├── README.md ├── driving ├── CMakeLists.txt ├── Makefile ├── applanix │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── applanix.h │ │ ├── applanix_network.h │ │ ├── applanix_parse.h │ │ └── applanixcore.h │ ├── launch │ │ ├── ApplanixParam.launch │ │ └── applanix.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── ApplanixDMI.msg │ │ ├── ApplanixGPS.msg │ │ ├── ApplanixPose.msg │ │ └── ApplanixRMS.msg │ └── src │ │ ├── applanix.cc │ │ ├── applanix_integrate.cc │ │ ├── applanix_logger.cc │ │ ├── applanix_network.cc │ │ ├── applanix_parse.cc │ │ ├── applanixcore.cc │ │ └── fake_applanix.cc ├── asyncwriter │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── async_writer.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── async_writer.cc │ │ ├── async_writer_test.cc │ │ └── async_writer_unittest.cc ├── controller │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── controller.h │ ├── launch │ │ ├── ControllerParam.launch │ │ ├── controller.launch │ │ └── controllerdbg.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ └── ControllerTarget.msg │ └── src │ │ ├── controller.cpp │ │ └── controller_log_viewer.cpp ├── dgccompat │ ├── .goutputstream-VJHC0V │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── applanix_interface.h │ │ ├── applanix_messages.h │ │ ├── camera_playback_server.h │ │ ├── camplayer.h │ │ ├── data_player.h │ │ ├── playback_interface.h │ │ ├── playback_messages.h │ │ ├── playback_server.h │ │ ├── velodyne_interface.h │ │ └── velodyne_playback_server.h │ ├── launch │ │ ├── playback.launch │ │ ├── playbackdbg.launch │ │ └── playbackmck.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── applanix_interface.cpp │ │ ├── camera_playback_server.cpp │ │ ├── camera_playback_standalone.cpp │ │ ├── camplayer.cpp │ │ ├── data_player.cpp │ │ ├── dgc_playback.cpp │ │ ├── ladybug_playback_server.cpp │ │ ├── ladybug_playback_standalone.cpp │ │ ├── playback_interface.cpp │ │ ├── playback_server.cpp │ │ ├── velodyne_playback_server.cpp │ │ └── velodyne_playback_standalone.cpp ├── dgcglobal │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── global.h │ │ ├── mathMisc.h │ │ ├── passat_constants.h │ │ ├── serial.h │ │ ├── transform.h │ │ └── usbfind.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── global.cpp │ │ ├── serial.cpp │ │ ├── transform.cpp │ │ └── usbfind.cpp ├── dgclogger │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── logio.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ └── logio.cc ├── drivestatus │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ └── DriveStatus.msg │ ├── src │ │ └── statuscenter.py │ └── srv │ │ └── ChangeDriveStatus.srv ├── driving_common │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── GlobalPose.h │ │ ├── PoseQueue.h │ │ ├── comp_stdio.h │ │ ├── lineBuffer.h │ │ ├── obstacle_types.h │ │ ├── scaledTime.h │ │ └── vlrException.h │ ├── launch │ │ ├── common.launch │ │ ├── minsim.launch │ │ └── sensor_params.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── Actuator.msg │ │ ├── CanStatus.msg │ │ ├── EStopRequest.msg │ │ ├── EStopStatus.msg │ │ ├── ErrorString.msg │ │ ├── GLSOverlay.msg │ │ ├── HCIString.msg │ │ ├── Heartbeat.msg │ │ ├── LdlrsData.msg │ │ ├── Pose.msg │ │ ├── RadarSensor.msg │ │ ├── RadarSensorLRR3.msg │ │ ├── RadarTarget.msg │ │ ├── RadarTargetLRR3.msg │ │ ├── SimulatorGroundTruth.msg │ │ ├── SimulatorTag.msg │ │ ├── SimulatorVehiclePose.msg │ │ ├── TrafficLightPose.msg │ │ ├── TrafficLightState.msg │ │ ├── TrafficLightStateRequest.msg │ │ ├── TrafficLightStates.msg │ │ ├── Trajectory2D.msg │ │ ├── TrajectoryPoint2D.msg │ │ └── TurnSignal.msg │ ├── param │ │ ├── cal │ │ │ ├── ID89.cal │ │ │ └── ID89.ical │ │ ├── ladybug.conf │ │ ├── mdfs │ │ │ ├── shoreline_circle_mdf.txt │ │ │ ├── shoreline_mdf.txt │ │ │ ├── shoreline_trafficcircle_8_mdf.txt │ │ │ ├── shoreline_trafficcircle_8_straight_mdf.txt │ │ │ └── shortloop_mdf.txt │ │ └── rndfs │ │ │ ├── hut_rndf.txt │ │ │ ├── rndf_280N-20070211.txt │ │ │ ├── rndf_280N-20070219.txt │ │ │ ├── rndf_280N-20070220.txt │ │ │ ├── rndf_280N.txt │ │ │ ├── rndf_280S-20070227.txt │ │ │ ├── rndf_280S.txt │ │ │ ├── rndf_280both-20070227.txt │ │ │ ├── rndf_280both.txt │ │ │ ├── shoreline_circle_rndf.txt │ │ │ ├── shoreline_rndf.txt │ │ │ ├── shoreline_trafficcircle_8_rndf.txt │ │ │ └── shortloop_rndf.txt │ └── src │ │ ├── