating_marker_world.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/aruco_ros/aruco_ros/etc/reem_gazebo_floating_marker_world.png -------------------------------------------------------------------------------- /aruco_ros/aruco_ros/launch/marker_publisher.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /darknet_ros/.CATKIN: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/darknet_ros/.CATKIN -------------------------------------------------------------------------------- /darknet_ros/.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "darknet"] 2 | path = darknet 3 | url = https://github.com/pjreddie/darknet 4 | -------------------------------------------------------------------------------- /darknet_ros/darknet/.gitignore: -------------------------------------------------------------------------------- 1 | *.o 2 | *.dSYM 3 | *.csv 4 | *.out 5 | *.png 6 | *.jpg 7 | *.pyc 8 | old/ 9 | mnist/ 10 | data/ 11 | caffe/ 12 | grasp/ 13 | images/ 14 | opencv/ 15 | convnet/ 16 | decaf/ 17 | submission/ 18 | cfg/ 19 | darknet 20 | .fuse* 21 | 22 | # OS Generated # 23 | .DS_Store* 24 | ehthumbs.db 25 | Icon? 26 | Thumbs.db 27 | *.swp 28 | -------------------------------------------------------------------------------- /darknet_ros/darknet/LICENSE: -------------------------------------------------------------------------------- 1 | YOLO LICENSE 2 | Version 2, July 29 2016 3 | 4 | THIS SOFTWARE LICENSE IS PROVIDED "ALL CAPS" SO THAT YOU KNOW IT IS SUPER 5 | SERIOUS AND YOU DON'T MESS AROUND WITH COPYRIGHT LAW BECAUSE YOU WILL GET IN 6 | TROUBLE HERE ARE SOME OTHER BUZZWORDS COMMONLY IN THESE THINGS WARRANTIES 7 | LIABILITY CONTRACT TORT LIABLE CLAIMS RESTRICTION MERCHANTABILITY. NOW HERE'S 8 | THE REAL LICENSE: 9 | 10 | 0. Darknet is public domain. 11 | 1. Do whatever you want with it. 12 | 2. Stop emailing me about it! 13 | -------------------------------------------------------------------------------- /darknet_ros/darknet/LICENSE.fuck: -------------------------------------------------------------------------------- 1 | DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE 2 | Version 2, December 2004 3 | 4 | Copyright (C) 2004 Sam Hocevar 5 | 6 | Everyone is permitted to copy and distribute verbatim or modified 7 | copies of this license document, and changing it is allowed as long 8 | as the name is changed. 9 | 10 | DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE 11 | TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 12 | 13 | 0. You just DO WHAT THE FUCK YOU WANT TO. 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet/LICENSE.meta: -------------------------------------------------------------------------------- 1 | META-LICENSE 2 | Version 1, June 21 2017 3 | 4 | Any and all licenses may be applied to the software either individually 5 | or in concert. Any issues, ambiguities, paradoxes, or metaphysical quandries 6 | arising from this combination should be discussed with a local faith leader, 7 | hermit, or guru. The Oxford comma shall be used. 8 | 9 | -------------------------------------------------------------------------------- /darknet_ros/darknet/LICENSE.v1: -------------------------------------------------------------------------------- 1 | YOLO LICENSE 2 | Version 1, July 10 2015 3 | 4 | THIS SOFTWARE LICENSE IS PROVIDED "ALL CAPS" SO THAT YOU KNOW IT IS SUPER 5 | SERIOUS AND YOU DON'T MESS AROUND WITH COPYRIGHT LAW BECAUSE YOU WILL GET IN 6 | TROUBLE HERE ARE SOME OTHER BUZZWORDS COMMONLY IN THESE THINGS WARRANTIES 7 | LIABILITY CONTRACT TORT LIABLE CLAIMS RESTRICTION MERCHANTABILITY SUBJECT TO 8 | THE FOLLOWING CONDITIONS: 9 | 10 | 1. #yolo 11 | 2. #swag 12 | 3. #blazeit 13 | 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet/README.md: -------------------------------------------------------------------------------- 1 | ![Darknet Logo](http://pjreddie.com/media/files/darknet-black-small.png) 2 | 3 | # Darknet # 4 | Darknet is an open source neural network framework written in C and CUDA. It is fast, easy to install, and supports CPU and GPU computation. 5 | 6 | For more information see the [Darknet project website](http://pjreddie.com/darknet). 7 | 8 | For questions or issues please use the [Google Group](https://groups.google.com/forum/#!forum/darknet). 9 | -------------------------------------------------------------------------------- /darknet_ros/darknet/examples/detector.py: -------------------------------------------------------------------------------- 1 | # Stupid python path shit. 2 | # Instead just add darknet.py to somewhere in your python path 3 | # OK actually that might not be a great idea, idk, work in progress 4 | # Use at your own risk. or don't, i don't care 5 | 6 | import sys, os 7 | sys.path.append(os.path.join(os.getcwd(),'python/')) 8 | 9 | import darknet as dn 10 | import pdb 11 | 12 | dn.set_gpu(0) 13 | net = dn.load_net("cfg/yolo-thor.cfg", "/home/pjreddie/backup/yolo-thor_final.weights", 0) 14 | meta = dn.load_meta("cfg/thor.data") 15 | r = dn.detect(net, meta, "data/bedroom.jpg") 16 | print r 17 | 18 | # And then down here you could detect a lot more images like: 19 | r = dn.detect(net, meta, "data/eagle.jpg") 20 | print r 21 | r = dn.detect(net, meta, "data/giraffe.jpg") 22 | print r 23 | r = dn.detect(net, meta, "data/horses.jpg") 24 | print r 25 | r = dn.detect(net, meta, "data/person.jpg") 26 | print r 27 | 28 | -------------------------------------------------------------------------------- /darknet_ros/darknet/scripts/dice_label.sh: -------------------------------------------------------------------------------- 1 | mkdir -p images 2 | mkdir -p images/orig 3 | mkdir -p images/train 4 | mkdir -p images/val 5 | 6 | ffmpeg -i Face1.mp4 images/orig/face1_%6d.jpg 7 | ffmpeg -i Face2.mp4 images/orig/face2_%6d.jpg 8 | ffmpeg -i Face3.mp4 images/orig/face3_%6d.jpg 9 | ffmpeg -i Face4.mp4 images/orig/face4_%6d.jpg 10 | ffmpeg -i Face5.mp4 images/orig/face5_%6d.jpg 11 | ffmpeg -i Face6.mp4 images/orig/face6_%6d.jpg 12 | 13 | mogrify -resize 100x100^ -gravity center -crop 100x100+0+0 +repage images/orig/* 14 | 15 | ls images/orig/* | shuf | head -n 1000 | xargs mv -t images/val 16 | mv images/orig/* images/train 17 | 18 | find `pwd`/images/train > dice.train.list -name \*.jpg 19 | find `pwd`/images/val > dice.val.list -name \*.jpg 20 | 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/scripts/gen_tactic.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Usage: 3 | # wget http://pjreddie.com/media/files/peek.weights 4 | # scripts/gen_tactic.sh < data/goal.txt 5 | ./darknet rnn generatetactic cfg/gru.cfg peek.weights 2>/dev/null 6 | -------------------------------------------------------------------------------- /darknet_ros/darknet/scripts/imagenet_label.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | mkdir -p labelled 4 | wd=`pwd` 5 | 6 | for f in val/*.xml; 7 | do 8 | label=`grep -m1 "" $f | grep -oP '\K[^<]*'` 9 | im=`echo $f | sed 's/val/imgs/; s/xml/JPEG/'` 10 | out=`echo $im | sed 's/JPEG/'${label}'.JPEG/; s/imgs/labelled/'` 11 | ln -s ${wd}/$im ${wd}/$out 12 | done 13 | 14 | find ${wd}/labelled -name \*.JPEG > inet.val.list 15 | 16 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/activation_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef ACTIVATION_LAYER_H 2 | #define ACTIVATION_LAYER_H 3 | 4 | #include "activations.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_activation_layer(int batch, int inputs, ACTIVATION activation); 9 | 10 | void forward_activation_layer(layer l, network net); 11 | void backward_activation_layer(layer l, network net); 12 | 13 | #ifdef GPU 14 | void forward_activation_layer_gpu(layer l, network net); 15 | void backward_activation_layer_gpu(layer l, network net); 16 | #endif 17 | 18 | #endif 19 | 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/avgpool_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef AVGPOOL_LAYER_H 2 | #define AVGPOOL_LAYER_H 3 | 4 | #include "image.h" 5 | #include "cuda.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | 9 | typedef layer avgpool_layer; 10 | 11 | image get_avgpool_image(avgpool_layer l); 12 | avgpool_layer make_avgpool_layer(int batch, int w, int h, int c); 13 | void resize_avgpool_layer(avgpool_layer *l, int w, int h); 14 | void forward_avgpool_layer(const avgpool_layer l, network net); 15 | void backward_avgpool_layer(const avgpool_layer l, network net); 16 | 17 | #ifdef GPU 18 | void forward_avgpool_layer_gpu(avgpool_layer l, network net); 19 | void backward_avgpool_layer_gpu(avgpool_layer l, network net); 20 | #endif 21 | 22 | #endif 23 | 24 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/batchnorm_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef BATCHNORM_LAYER_H 2 | #define BATCHNORM_LAYER_H 3 | 4 | #include "image.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_batchnorm_layer(int batch, int w, int h, int c); 9 | void forward_batchnorm_layer(layer l, network net); 10 | void backward_batchnorm_layer(layer l, network net); 11 | 12 | #ifdef GPU 13 | void forward_batchnorm_layer_gpu(layer l, network net); 14 | void backward_batchnorm_layer_gpu(layer l, network net); 15 | void pull_batchnorm_layer(layer l); 16 | void push_batchnorm_layer(layer l); 17 | #endif 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/box.h: -------------------------------------------------------------------------------- 1 | #ifndef BOX_H 2 | #define BOX_H 3 | #include "darknet.h" 4 | 5 | typedef struct{ 6 | float dx, dy, dw, dh; 7 | } dbox; 8 | 9 | float box_rmse(box a, box b); 10 | dbox diou(box a, box b); 11 | box decode_box(box b, box anchor); 12 | box encode_box(box b, box anchor); 13 | 14 | #endif 15 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/classifier.h: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/col2im.h: -------------------------------------------------------------------------------- 1 | #ifndef COL2IM_H 2 | #define COL2IM_H 3 | 4 | void col2im_cpu(float* data_col, 5 | int channels, int height, int width, 6 | int ksize, int stride, int pad, float* data_im); 7 | 8 | #ifdef GPU 9 | void col2im_gpu(float *data_col, 10 | int channels, int height, int width, 11 | int ksize, int stride, int pad, float *data_im); 12 | #endif 13 | #endif 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/connected_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef CONNECTED_LAYER_H 2 | #define CONNECTED_LAYER_H 3 | 4 | #include "activations.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_connected_layer(int batch, int inputs, int outputs, ACTIVATION activation, int batch_normalize, int adam); 9 | 10 | void forward_connected_layer(layer l, network net); 11 | void backward_connected_layer(layer l, network net); 12 | void update_connected_layer(layer l, update_args a); 13 | 14 | #ifdef GPU 15 | void forward_connected_layer_gpu(layer l, network net); 16 | void backward_connected_layer_gpu(layer l, network net); 17 | void update_connected_layer_gpu(layer l, update_args a); 18 | void push_connected_layer(layer l); 19 | void pull_connected_layer(layer l); 20 | #endif 21 | 22 | #endif 23 | 24 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/cost_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef COST_LAYER_H 2 | #define COST_LAYER_H 3 | #include "layer.h" 4 | #include "network.h" 5 | 6 | typedef layer cost_layer; 7 | 8 | COST_TYPE get_cost_type(char *s); 9 | char *get_cost_string(COST_TYPE a); 10 | cost_layer make_cost_layer(int batch, int inputs, COST_TYPE type, float scale); 11 | void forward_cost_layer(const cost_layer l, network net); 12 | void backward_cost_layer(const cost_layer l, network net); 13 | void resize_cost_layer(cost_layer *l, int inputs); 14 | 15 | #ifdef GPU 16 | void forward_cost_layer_gpu(cost_layer l, network net); 17 | void backward_cost_layer_gpu(const cost_layer l, network net); 18 | #endif 19 | 20 | #endif 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/crnn_layer.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef CRNN_LAYER_H 3 | #define CRNN_LAYER_H 4 | 5 | #include "activations.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | 9 | layer make_crnn_layer(int batch, int h, int w, int c, int hidden_filters, int output_filters, int steps, ACTIVATION activation, int batch_normalize); 10 | 11 | void forward_crnn_layer(layer l, network net); 12 | void backward_crnn_layer(layer l, network net); 13 | void update_crnn_layer(layer l, update_args a); 14 | 15 | #ifdef GPU 16 | void forward_crnn_layer_gpu(layer l, network net); 17 | void backward_crnn_layer_gpu(layer l, network net); 18 | void update_crnn_layer_gpu(layer l, update_args a); 19 | void push_crnn_layer(layer l); 20 | void pull_crnn_layer(layer l); 21 | #endif 22 | 23 | #endif 24 | 25 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/crop_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef CROP_LAYER_H 2 | #define CROP_LAYER_H 3 | 4 | #include "image.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | typedef layer crop_layer; 9 | 10 | image get_crop_image(crop_layer l); 11 | crop_layer make_crop_layer(int batch, int h, int w, int c, int crop_height, int crop_width, int flip, float angle, float saturation, float exposure); 12 | void forward_crop_layer(const crop_layer l, network net); 13 | void resize_crop_layer(layer *l, int w, int h); 14 | 15 | #ifdef GPU 16 | void forward_crop_layer_gpu(crop_layer l, network net); 17 | #endif 18 | 19 | #endif 20 | 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/cuda.h: -------------------------------------------------------------------------------- 1 | #ifndef CUDA_H 2 | #define CUDA_H 3 | 4 | #include "darknet.h" 5 | 6 | #ifdef GPU 7 | 8 | void check_error(cudaError_t status); 9 | cublasHandle_t blas_handle(); 10 | int *cuda_make_int_array(int *x, size_t n); 11 | void cuda_random(float *x_gpu, size_t n); 12 | float cuda_compare(float *x_gpu, float *x, size_t n, char *s); 13 | dim3 cuda_gridsize(size_t n); 14 | 15 | #ifdef CUDNN 16 | cudnnHandle_t cudnn_handle(); 17 | #endif 18 | 19 | #endif 20 | #endif 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/demo.h: -------------------------------------------------------------------------------- 1 | #ifndef DEMO_H 2 | #define DEMO_H 3 | 4 | #include "image.h" 5 | 6 | #endif 7 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/detection_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef DETECTION_LAYER_H 2 | #define DETECTION_LAYER_H 3 | 4 | #include "layer.h" 5 | #include "network.h" 6 | 7 | typedef layer detection_layer; 8 | 9 | detection_layer make_detection_layer(int batch, int inputs, int n, int size, int classes, int coords, int rescore); 10 | void forward_detection_layer(const detection_layer l, network net); 11 | void backward_detection_layer(const detection_layer l, network net); 12 | 13 | #ifdef GPU 14 | void forward_detection_layer_gpu(const detection_layer l, network net); 15 | void backward_detection_layer_gpu(detection_layer l, network net); 16 | #endif 17 | 18 | #endif 19 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/dropout_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef DROPOUT_LAYER_H 2 | #define DROPOUT_LAYER_H 3 | 4 | #include "layer.h" 5 | #include "network.h" 6 | 7 | typedef layer dropout_layer; 8 | 9 | dropout_layer make_dropout_layer(int batch, int inputs, float probability); 10 | 11 | void forward_dropout_layer(dropout_layer l, network net); 12 | void backward_dropout_layer(dropout_layer l, network net); 13 | void resize_dropout_layer(dropout_layer *l, int inputs); 14 | 15 | #ifdef GPU 16 | void forward_dropout_layer_gpu(dropout_layer l, network net); 17 | void backward_dropout_layer_gpu(dropout_layer l, network net); 18 | 19 | #endif 20 | #endif 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/gru_layer.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef GRU_LAYER_H 3 | #define GRU_LAYER_H 4 | 5 | #include "activations.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | 9 | layer make_gru_layer(int batch, int inputs, int outputs, int steps, int batch_normalize, int adam); 10 | 11 | void forward_gru_layer(layer l, network state); 12 | void backward_gru_layer(layer l, network state); 13 | void update_gru_layer(layer l, update_args a); 14 | 15 | #ifdef GPU 16 | void forward_gru_layer_gpu(layer l, network state); 17 | void backward_gru_layer_gpu(layer l, network state); 18 | void update_gru_layer_gpu(layer l, update_args a); 19 | void push_gru_layer(layer l); 20 | void pull_gru_layer(layer l); 21 | #endif 22 | 23 | #endif 24 | 25 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/im2col.h: -------------------------------------------------------------------------------- 1 | #ifndef IM2COL_H 2 | #define IM2COL_H 3 | 4 | void im2col_cpu(float* data_im, 5 | int channels, int height, int width, 6 | int ksize, int stride, int pad, float* data_col); 7 | 8 | #ifdef GPU 9 | 10 | void im2col_gpu(float *im, 11 | int channels, int height, int width, 12 | int ksize, int stride, int pad,float *data_col); 13 | 14 | #endif 15 | #endif 16 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/l2norm_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef L2NORM_LAYER_H 2 | #define L2NORM_LAYER_H 3 | #include "layer.h" 4 | #include "network.h" 5 | 6 | layer make_l2norm_layer(int batch, int inputs); 7 | void forward_l2norm_layer(const layer l, network net); 8 | void backward_l2norm_layer(const layer l, network net); 9 | 10 | #ifdef GPU 11 | void forward_l2norm_layer_gpu(const layer l, network net); 12 | void backward_l2norm_layer_gpu(const layer l, network net); 13 | #endif 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/layer.h: -------------------------------------------------------------------------------- 1 | #include "darknet.h" 2 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/list.h: -------------------------------------------------------------------------------- 1 | #ifndef LIST_H 2 | #define LIST_H 3 | #include "darknet.h" 4 | 5 | list *make_list(); 6 | int list_find(list *l, void *val); 7 | 8 | void list_insert(list *, void *); 9 | 10 | 11 | void free_list_contents(list *l); 12 | 13 | #endif 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/logistic_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef LOGISTIC_LAYER_H 2 | #define LOGISTIC_LAYER_H 3 | #include "layer.h" 4 | #include "network.h" 5 | 6 | layer make_logistic_layer(int batch, int inputs); 7 | void forward_logistic_layer(const layer l, network net); 8 | void backward_logistic_layer(const layer l, network net); 9 | 10 | #ifdef GPU 11 | void forward_logistic_layer_gpu(const layer l, network net); 12 | void backward_logistic_layer_gpu(const layer l, network net); 13 | #endif 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/lstm_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef LSTM_LAYER_H 2 | #define LSTM_LAYER_H 3 | 4 | #include "activations.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | #define USET 8 | 9 | layer make_lstm_layer(int batch, int inputs, int outputs, int steps, int batch_normalize, int adam); 10 | 11 | void forward_lstm_layer(layer l, network net); 12 | void update_lstm_layer(layer l, update_args a); 13 | 14 | #ifdef GPU 15 | void forward_lstm_layer_gpu(layer l, network net); 16 | void backward_lstm_layer_gpu(layer l, network net); 17 | void update_lstm_layer_gpu(layer l, update_args a); 18 | 19 | #endif 20 | #endif 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/matrix.h: -------------------------------------------------------------------------------- 1 | #ifndef MATRIX_H 2 | #define MATRIX_H 3 | #include "darknet.h" 4 | 5 | matrix copy_matrix(matrix m); 6 | void print_matrix(matrix m); 7 | 8 | matrix hold_out_matrix(matrix *m, int n); 9 | matrix resize_matrix(matrix m, int size); 10 | 11 | float *pop_column(matrix *m, int c); 12 | 13 | #endif 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/maxpool_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef MAXPOOL_LAYER_H 2 | #define MAXPOOL_LAYER_H 3 | 4 | #include "image.h" 5 | #include "cuda.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | 9 | typedef layer maxpool_layer; 10 | 11 | image get_maxpool_image(maxpool_layer l); 12 | maxpool_layer make_maxpool_layer(int batch, int h, int w, int c, int size, int stride, int padding); 13 | void resize_maxpool_layer(maxpool_layer *l, int w, int h); 14 | void forward_maxpool_layer(const maxpool_layer l, network net); 15 | void backward_maxpool_layer(const maxpool_layer l, network net); 16 | 17 | #ifdef GPU 18 | void forward_maxpool_layer_gpu(maxpool_layer l, network net); 19 | void backward_maxpool_layer_gpu(maxpool_layer l, network net); 20 | #endif 21 | 22 | #endif 23 | 24 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/network.h: -------------------------------------------------------------------------------- 1 | // Oh boy, why am I about to do this.... 2 | #ifndef NETWORK_H 3 | #define NETWORK_H 4 | #include "darknet.h" 5 | 6 | #include "image.h" 7 | #include "layer.h" 8 | #include "data.h" 9 | #include "tree.h" 10 | 11 | 12 | #ifdef GPU 13 | void pull_network_output(network *net); 14 | #endif 15 | 16 | void compare_networks(network *n1, network *n2, data d); 17 | char *get_layer_string(LAYER_TYPE a); 18 | 19 | network *make_network(int n); 20 | 21 | 22 | float network_accuracy_multi(network *net, data d, int n); 23 | int get_predicted_class_network(network *net); 24 | void print_network(network *net); 25 | int resize_network(network *net, int w, int h); 26 | void calc_network_cost(network *net); 27 | 28 | #endif 29 | 30 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/normalization_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef NORMALIZATION_LAYER_H 2 | #define NORMALIZATION_LAYER_H 3 | 4 | #include "image.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_normalization_layer(int batch, int w, int h, int c, int size, float alpha, float beta, float kappa); 9 | void resize_normalization_layer(layer *layer, int h, int w); 10 | void forward_normalization_layer(const layer layer, network net); 11 | void backward_normalization_layer(const layer layer, network net); 12 | void visualize_normalization_layer(layer layer, char *window); 13 | 14 | #ifdef GPU 15 | void forward_normalization_layer_gpu(const layer layer, network net); 16 | void backward_normalization_layer_gpu(const layer layer, network net); 17 | #endif 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/option_list.h: -------------------------------------------------------------------------------- 1 | #ifndef OPTION_LIST_H 2 | #define OPTION_LIST_H 3 | #include "list.h" 4 | 5 | typedef struct{ 6 | char *key; 7 | char *val; 8 | int used; 9 | } kvp; 10 | 11 | 12 | int read_option(char *s, list *options); 13 | void option_insert(list *l, char *key, char *val); 14 | char *option_find(list *l, char *key); 15 | float option_find_float(list *l, char *key, float def); 16 | float option_find_float_quiet(list *l, char *key, float def); 17 | void option_unused(list *l); 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/parser.h: -------------------------------------------------------------------------------- 1 | #ifndef PARSER_H 2 | #define PARSER_H 3 | #include "darknet.h" 4 | #include "network.h" 5 | 6 | void save_network(network net, char *filename); 7 | void save_weights_double(network net, char *filename); 8 | 9 | #endif 10 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/region_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef REGION_LAYER_H 2 | #define REGION_LAYER_H 3 | 4 | #include "darknet.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_region_layer(int batch, int w, int h, int n, int classes, int coords); 9 | void forward_region_layer(const layer l, network net); 10 | void backward_region_layer(const layer l, network net); 11 | void resize_region_layer(layer *l, int w, int h); 12 | 13 | #ifdef GPU 14 | void forward_region_layer_gpu(const layer l, network net); 15 | void backward_region_layer_gpu(layer l, network net); 16 | #endif 17 | 18 | #endif 19 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/reorg_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef REORG_LAYER_H 2 | #define REORG_LAYER_H 3 | 4 | #include "image.h" 5 | #include "cuda.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | 9 | layer make_reorg_layer(int batch, int w, int h, int c, int stride, int reverse, int flatten, int extra); 10 | void resize_reorg_layer(layer *l, int w, int h); 11 | void forward_reorg_layer(const layer l, network net); 12 | void backward_reorg_layer(const layer l, network net); 13 | 14 | #ifdef GPU 15 | void forward_reorg_layer_gpu(layer l, network net); 16 | void backward_reorg_layer_gpu(layer l, network net); 17 | #endif 18 | 19 | #endif 20 | 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/rnn_layer.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef RNN_LAYER_H 3 | #define RNN_LAYER_H 4 | 5 | #include "activations.h" 6 | #include "layer.h" 7 | #include "network.h" 8 | #define USET 9 | 10 | layer make_rnn_layer(int batch, int inputs, int outputs, int steps, ACTIVATION activation, int batch_normalize, int adam); 11 | 12 | void forward_rnn_layer(layer l, network net); 13 | void backward_rnn_layer(layer l, network net); 14 | void update_rnn_layer(layer l, update_args a); 15 | 16 | #ifdef GPU 17 | void forward_rnn_layer_gpu(layer l, network net); 18 | void backward_rnn_layer_gpu(layer l, network net); 19 | void update_rnn_layer_gpu(layer l, update_args a); 20 | void push_rnn_layer(layer l); 21 | void pull_rnn_layer(layer l); 22 | #endif 23 | 24 | #endif 25 | 26 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/route_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef ROUTE_LAYER_H 2 | #define ROUTE_LAYER_H 3 | #include "network.h" 4 | #include "layer.h" 5 | 6 | typedef layer route_layer; 7 | 8 | route_layer make_route_layer(int batch, int n, int *input_layers, int *input_size); 9 | void forward_route_layer(const route_layer l, network net); 10 | void backward_route_layer(const route_layer l, network net); 11 | void resize_route_layer(route_layer *l, network *net); 12 | 13 | #ifdef GPU 14 | void forward_route_layer_gpu(const route_layer l, network net); 15 | void backward_route_layer_gpu(const route_layer l, network net); 16 | #endif 17 | 18 | #endif 19 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/shortcut_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef SHORTCUT_LAYER_H 2 | #define SHORTCUT_LAYER_H 3 | 4 | #include "layer.h" 5 | #include "network.h" 6 | 7 | layer make_shortcut_layer(int batch, int index, int w, int h, int c, int w2, int h2, int c2); 8 | void forward_shortcut_layer(const layer l, network net); 9 | void backward_shortcut_layer(const layer l, network net); 10 | void resize_shortcut_layer(layer *l, int w, int h); 11 | 12 | #ifdef GPU 13 | void forward_shortcut_layer_gpu(const layer l, network net); 14 | void backward_shortcut_layer_gpu(const layer l, network net); 15 | #endif 16 | 17 | #endif 18 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/softmax_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef SOFTMAX_LAYER_H 2 | #define SOFTMAX_LAYER_H 3 | #include "layer.h" 4 | #include "network.h" 5 | 6 | typedef layer softmax_layer; 7 | 8 | void softmax_array(float *input, int n, float temp, float *output); 9 | softmax_layer make_softmax_layer(int batch, int inputs, int groups); 10 | void forward_softmax_layer(const softmax_layer l, network net); 11 | void backward_softmax_layer(const softmax_layer l, network net); 12 | 13 | #ifdef GPU 14 | void pull_softmax_layer_output(const softmax_layer l); 15 | void forward_softmax_layer_gpu(const softmax_layer l, network net); 16 | void backward_softmax_layer_gpu(const softmax_layer l, network net); 17 | #endif 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/tree.h: -------------------------------------------------------------------------------- 1 | #ifndef TREE_H 2 | #define TREE_H 3 | #include "darknet.h" 4 | 5 | int hierarchy_top_prediction(float *predictions, tree *hier, float thresh, int stride); 6 | float get_hierarchy_probability(float *x, tree *hier, int c, int stride); 7 | 8 | #endif 9 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/upsample_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef UPSAMPLE_LAYER_H 2 | #define UPSAMPLE_LAYER_H 3 | #include "darknet.h" 4 | 5 | layer make_upsample_layer(int batch, int w, int h, int c, int stride); 6 | void forward_upsample_layer(const layer l, network net); 7 | void backward_upsample_layer(const layer l, network net); 8 | void resize_upsample_layer(layer *l, int w, int h); 9 | 10 | #ifdef GPU 11 | void forward_upsample_layer_gpu(const layer l, network net); 12 | void backward_upsample_layer_gpu(const layer l, network net); 13 | #endif 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /darknet_ros/darknet/src/yolo_layer.h: -------------------------------------------------------------------------------- 1 | #ifndef YOLO_LAYER_H 2 | #define YOLO_LAYER_H 3 | 4 | #include "darknet.h" 5 | #include "layer.h" 6 | #include "network.h" 7 | 8 | layer make_yolo_layer(int batch, int w, int h, int n, int total, int *mask, int classes); 9 | void forward_yolo_layer(const layer l, network net); 10 | void backward_yolo_layer(const layer l, network net); 11 | void resize_yolo_layer(layer *l, int w, int h); 12 | int yolo_num_detections(layer l, float thresh); 13 | 14 | #ifdef GPU 15 | void forward_yolo_layer_gpu(const layer l, network net); 16 | void backward_yolo_layer_gpu(layer l, network net); 17 | #endif 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/config/ros.yaml: -------------------------------------------------------------------------------- 1 | subscribers: 2 | 3 | camera_reading: 4 | topic: /camera/rgb/image_raw 5 | queue_size: 1 6 | 7 | camera_depth: 8 | topic: /camera/depth/image_raw 9 | queue_size: 1 10 | 11 | actions: 12 | camera_reading: 13 | name: /darknet_ros/check_for_objects 14 | 15 | publishers: 16 | 17 | object_detector: 18 | topic: /darknet_ros/found_object 19 | queue_size: 1 20 | latch: false 21 | 22 | bounding_boxes: 23 | topic: /darknet_ros/bounding_boxes 24 | queue_size: 1 25 | latch: false 26 | 27 | detection_image: 28 | topic: /darknet_ros/detection_image 29 | queue_size: 1 30 | latch: true 31 | 32 | image_view: 33 | 34 | enable_opencv: true 35 | wait_key_delay: 1 36 | enable_console_output: true 37 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/config/yolo-lab.yaml: -------------------------------------------------------------------------------- 1 | yolo_model: 2 | 3 | config_file: 4 | name: yolo-obj.cfg 5 | weight_file: 6 | name: yolo-obj_6000.weights 7 | threshold: 8 | value: 0.5 9 | detection_classes: 10 | names: 11 | - bicicleta roja 12 | - bicicleta azul 13 | - bicicleta verde 14 | - barco rojo 15 | - barco azul 16 | - barco verde 17 | - avion rojo 18 | - avion azul 19 | - avion verde 20 | - botella roja 21 | - botella azul 22 | - botella verde 23 | - moneda 24 | - bomba 25 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/config/yolov2-tiny-voc.yaml: -------------------------------------------------------------------------------- 1 | yolo_model: 2 | 3 | config_file: 4 | name: yolov2-tiny-voc.cfg 5 | weight_file: 6 | name: yolov2-tiny-voc.weights 7 | threshold: 8 | value: 0.3 9 | detection_classes: 10 | names: 11 | - aeroplane 12 | - bicycle 13 | - bird 14 | - boat 15 | - bottle 16 | - bus 17 | - car 18 | - cat 19 | - chair 20 | - cow 21 | - diningtable 22 | - dog 23 | - horse 24 | - motorbike 25 | - person 26 | - pottedplant 27 | - sheep 28 | - sofa 29 | - train 30 | - tvmonitor 31 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/config/yolov2-voc.yaml: -------------------------------------------------------------------------------- 1 | yolo_model: 2 | 3 | config_file: 4 | name: yolov2-voc.cfg 5 | weight_file: 6 | name: yolov2-voc.weights 7 | threshold: 8 | value: 0.3 9 | detection_classes: 10 | names: 11 | - aeroplane 12 | - bicycle 13 | - bird 14 | - boat 15 | - bottle 16 | - bus 17 | - car 18 | - cat 19 | - chair 20 | - cow 21 | - diningtable 22 | - dog 23 | - horse 24 | - motorbike 25 | - person 26 | - pottedplant 27 | - sheep 28 | - sofa 29 | - train 30 | - tvmonitor 31 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/config/yolov3-voc.yaml: -------------------------------------------------------------------------------- 1 | yolo_model: 2 | 3 | config_file: 4 | name: yolov3-voc.cfg 5 | weight_file: 6 | name: yolov3-voc.weights 7 | threshold: 8 | value: 0.3 9 | detection_classes: 10 | names: 11 | - aeroplane 12 | - bicycle 13 | - bird 14 | - boat 15 | - bottle 16 | - bus 17 | - car 18 | - cat 19 | - chair 20 | - cow 21 | - diningtable 22 | - dog 23 | - horse 24 | - motorbike 25 | - person 26 | - pottedplant 27 | - sheep 28 | - sofa 29 | - train 30 | - tvmonitor 31 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/doc/quadruped_anymal_and_person.JPG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/darknet_ros/darknet_ros/doc/quadruped_anymal_and_person.JPG -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/doc/test_detection.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/darknet_ros/darknet_ros/doc/test_detection.png -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/doc/test_detection_anymal.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/darknet_ros/darknet_ros/doc/test_detection_anymal.png -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/include/darknet_ros/image_interface.h: -------------------------------------------------------------------------------- 1 | /* 2 | * image_interface.h 3 | * 4 | * Created on: Dec 19, 2016 5 | * Author: Marko Bjelonic 6 | * Institute: ETH Zurich, Robotic Systems Lab 7 | */ 8 | 9 | #ifndef IMAGE_INTERFACE_H 10 | #define IMAGE_INTERFACE_H 11 | 12 | #include "image.h" 13 | 14 | image **load_alphabet_with_file(char *datafile); 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/launch/darknet_ros_gdb.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/src/image_interface.c: -------------------------------------------------------------------------------- 1 | /* 2 | * image_interface.c 3 | * 4 | * Created on: Dec 19, 2016 5 | * Author: Marko Bjelonic 6 | * Institute: ETH Zurich, Robotic Systems Lab 7 | */ 8 | 9 | #include "darknet_ros/image_interface.h" 10 | 11 | image **load_alphabet_with_file(char *datafile) 12 | { 13 | int i, j; 14 | const int nsize = 8; 15 | image **alphabets = calloc(nsize, sizeof(image)); 16 | char* labels = "/labels/%d_%d.png"; 17 | char * files = (char *) malloc(1 + strlen(datafile)+ strlen(labels) ); 18 | strcpy(files, datafile); 19 | strcat(files, labels); 20 | for(j = 0; j < nsize; ++j) 21 | { 22 | alphabets[j] = calloc(128, sizeof(image)); 23 | for(i = 32; i < 127; ++i) 24 | { 25 | char buff[256]; 26 | sprintf(buff, files, i, j); 27 | alphabets[j][i] = load_image_color(buff, 0, 0); 28 | } 29 | } 30 | return alphabets; 31 | } 32 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/src/yolo_object_detector_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * yolo_obstacle_detector_node.cpp 3 | * 4 | * Created on: Dec 19, 2016 5 | * Author: Marko Bjelonic 6 | * Institute: ETH Zurich, Robotic Systems Lab 7 | */ 8 | 9 | #include 10 | #include 11 | 12 | int main(int argc, char** argv) 13 | { 14 | ros::init(argc, argv, "darknet_ros"); 15 | ros::NodeHandle nodeHandle("~"); 16 | darknet_ros::YoloObjectDetector yoloObjectDetector(nodeHandle); 17 | 18 | ros::spin(); 19 | return 0; 20 | } 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/test/test_main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | // ROS 4 | #include 5 | 6 | int main(int argc, char** argv) { 7 | ros::init(argc, argv, "darknet_ros_test"); 8 | testing::InitGoogleTest(&argc, argv); 9 | return RUN_ALL_TESTS(); 10 | } 11 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/yolo_network_config/weights/.gitignore: -------------------------------------------------------------------------------- 1 | *.weights 2 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros/yolo_network_config/weights/how_to_download_weights.txt: -------------------------------------------------------------------------------- 1 | cd catkin_workspace/src/darknet_ros/darknet_ros/yolo_network_config/weights/ 2 | 3 | COCO data set (Yolo v2): 4 | wget http://pjreddie.com/media/files/yolov2.weights 5 | wget http://pjreddie.com/media/files/yolov2-tiny.weights 6 | 7 | VOC data set (Yolo v2): 8 | wget http://pjreddie.com/media/files/yolov2-voc.weights 9 | wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights 10 | 11 | Yolo v3: 12 | wget http://pjreddie.com/media/files/yolov3.weights 13 | wget http://pjreddie.com/media/files/yolov3-voc.weights 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package darknet_ros_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.3 (2018-04-26) 6 | ------------------ 7 | * Fixed formatting part 2. 8 | * Merge branch 'firephinx-master' 9 | * Merge branch 'master' of https://github.com/firephinx/darknet_ros into firephinx-master 10 | * Added rgb_image_header to BoundingBoxes msg. 11 | * Merge pull request `#57 `_ from leggedrobotics/devel/threads 12 | Devel/threads 13 | * Adapted package description. 14 | * Merge branch 'master' into devel/threads 15 | * Update package.xml 16 | * Contributors: Kevin Zhang, Marko Bjelonic 17 | 18 | 1.1.2 (2018-01-06) 19 | ------------------ 20 | * First release of darknet_ros_msgs. 21 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | 3 | project(darknet_ros_msgs) 4 | 5 | set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") 6 | 7 | find_package(catkin REQUIRED 8 | COMPONENTS 9 | actionlib_msgs 10 | geometry_msgs 11 | sensor_msgs 12 | std_msgs 13 | message_generation 14 | ) 15 | 16 | add_message_files( 17 | FILES 18 | BoundingBox.msg 19 | BoundingBoxes.msg 20 | ) 21 | 22 | add_action_files( 23 | FILES 24 | CheckForObjects.action 25 | ) 26 | 27 | generate_messages( 28 | DEPENDENCIES 29 | actionlib_msgs 30 | geometry_msgs 31 | sensor_msgs 32 | std_msgs 33 | ) 34 | 35 | catkin_package( 36 | CATKIN_DEPENDS 37 | actionlib_msgs 38 | geometry_msgs 39 | sensor_msgs 40 | message_runtime 41 | std_msgs 42 | ) 43 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros_msgs/action/CheckForObjects.action: -------------------------------------------------------------------------------- 1 | # Check if objects in image 2 | 3 | # Goal definition 4 | int16 id 5 | sensor_msgs/Image image 6 | 7 | --- 8 | # Result definition 9 | int16 id 10 | darknet_ros_msgs/BoundingBoxes bounding_boxes 11 | 12 | --- 13 | # Feedback definition 14 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros_msgs/msg/BoundingBox.msg: -------------------------------------------------------------------------------- 1 | string Class 2 | float64 probability 3 | int64 xmin 4 | int64 ymin 5 | int64 xmax 6 | int64 ymax 7 | float32 X 8 | float32 Y 9 | float32 Z 10 | bool Invalid 11 | -------------------------------------------------------------------------------- /darknet_ros/darknet_ros_msgs/msg/BoundingBoxes.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | Header image_header 3 | BoundingBox[] bounding_boxes 4 | -------------------------------------------------------------------------------- /darknet_ros/jenkins-pipeline: -------------------------------------------------------------------------------- 1 | library 'continuous_integration_pipeline' 2 | ciPipeline("") 3 | -------------------------------------------------------------------------------- /depthimage_to_laserscan/README.md: -------------------------------------------------------------------------------- 1 | depthimage_to_laserscan 2 | ======================= 3 | 4 | Converts a depth image to a laser scan for use with navigation and localization. 5 | 6 | ROS Wiki Page: 7 | http://www.ros.org/wiki/depthimage_to_laserscan 8 | -------------------------------------------------------------------------------- /depthimage_to_laserscan/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b depthimage_to_laserscan provides an efficient method to project laserscans directly from depth images. These messages are used to run laserscan based software such as gmapping, amcl, or the navigation stack from robots with only depth cameras such as the Mircosoft Kinect or ASUS Xtion. 6 | 7 | 8 | */ 9 | -------------------------------------------------------------------------------- /depthimage_to_laserscan/nodelets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | 7 | Nodelet to convert raw depth images to sensor_msgs/LaserScans. 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /depthimage_to_laserscan/test/rostest/depthimage_to_laserscan.test: -------------------------------------------------------------------------------- 1 | 2 | \ 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /explore/doc/architecture.dia: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/explore/doc/architecture.dia -------------------------------------------------------------------------------- /explore/doc/screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/explore/doc/screenshot.png -------------------------------------------------------------------------------- /explore/launch/explore.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /explore/launch/explore_costmap.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /explore/launch/explore_costmap.launch.bak: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /explore/srv/setExpRes.srv: -------------------------------------------------------------------------------- 1 | int32 cmd 2 | --- 3 | int32 result 4 | -------------------------------------------------------------------------------- /image_rectification/config/rectification.yaml: -------------------------------------------------------------------------------- 1 | subscribers: 2 | 3 | camera_reading: 4 | topic: /camera/rgb/image_raw 5 | queue_size: 1 6 | 7 | camera_depth: 8 | topic: /camera/depth/image_raw 9 | queue_size: 1 10 | 11 | publishers: 12 | 13 | detection_image: 14 | topic: /image_rectification/depth_image 15 | queue_size: 1 16 | latch: true 17 | 18 | -------------------------------------------------------------------------------- /image_rectification/launch/rectification.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /image_rectification/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | image_rectification 4 | 0.0.1 5 | Image rectification to eliminate yellow pixels. 6 | Alejandro Diaz 7 | TODO 8 | 9 | catkin 10 | 11 | roscpp 12 | rospy 13 | std_msgs 14 | image_transport 15 | cv_bridge 16 | sensor_msgs 17 | message_generation 18 | 19 | 20 | -------------------------------------------------------------------------------- /image_rectification/src/ImageRectificationNode.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | int main(int argc, char** argv) 5 | { 6 | ros::init(argc, argv, "image_rectification"); 7 | ros::NodeHandle nodeHandle("~"); 8 | image_rectification::DepthImageRectification DepthImageRectification(nodeHandle); 9 | 10 | ros::spin(); 11 | return 0; 12 | } 13 | -------------------------------------------------------------------------------- /labrob_gazebo/launch/labrob.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /labrob_gazebo/launch/plugin_sim.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /labrob_gazebo/launch/plugin_sim_aruco.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /labrob_gazebo/launch/plugin_sim_final.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /labrob_gazebo/launch/sim_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Airplane Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue airplane. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://airplane_blue/meshes/plane_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://airplane_blue/meshes/plane_fixed.dae 18 | 19 | 20 | 0 0 1 1 21 | 0 0 1 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Airplane Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green airplane. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://airplane_green/meshes/plane_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://airplane_green/meshes/plane_fixed.dae 18 | 19 | 20 | 0 1 0 1 21 | 0 1 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Airplane Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red airplane. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/airplane_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://airplane_red/meshes/plane_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://airplane_red/meshes/plane_fixed.dae 18 | 19 | 20 | 1 0 0 1 21 | 1 0 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_1.material: -------------------------------------------------------------------------------- 1 | material Aruco1/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco1.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_10.material: -------------------------------------------------------------------------------- 1 | material Aruco10/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco10.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_11.material: -------------------------------------------------------------------------------- 1 | material Aruco11/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco11.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_12.material: -------------------------------------------------------------------------------- 1 | material Aruco12/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco12.jpg 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_2.material: -------------------------------------------------------------------------------- 1 | material Aruco2/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco2.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_3.material: -------------------------------------------------------------------------------- 1 | material Aruco3/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco3.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_4.material: -------------------------------------------------------------------------------- 1 | material Aruco4/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco4.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_5.material: -------------------------------------------------------------------------------- 1 | material Aruco5/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco5.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_6.material: -------------------------------------------------------------------------------- 1 | material Aruco6/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco6.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_7.material: -------------------------------------------------------------------------------- 1 | material Aruco7/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco7.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_8.material: -------------------------------------------------------------------------------- 1 | material Aruco8/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco8.png 10 | } 11 | } 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/materials/scripts/aruco_9.material: -------------------------------------------------------------------------------- 1 | material Aruco9/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture Aruco9.png 10 | } 11 | } 12 | } 13 | } 14 | 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-------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_1.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_10.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_11.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_12.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_2.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_3.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_4.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_6.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_7.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_8.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/aruco_cube/model_9.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .50 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /labrob_gazebo/models/barrier_1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Barrier 1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome simple barrier. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/barrier_2/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Barrier 2 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome double barrier. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/barrier_3/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Barrier 3 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome triple barrier. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bike Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue bike. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bike_blue/meshes/bike.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bike_blue/meshes/bike.dae 18 | 19 | 20 | 0 0 1 1 21 | 0 0 1 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bike Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green bike. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bike_green/meshes/bike.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bike_green/meshes/bike.dae 18 | 19 | 20 | 0 1 0 1 21 | 0 1 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bike Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red bike. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bike_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bike_red/meshes/bike.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bike_red/meshes/bike.dae 18 | 19 | 20 | 1 0 0 1 21 | 1 0 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Boat Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue boat. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://boat_blue/meshes/boat_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://boat_blue/meshes/boat_fixed.dae 18 | 19 | 20 | 0 0 1 1 21 | 0 0 1 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Boat Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green boat. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://boat_green/meshes/boat_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://boat_green/meshes/boat_fixed.dae 18 | 19 | 20 | 0 1 0 1 21 | 0 1 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Boat Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red boat. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/boat_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://boat_red/meshes/boat_fixed.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://boat_red/meshes/boat_fixed.dae 18 | 19 | 20 | 1 0 0 1 21 | 1 0 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bomb/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bomb 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome bomb. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/borders/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | borders 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome simple barrier. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bottle Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue bottle. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bottle_blue/meshes/bottle.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bottle_blue/meshes/bottle.dae 18 | 19 | 20 | 0 0 1 1 21 | 0 0 1 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bottle Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green bottle. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bottle_green/meshes/bottle.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bottle_green/meshes/bottle.dae 18 | 19 | 20 | 0 1 0 1 21 | 0 1 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Bottle Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red bottle. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/bottle_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .5 -1.5708 0 0 7 | 8 | 9 | 10 | model://bottle_red/meshes/bottle.dae 11 | 12 | 13 | 14 | 15 | 0 0 0 0 0 0 16 | 17 | model://bottle_red/meshes/bottle.dae 18 | 19 | 20 | 1 0 0 1 21 | 1 0 0 1 22 | 0.1 0.1 0.1 1 23 | 0 0 0 0 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /labrob_gazebo/models/coin/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Coin 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome coin. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cube Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue cube. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 0 0 1 1 24 | 0 0 1 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cube Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green cube. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 0 1 0 1 24 | 0 1 0 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cube Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red cube. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cube_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .5 .5 .5 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .5 .5 .5 20 | 21 | 22 | 23 | 1 0 0 1 24 | 1 0 0 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cylinder Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue cylinder. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | .5 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | .25 21 | .5 22 | 23 | 24 | 25 | 0 0 1 1 26 | 0 0 1 1 27 | 0.1 0.1 0.1 1 28 | 0 0 0 0 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cylinder Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green cylinder. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | .5 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | .25 21 | .5 22 | 23 | 24 | 25 | 0 1 0 1 26 | 0 1 0 1 27 | 0.1 0.1 0.1 1 28 | 0 0 0 0 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Cylinder Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red cylinder. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/cylinder_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | .5 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | .25 21 | .5 22 | 23 | 24 | 25 | 1 0 0 1 26 | 1 0 0 1 27 | 0.1 0.1 0.1 1 28 | 0 0 0 0 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /labrob_gazebo/models/labrob_ground/materials/scripts/asphalt.material: -------------------------------------------------------------------------------- 1 | material Labrob/AsphaltGround 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | ambient 0.5 0.5 0.5 1.0 8 | diffuse 0.5 0.5 0.5 1.0 9 | specular 0.2 0.2 0.2 1.0 12.5 10 | 11 | texture_unit 12 | { 13 | texture tarmac.png 14 | filtering anistropic 15 | max_anisotropy 16 16 | scale 0.1 0.1 17 | } 18 | } 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /labrob_gazebo/models/labrob_ground/materials/textures/tarmac.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/labrob_gazebo/models/labrob_ground/materials/textures/tarmac.png -------------------------------------------------------------------------------- /labrob_gazebo/models/labrob_ground/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Labrob Ground 4 | 1.0 5 | 6 | model.sdf 7 | 8 | 9 | David Vargas 10 | dvargasfr@gmail.com 11 | 12 | 13 | 14 | An awesome asphalt ground. 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /labrob_gazebo/models/my_robot_01/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | My Robot 01 4 | 1.0 5 | model.sdf 6 | 7 | 8 | My Name 9 | me@my.email 10 | 11 | 12 | 13 | My awesome robot. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/my_robot_05/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | My Robot 05 4 | 1.0 5 | model.sdf 6 | 7 | 8 | My Name 9 | me@my.email 10 | 11 | 12 | 13 | My awesome robot. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_blue/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Sphere Blue 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome blue sphere. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_blue/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .25 20 | 21 | 22 | 23 | 0 0 1 1 24 | 0 0 1 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_green/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Sphere Green 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome green sphere. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_green/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .25 20 | 21 | 22 | 23 | 0 1 0 1 24 | 0 1 0 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_red/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Sphere Red 4 | 1.0 5 | model.sdf 6 | 7 | 8 | David Vargas 9 | dvargasfr@gmail.com 10 | 11 | 12 | 13 | An awesome red sphere. 14 | 15 | 16 | -------------------------------------------------------------------------------- /labrob_gazebo/models/sphere_red/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 .25 0 0 0 7 | 8 | 9 | 10 | 11 | .25 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | .25 20 | 21 | 22 | 23 | 1 0 0 1 24 | 1 0 0 1 25 | 0.1 0.1 0.1 1 26 | 0 0 0 0 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /labrob_gazebo/worlds/sim_world.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://labrob_ground 7 | 0 0 0 0 0 0 8 | 9 | 10 | 11 | model://sun 12 | 13 | 14 | 15 | model://borders 16 | 0 0 0 0 0 0 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /simple_navigation_goals/action/ObjectRVIZMapping.action: -------------------------------------------------------------------------------- 1 | #goal definition 2 | int32 id 3 | float32 pos_x 4 | float32 pos_y 5 | float32 pos_z 6 | --- 7 | #result definition 8 | int32 result 9 | --- 10 | #feedback 11 | int32 feedback 12 | -------------------------------------------------------------------------------- /simple_navigation_goals/launch/lab_mission.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /simple_navigation_goals/srv/getWorldPose.srv: -------------------------------------------------------------------------------- 1 | float32 cam_x 2 | float32 cam_y 3 | float32 cam_z 4 | --- 5 | float32 world_x 6 | float32 world_y 7 | float32 world_z 8 | 9 | -------------------------------------------------------------------------------- /simple_navigation_goals/srv/setExplorerStatus.srv: -------------------------------------------------------------------------------- 1 | int32 signal 2 | --- 3 | int32 result 4 | -------------------------------------------------------------------------------- /slam_gmapping/.gitignore: -------------------------------------------------------------------------------- 1 | .cproject 2 | .project 3 | .pydevproject 4 | cmake_install.cmake 5 | build/ 6 | bin/ 7 | lib/ 8 | msg_gen/ 9 | srv_gen/ 10 | *.pyc 11 | *~ 12 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Nodelet ROS wrapper for OpenSlam's Gmapping. 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_laser_different_beamcount.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_stage.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_stage_replay.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_stage_replay2.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_symmetry.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /slam_gmapping/gmapping/test/basic_localization_upside_down.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /slam_gmapping/slam_gmapping/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package slam_gmapping 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.3.9 (2017-10-22) 6 | ------------------ 7 | 8 | 1.3.8 (2015-07-31) 9 | ------------------ 10 | 11 | 1.3.7 (2015-07-04) 12 | ------------------ 13 | 14 | 1.3.6 (2015-06-26) 15 | ------------------ 16 | 17 | 1.3.5 (2014-08-28) 18 | ------------------ 19 | 20 | 1.3.4 (2014-08-07) 21 | ------------------ 22 | 23 | 1.3.3 (2014-06-23) 24 | ------------------ 25 | 26 | 1.3.2 (2014-01-14) 27 | ------------------ 28 | 29 | 1.3.1 (2014-01-13) 30 | ------------------ 31 | 32 | 1.3.0 (2013-06-28) 33 | ------------------ 34 | * Renamed to gmapping, adding metapackage for slam_gmapping 35 | * Contributors: Mike Ferguson 36 | -------------------------------------------------------------------------------- /slam_gmapping/slam_gmapping/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(slam_gmapping) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /slam_gmapping/slam_gmapping/package.xml: -------------------------------------------------------------------------------- 1 | 2 | slam_gmapping 3 | 1.3.9 4 | slam_gmapping contains a wrapper around gmapping which provides SLAM capabilities. 5 | Brian Gerkey 6 | Vincent Rabaud 7 | CreativeCommons-by-nc-sa-2.0 8 | 9 | http://ros.org/wiki/slam_gmapping 10 | 11 | catkin 12 | 13 | openslam_gmapping 14 | gmapping 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /turtlebot/READ_ME.md: -------------------------------------------------------------------------------- 1 | turtlebot 2 | ========= 3 | 4 | The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org). 5 | 6 | ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot) 7 | 8 | 9 | 10 | 11 | ![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png) 12 | -------------------------------------------------------------------------------- /turtlebot/setup_create.sh: -------------------------------------------------------------------------------- 1 | # This configures the environment variables for a create based turtlebot 2 | # running the Turtlebot 2.0 software. This is necessary to run after 3 | # setup.bash to ensure the create drivers and nodes are all correctly launched. 4 | # 5 | # You may wish to set the 3d sensor to asus_xtion_pro if you do not have a kinect 6 | # though. While the kinect settings work for the asus in terms of 3d sensing (openni 7 | # handles the abstraction) the asus settiing makes sure the mesh shown in rviz/gazebo 8 | # is the asus. 9 | 10 | export TURTLEBOT_BASE=create 11 | export TURTLEBOT_STACKS=circles 12 | export TURTLEBOT_3D_SENSOR=kinect 13 | export TURTLEBOT_SIMULATION=false 14 | -------------------------------------------------------------------------------- /turtlebot/setup_kobuki.sh: -------------------------------------------------------------------------------- 1 | # This configures the environment variables for a kobuki based turtlebot. 2 | # Currently this script isn't actually needed as the values below are 3 | # defaults. 4 | # 5 | # You may wish to set the 3d sensor to asus_xtion_pro if you do not have a kinect 6 | # though. While the kinect settings work for the asus in terms of 3d sensing (openni 7 | # handles the abstraction) the asus settiing makes sure the mesh shown in rviz/gazebo 8 | # is the asus. 9 | 10 | export TURTLEBOT_BASE=kobuki 11 | export TURTLEBOT_STACKS=hexagons 12 | export TURTLEBOT_3D_SENSOR=kinect 13 | export TURTLEBOT_SIMULATION=false 14 | -------------------------------------------------------------------------------- /turtlebot/turtlebot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Default 6 | python 2.7 7 | 8 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_bringup) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | catkin_add_env_hooks(25.turtlebot SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 9 | 10 | install( 11 | PROGRAMS 12 | scripts/turtlebot_addr.py 13 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 14 | ) 15 | 16 | install(DIRECTORY launch 17 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 18 | ) 19 | 20 | install(DIRECTORY param 21 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 22 | ) 23 | 24 | install(DIRECTORY icons 25 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 26 | ) 27 | 28 | install(DIRECTORY interactions 29 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 30 | ) 31 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/icons/turtlebot2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot/turtlebot_bringup/icons/turtlebot2.png -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/launch/includes/description.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/3dsensor.yaml: -------------------------------------------------------------------------------- 1 | # This is only a very minimal set of parameters that really should be configured for the kinect. 2 | # See http://www.ros.org/wiki/openni_camera for more information. 3 | 4 | # Note - this is not working in groovy with asus. It may need a different configuration as well. 5 | 6 | # Defaults for the frame id's are fine 7 | rgb_frame_id: /camera_rgb_optical_frame 8 | depth_frame_id: /camera_depth_optical_frame 9 | # Configured by launcher args in 3dsensor.launch 10 | # depth_registration: true 11 | image_mode: 2 12 | depth_mode: 2 13 | # why is this non-zero? 14 | depth_time_offset: -0.055 15 | image_time_offset: 0 16 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/create/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # default providers for the Create -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/create/diagnostics.yaml: -------------------------------------------------------------------------------- 1 | pub_rate: 1.0 # Optional 2 | base_path: '' # Optional, prepended to all diagnostic output 3 | analyzers: 4 | nodes: 5 | type: diagnostic_aggregator/GenericAnalyzer 6 | path: 'Nodes' 7 | timeout: 5.0 8 | contains: ['Node'] 9 | mode: 10 | type: diagnostic_aggregator/GenericAnalyzer 11 | path: 'Mode' 12 | timeout: 5.0 13 | startswith: ['Operating Mode'] 14 | sensors: 15 | type: GenericAnalyzer 16 | path: 'Sensors' 17 | timeout: 5.0 18 | startswith: ['Cliff Sensor', 'Wall Sensor', 'Gyro Sensor'] 19 | power: 20 | type: diagnostic_aggregator/GenericAnalyzer 21 | path: 'Power System' 22 | timeout: 5.0 23 | startswith: ['Battery', 'Charging Sources', 'Laptop Battery'] 24 | digital_io: 25 | type: diagnostic_aggregator/GenericAnalyzer 26 | path: 'Digital IO' 27 | timeout: 5.0 28 | startswith: ['Digital Outputs'] 29 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # base-agnostic default capability providers for the TurtleBot 2 | defaults: 3 | std_capabilities/Diagnostics: 'turtlebot_capabilities/diagnostics' 4 | std_capabilities/LaserSensor: 'turtlebot_capabilities/depthimage_to_laserscan' 5 | std_capabilities/RGBDSensor: 'turtlebot_capabilities/kinect_rgbd_sensor' 6 | std_capabilities/RobotStatePublisher: 'turtlebot_capabilities/robot_state_publisher' 7 | turtlebot_capabilities/TurtleBotBringup: 'turtlebot_capabilities/tb_bringup' -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/defaults/smoother.yaml: -------------------------------------------------------------------------------- 1 | # Default parameters used by the yocs_velocity_smoother module. 2 | # This isn't used by minimal.launch per se, rather by everything 3 | # which runs on top. 4 | 5 | # Mandatory parameters 6 | speed_lim_v: 0.8 7 | speed_lim_w: 5.4 8 | 9 | accel_lim_v: 1.0 # maximum is actually 2.0, but we push it down to be smooth 10 | accel_lim_w: 2.0 11 | 12 | # Optional parameters 13 | frequency: 20.0 14 | decel_factor: 1.5 15 | 16 | # Robot velocity feedback type: 17 | # 0 - none (default) 18 | # 1 - odometry 19 | # 2 - end robot commands 20 | robot_feedback: 2 21 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/kinect/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # default capability providers for the Microsoft Kinect 2 | defaults: 3 | 'std_capabilities/RGBDSensor': 'turtlebot_capabilities/kinect_rgbd_sensor' -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # default providers for the Kobuki 2 | defaults: 3 | 'kobuki_capabilities/KobukiBringup': 'kobuki_capabilities/kobuki_bringup' 4 | 'kobuki_capabilities/KobukiLED1': 'kobuki_capabilities/kobuki_led1' 5 | 'kobuki_capabilities/KobukiLED2': 'kobuki_capabilities/kobuki_led2' 6 | 'kobuki_capabilities/LED': 'kobuki_capabilities/kobuki_led' 7 | 'std_capabilities/DifferentialMobileBase': 'kobuki_capabilities/kobuki_differential_mobile_base' -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/preferred_rapp.yaml: -------------------------------------------------------------------------------- 1 | # Uncomment and modify below to explicitly set the preferred 2 | # implementation for an ancestor rapp specification: 3 | preferred: 4 | - rocon_apps/chirp: 'rocon_apps/moo_chirp' 5 | # - rocon_apps/chirp: 'rocon_apps/meow_chirp' 6 | # and when an ancestor is an implementation... 7 | # - rocon_apps/talker: 'rocon_apps/talker' 8 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/roomba/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # default providers for the Roomba -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/roomba/diagnostics.yaml: -------------------------------------------------------------------------------- 1 | pub_rate: 1.0 # Optional 2 | base_path: '' # Optional, prepended to all diagnostic output 3 | analyzers: 4 | nodes: 5 | type: diagnostic_aggregator/GenericAnalyzer 6 | path: 'Nodes' 7 | timeout: 5.0 8 | contains: ['Node'] 9 | mode: 10 | type: diagnostic_aggregator/GenericAnalyzer 11 | path: 'Mode' 12 | timeout: 5.0 13 | startswith: ['Operating Mode'] 14 | sensors: 15 | type: GenericAnalyzer 16 | path: 'Sensors' 17 | timeout: 5.0 18 | startswith: ['Cliff Sensor', 'Wall Sensor', 'Gyro Sensor'] 19 | power: 20 | type: diagnostic_aggregator/GenericAnalyzer 21 | path: 'Power System' 22 | timeout: 5.0 23 | startswith: ['Battery', 'Charging Sources', 'Laptop Battery'] 24 | digital_io: 25 | type: diagnostic_aggregator/GenericAnalyzer 26 | path: 'Digital IO' 27 | timeout: 5.0 28 | startswith: ['Digital Outputs'] 29 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/xtion/capability_providers.yaml: -------------------------------------------------------------------------------- 1 | # default capability providers for the ASUS Xtion Pro Live 2 | defaults: 3 | 'std_capabilities/RGBDSensor': 'turtlebot_capabilities/xtion_rgbd_sensor' -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/param/zeroconf.yaml: -------------------------------------------------------------------------------- 1 | 2 | # Publishes the ros master service on avahi. 3 | 4 | services: 5 | - 6 | name: "Turtlebot" 7 | type: _ros-master._tcp 8 | domain: local 9 | description: "ros master" 10 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # warning: we don't express a rosdep on netifaces. This is part of the turtlebot image 3 | import sys 4 | import netifaces 5 | 6 | for inf in netifaces.interfaces(): 7 | if inf.startswith('wlan'): 8 | addrs = netifaces.ifaddresses(inf) 9 | if not netifaces.AF_INET in addrs: 10 | continue 11 | else: 12 | print addrs[netifaces.AF_INET][0]['addr'] 13 | break 14 | else: 15 | print >> sys.stderr, "failed to determine IP address" 16 | print "127.0.0.1" #bind to loopback for now 17 | sys.exit(1) 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | Default 4 | python 2.7 5 | 6 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_capabilities) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY interfaces 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | 11 | install(DIRECTORY providers 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 13 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: TurtleBotBringup 4 | spec_version: 1 5 | spec_type: interface 6 | description: 'This is a placeholder capability, which aggregates functionality needed to implement other, standard capabilities for the TurtleBot' 7 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/depthimage_to_laserscan.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: depthimage_to_laserscan 4 | spec_version: 1 5 | spec_type: provider 6 | description: 'Implements the standard LaserSensor capability for the TurtleBot by providing a fake laser scan using the depth image from the 3D sensor.' 7 | implements: std_capabilities/LaserSensor 8 | launch_file: 'launch/depthimage_to_laserscan.launch' 9 | depends_on: 10 | 'std_capabilities/RGBDSensor': 11 | provider: 'turtlebot_capabilities/kinect_rgbd_sensor' 12 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/diagnostics.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: diagnostics 4 | spec_version: 1 5 | spec_type: provider 6 | description: 'Implements the Diagnostics capability for the TurtleBot.' 7 | implements: 'std_capabilities/Diagnostics' 8 | launch_file: 'launch/diagnostics.launch' 9 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: differential_mobile_base 4 | spec_version: 1 5 | spec_type: provider 6 | implements: std_capabilities/DifferentialMobileBase 7 | launch_file: 8 | depends_on: 9 | 'turtlebot_capabilities/TurtleBotBringup' 10 | #remappings: 11 | # topics: 12 | # '/cmd_vel': '/cmd_vel' 13 | # '/joint_states': '/robosem/joint_states' 14 | # '/odom': '/robosem/odom' 15 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/depthimage_to_laserscan.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/placeholder.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from time import sleep 4 | 5 | while True: 6 | sleep(0.1) 7 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/rgbd_sensor.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/rgbd_sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: rgbd_sensor 4 | spec_version: 1 5 | spec_type: provider 6 | description: 'Implements the standard RGBDSensor capability on the TurtleBot.' 7 | implements: std_capabilities/RGBDSensor 8 | launch_file: 'launch/rgbd_sensor.launch' 9 | depends_on: 10 | 'turtlebot_capabilities/TurtleBotBringup' 11 | remappings: 12 | topics: 13 | '/rgbd_sensor/rgb/camera_info': '/camera/rgb/camera_info' 14 | '/rgbd_sensor/rgb/image_raw': '/camera/rgb/image_raw' 15 | '/rgbd_sensor/rgb/image_color': '/camera/rgb/image_color' 16 | '/rgbd_sensor/rgb/image_color/compressed': '/camera/rgb/image_color/compressed' 17 | '/rgbd_sensor/depth/camera_info': '/camera/depth/camera_info' 18 | '/rgbd_sensor/depth/image_raw': '/camera/depth/image_raw' 19 | '/rgbd_sensor/depth/points': '/camera/depth/points' 20 | '/rgbd_sensor/depth_registered/points': '/camera/depth_registered/points' 21 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: robot_state_publisher 4 | spec_version: 1 5 | spec_type: provider 6 | description: 'Implements the RobotStatePublisher capability for the TurtleBot.' 7 | implements: std_capabilities/RobotStatePublisher 8 | launch_file: 'launch/robot_state_publisher.launch' 9 | depends_on: 10 | 'std_capabilities/DifferentialMobileBase': 11 | provider: 'kobuki_capabilities/kobuki_differential_mobile_base' 12 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: turtlebot2_bringup 4 | spec_version: 1 5 | spec_type: provider 6 | implements: turtlebot_capabilities/TurtleBotBringup 7 | launch_file: 'launch/turtlebot2_bringup.launch' 8 | depends_on: 9 | 'std_capabilities/Diagnostics': 10 | provider: 'turtlebot_capabilities/diagnostics' 11 | 'std_capabilities/DifferentialMobileBase': 12 | provider: 'kobuki_capabilities/kobuki_differential_mobile_base' 13 | 'std_capabilities/RobotStatePublisher': 14 | provider: 'turtlebot_capabilities/robot_state_publisher' -------------------------------------------------------------------------------- /turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | --- 3 | name: turtlebot_bringup 4 | spec_version: 1 5 | spec_type: provider 6 | implements: turtlebot_capabilities/TurtleBotBringup 7 | launch_file: 'launch/turtlebot_bringup.launch' 8 | depends_on: 9 | 'std_capabilities/Diagnostics': 10 | provider: 'turtlebot_capabilities/diagnostics' 11 | 'std_capabilities/DifferentialMobileBase': 12 | provider: 'create_capabilities/create_differential_mobile_base' 13 | 'std_capabilities/RobotStatePublisher': 14 | provider: 'turtlebot_capabilities/robot_state_publisher' -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(turtlebot_description) 4 | find_package(catkin REQUIRED COMPONENTS urdf xacro) 5 | 6 | catkin_package( 7 | CATKIN_DEPENDS urdf xacro 8 | ) 9 | 10 | install(DIRECTORY robots 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | install(DIRECTORY meshes 14 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 15 | ) 16 | install(DIRECTORY test 17 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 18 | ) 19 | install(DIRECTORY urdf 20 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 21 | ) 22 | 23 | if(CATKIN_ENABLE_TESTING) 24 | 25 | catkin_add_gtest(${PROJECT_NAME}_test_urdf test/test_urdf.cpp) 26 | 27 | endif() 28 | 29 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/README.md: -------------------------------------------------------------------------------- 1 | # Testing Model Views 2 | 3 | Test the robot descriptions via the launcher in 4 | turtlebot_viz/turtlebot_rviz_launchers. 5 | 6 | roslaunch turtlebot_rviz_launchers view_model.launch 7 | 8 | It is a standalone launcher with minimal dependencies. 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-------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/create_circles_kinect.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect_sonar.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/robots/roomba_circles_sonar.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/test.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/README.md: -------------------------------------------------------------------------------- 1 | turtlebot_teleop 2 | ================ 3 | 4 | Turtlebot Teleoperation implementation. 5 | This package used to be in turtlebot_apps repository. It has been temporarily migrated into turtlebot 6 | because it is useful for both robot(turtlebot_apps) side and user side pc(turtlebot_interactions). 7 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/launch/logitech.launch: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/launch/ps3_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot/turtlebot_teleop/param/mux.yaml: -------------------------------------------------------------------------------- 1 | # Created on: Oct 29, 2012 2 | # Author: jorge 3 | # Configuration for subscribers to cmd_vel sources for kobuki keyop operation 4 | # with safety reactive controller. 5 | # 6 | # Individual subscriber configuration: 7 | # name: Source name 8 | # topic: The topic that provides cmd_vel messages 9 | # timeout: Time in seconds without incoming messages to consider this topic inactive 10 | # priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT 11 | # short_desc: Short description (optional) 12 | 13 | subscribers: 14 | - name: "Safe reactive controller" 15 | topic: "input/safety_controller" 16 | timeout: 0.2 17 | priority: 10 18 | - name: "Teleoperation" 19 | topic: "input/teleop" 20 | timeout: 1.0 21 | priority: 7 22 | -------------------------------------------------------------------------------- /turtlebot_navigation/.gitignore: -------------------------------------------------------------------------------- 1 | bin 2 | build 3 | /lib 4 | -------------------------------------------------------------------------------- /turtlebot_navigation/laser/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | robot_radius: 0.35 4 | inflation_radius: 0.50 5 | observation_sources: scan left_bump right_bump 6 | scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true} 7 | left_bump: {data_type: PointCloud2, topic: /bump_sensor_left, marking: true, clearing: true} 8 | right_bump: {data_type: PointCloud2, topic: /bump_sensor_right, marking: true, clearing: true} 9 | -------------------------------------------------------------------------------- /turtlebot_navigation/laser/laser_amcl_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /turtlebot_navigation/laser/laser_gmapping_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /turtlebot_navigation/laser/move_base_laser.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /turtlebot_navigation/launch/exploration.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /turtlebot_navigation/launch/includes/safety_controller.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /turtlebot_navigation/launch/includes/velocity_smoother.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /turtlebot_navigation/launch/move_base_respawn.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm -------------------------------------------------------------------------------- /turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml: -------------------------------------------------------------------------------- 1 | image: willow-2010-02-18-0.10.pgm 2 | resolution: 0.100000 3 | origin: [0.000000, 0.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/astra_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/asus_xtion_pro_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/asus_xtion_pro_offset_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/dummy.yaml: -------------------------------------------------------------------------------- 1 | #A dummy file loaded when no custom param file is given 2 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: /base_footprint 4 | update_frequency: 5.0 #1.0 5 | publish_frequency: 2.5 #0.5 6 | static_map: false 7 | rolling_window: true 8 | width: 20.0 9 | height: 20.0 10 | transform_tolerance: 0.5 11 | plugins: 12 | # - {name: static_layer, type: "costmap_2d::StaticLayer"} 13 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 14 | 15 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 16 | - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 17 | 18 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/kinect_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: /base_footprint 4 | update_frequency: 20.0 #5.0 5 | publish_frequency: 20.0 #1.0 6 | static_map: false 7 | rolling_window: true 8 | width: 4.0 9 | height: 4.0 10 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | plugins: 13 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 14 | 15 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 16 | - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 17 | 18 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/navfn_global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | 2 | NavfnROS: 3 | visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false 4 | allow_unknown: true #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true 5 | #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work 6 | planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 7 | planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 8 | 9 | default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 10 | #The area is always searched, so could be slow for big values 11 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Mod_params/r200_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 3 | obstacle_layer: 4 | scan: 5 | data_type: LaserScan 6 | topic: scan 7 | marking: true 8 | clearing: true 9 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 10 | max_obstacle_height: 0.35 11 | 12 | local_costmap: 13 | robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 14 | obstacle_layer: 15 | scan: 16 | data_type: LaserScan 17 | topic: scan 18 | marking: true 19 | clearing: true 20 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 21 | max_obstacle_height: 0.35 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/astra_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/asus_xtion_pro_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/asus_xtion_pro_offset_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/dummy.yaml: -------------------------------------------------------------------------------- 1 | #A dummy file loaded when no custom param file is given 2 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: /base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | transform_tolerance: 0.5 8 | plugins: 9 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 10 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | 13 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/kinect_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: /base_footprint 4 | update_frequency: 5.0 5 | publish_frequency: 2.0 6 | static_map: false 7 | rolling_window: true 8 | width: 4.0 9 | height: 4.0 10 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | plugins: 13 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/navfn_global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | 2 | NavfnROS: 3 | visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false 4 | allow_unknown: false #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true 5 | #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work 6 | planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 7 | planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 8 | 9 | default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 10 | #The area is always searched, so could be slow for big values 11 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/Orig_params/r200_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 3 | obstacle_layer: 4 | scan: 5 | data_type: LaserScan 6 | topic: scan 7 | marking: true 8 | clearing: true 9 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 10 | max_obstacle_height: 0.35 11 | 12 | local_costmap: 13 | robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 14 | obstacle_layer: 15 | scan: 16 | data_type: LaserScan 17 | topic: scan 18 | marking: true 19 | clearing: true 20 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 21 | max_obstacle_height: 0.35 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/astra_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/asus_xtion_pro_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/asus_xtion_pro_offset_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/costmap_exploration.yaml: -------------------------------------------------------------------------------- 1 | track_unknown_space: true 2 | global_frame: map 3 | rolling_window: false #true 4 | width: 40.0 5 | height: 40.0 6 | 7 | plugins: 8 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 9 | - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"} 10 | #Can disable sensor layer if gmapping is fast enough to update scans 11 | - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} 12 | - {name: inflation, type: "costmap_2d::InflationLayer"} 13 | 14 | explore_boundary: 15 | resize_to_boundary: false 16 | frontier_travel_point: middle 17 | #set to false for gmapping, true if re-exploring a known area 18 | explore_clear_space: false 19 | 20 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/dummy.yaml: -------------------------------------------------------------------------------- 1 | #A dummy file loaded when no custom param file is given 2 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: /base_footprint 4 | update_frequency: 15.0 #1.0 5 | publish_frequency: 2.0 #0.5 6 | static_map: false 7 | rolling_window: true 8 | width: 40.0 9 | height: 40.0 10 | # origin_x: -8.5 11 | # origin_y: 8.5 12 | transform_tolerance: 0.5 13 | plugins: 14 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 15 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 16 | # - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 17 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 18 | # - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 19 | 20 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/kinect_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | dummy.yaml -------------------------------------------------------------------------------- /turtlebot_navigation/param/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: /base_footprint 4 | update_frequency: 15.0 #5.0 5 | publish_frequency: 2.0 #1.0 6 | static_map: false 7 | rolling_window: true 8 | width: 4.0 9 | height: 4.0 10 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | plugins: 13 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 14 | # - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 15 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 16 | # - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} 17 | 18 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/navfn_global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | 2 | NavfnROS: 3 | visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false 4 | allow_unknown: true #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true 5 | #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work 6 | planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 7 | planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 8 | 9 | default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 10 | #The area is always searched, so could be slow for big values 11 | -------------------------------------------------------------------------------- /turtlebot_navigation/param/r200_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 3 | obstacle_layer: 4 | scan: 5 | data_type: LaserScan 6 | topic: scan 7 | marking: true 8 | clearing: true 9 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 10 | max_obstacle_height: 0.35 11 | 12 | local_costmap: 13 | robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) 14 | obstacle_layer: 15 | scan: 16 | data_type: LaserScan 17 | topic: scan 18 | marking: true 19 | clearing: true 20 | min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration! 21 | max_obstacle_height: 0.35 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /turtlebot_simulator/README.md: -------------------------------------------------------------------------------- 1 | turtlebot_simulator 2 | =================== 3 | 4 | Launchers for Gazebo simulation of the TurtleBot 5 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_gazebo) 3 | find_package(catkin REQUIRED) 4 | catkin_package() 5 | 6 | catkin_add_env_hooks(25.turtlebot-gazebo SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | 11 | install(DIRECTORY maps 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 13 | 14 | install(DIRECTORY worlds 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 16 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/launch/frontier_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo_2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/maps/playground.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_gazebo/maps/playground.pgm -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/maps/playground.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: playground.pgm 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: [-6.8999999999999915, -5.8999999999999915, 0.0] 6 | resolution: 0.05 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_gazebo/worlds/empty.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | model://ground_plane 11 | 12 | 13 | 14 | 0.01 15 | 1 16 | 100 17 | 0 0 -9.8 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_simulator/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot_simulator 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.3 (2017-09-18) 6 | ------------------ 7 | 8 | 2.2.2 (2015-09-16) 9 | ------------------ 10 | 11 | 2.2.1 (2015-08-07) 12 | ------------------ 13 | 14 | 2.2.0 (2014-12-30) 15 | ------------------ 16 | * add turtlebot_stdr in meta package fixes `#44 `_ 17 | * add turtlebot_stage 18 | * Contributors: Jihoon Lee 19 | 20 | 2.1.1 (2013-10-14) 21 | ------------------ 22 | 23 | 2.1.0 (2013-08-30) 24 | ------------------ 25 | * Add bugtracker and repo info URLs. 26 | 27 | 2.0.0 (2013-07-16) 28 | ------------------ 29 | 30 | * Migrated to use stand-alone Gazebo installation 31 | * All packages have been catkinized 32 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_simulator) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_simulator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | turtlebot_simulator 3 | 2.2.3 4 | Catkin metapackage for the turtlebot_simulator stack 5 | OSRF 6 | BSD 7 | http://ros.org/wiki/turtlebot_simulator 8 | https://github.com/turtlebot/turtlebot_simulator 9 | https://github.com/turtlebot/turtlebot_simulator/issues 10 | Willow 11 | 12 | catkin 13 | turtlebot_gazebo 14 | turtlebot_stage 15 | turtlebot_stdr 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_stage 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | 14 | 15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 16 | full,incremental, 17 | 18 | 19 | 20 | 21 | 22 | org.eclipse.cdt.core.cnature 23 | org.eclipse.cdt.core.ccnature 24 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 25 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 26 | 27 | 28 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_stage) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | catkin_add_env_hooks(25.turtlebot-stage SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 9 | 10 | install(DIRECTORY launch 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | 14 | install(DIRECTORY maps 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | 18 | install(DIRECTORY rviz 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/maze.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stage/maps/maze.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/maze.yaml: -------------------------------------------------------------------------------- 1 | image: maze.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/robopark2.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stage/maps/robopark2.bmp -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/robopark_plan.yaml: -------------------------------------------------------------------------------- 1 | image: robopark2.bmp 2 | resolution: 0.014 3 | origin: [-0.6, -2.24, 0.0] #The 2-D pose of the lower-left pixel in the map, as (x, y, yaw) 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | 9 | 10 | # 2150x700 pix 11 | 12 | # 491 pix -> 13.900 m 13 | 14 | # res = 0.0283 pix/m 15 | 16 | # 1012 >>> 28.6396 17 | # 340 >>> 9.622 18 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/stage/maze.world: -------------------------------------------------------------------------------- 1 | include "turtlebot.inc" 2 | 3 | define floorplan model 4 | ( 5 | # sombre, sensible, artistic 6 | color "gray30" 7 | 8 | # most maps will need a bounding box 9 | boundary 1 10 | 11 | gui_nose 0 12 | gui_grid 0 13 | gui_outline 0 14 | gripper_return 0 15 | fiducial_return 0 16 | laser_return 1 17 | ) 18 | 19 | resolution 0.02 20 | interval_sim 100 # simulation timestep in milliseconds 21 | 22 | window 23 | ( 24 | size [ 600.0 700.0 ] 25 | center [ 0.0 0.0 ] 26 | rotate [ 0.0 0.0 ] 27 | scale 60 28 | ) 29 | 30 | floorplan 31 | ( 32 | name "maze" 33 | bitmap "../maze.png" 34 | size [ 10.0 10.0 2.0 ] 35 | pose [ 5.0 5.0 0.0 0.0 ] 36 | ) 37 | 38 | # throw in a robot 39 | turtlebot 40 | ( 41 | pose [ 2.0 2.0 0.0 0.0 ] 42 | name "turtlebot" 43 | color "black" 44 | ) 45 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stage/maps/stage/turtlebot.inc: -------------------------------------------------------------------------------- 1 | define kinect ranger 2 | ( 3 | sensor 4 | ( 5 | range_max 6.5 6 | fov 58.0 7 | samples 640 8 | ) 9 | # generic model properties 10 | color "black" 11 | size [ 0.06 0.15 0.03 ] 12 | ) 13 | 14 | define turtlebot position 15 | ( 16 | pose [ 0.0 0.0 0.0 0.0 ] 17 | 18 | odom_error [0.03 0.03 999999 999999 999999 0.02] 19 | 20 | size [ 0.2552 0.2552 0.40 ] 21 | origin [ 0.0 0.0 0.0 0.0 ] 22 | gui_nose 1 23 | drive "diff" 24 | color "gray" 25 | 26 | kinect(pose [ -0.1 0.0 -0.11 0.0 ]) 27 | ) 28 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_stdr) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | catkin_add_env_hooks(25.turtlebot-stdr SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 9 | 10 | install(DIRECTORY launch 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | 14 | install(DIRECTORY maps 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | 18 | install(DIRECTORY rviz 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | 22 | install(DIRECTORY robot 23 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 24 | ) 25 | 26 | install( 27 | PROGRAMS 28 | nodes/tf_connector.py 29 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 30 | ) 31 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/documentation/architecture_overview.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/documentation/architecture_overview.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/env-hooks/25.turtlebot-stdr.sh.em: -------------------------------------------------------------------------------- 1 | # Set some sane defaults for the turtlebot stdr launch environment 2 | ##Documentation: 3 | # The colon command simply has its arguments evaluated and then succeeds. 4 | # It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. 5 | # The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). 6 | # Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. 7 | # But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler 8 | : ${TURTLEBOT_STDR_MAP_FILE:=`rospack find turtlebot_stdr`/maps/sparse_obstacles.yaml} 9 | # Exports 10 | export TURTLEBOT_STDR_MAP_FILE 11 | 12 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/launch/includes/relays.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/frieburg.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml: -------------------------------------------------------------------------------- 1 | image: frieburg.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml: -------------------------------------------------------------------------------- 1 | image: hospital_section.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/mines.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/mines.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/mines.yaml: -------------------------------------------------------------------------------- 1 | image: mines.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/robocup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/robocup.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml: -------------------------------------------------------------------------------- 1 | image: robocup.png 2 | resolution: 0.03 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml: -------------------------------------------------------------------------------- 1 | image: simple_rooms.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AlejoDiaz49/Object-SearchLocalization-Robot/a0faa99a9b5c1f396006e426148d981535382d49/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml: -------------------------------------------------------------------------------- 1 | image: sparse_obstacles.png 2 | resolution: 0.02 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | __author__ = 'mehdi tlili' 3 | import rospy 4 | from tf2_msgs.msg import TFMessage 5 | import tf 6 | 7 | class Remapper(object): 8 | 9 | def __init__(self): 10 | self.br = tf.TransformBroadcaster() 11 | rospy.Subscriber("/tf", TFMessage, self.tf_remapper) 12 | 13 | def tf_remapper(self, msg): 14 | 15 | if msg.transforms[0].header.frame_id == "/robot0": 16 | self.br.sendTransform((0, 0, 0), 17 | tf.transformations.quaternion_from_euler(0, 0, 0), 18 | rospy.Time.now(), 19 | "base_footprint", 20 | "robot0") 21 | 22 | 23 | if __name__ == '__main__': 24 | rospy.init_node('remapper_nav') 25 | remapper = Remapper() 26 | rospy.spin() 27 | -------------------------------------------------------------------------------- /turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml: -------------------------------------------------------------------------------- 1 | robot: 2 | robot_specifications: 3 | - footprint: 4 | footprint_specifications: 5 | radius: 0.2552 6 | points: 7 | [] 8 | - initial_pose: 9 | x: 2.0 10 | y: 2.0 11 | theta: 0.0 12 | - laser: 13 | laser_specifications: 14 | max_angle: 0.5 15 | min_angle: -0.5 16 | max_range: 5 17 | min_range: 0 18 | num_rays: 640 19 | frequency: 15 20 | frame_id: laser_0 21 | pose: 22 | x: -0.1 23 | y: 0 24 | theta: 0 25 | noise: 26 | noise_specifications: 27 | noise_mean: 0.001 28 | noise_std: 0.00001 29 | 30 | --------------------------------------------------------------------------------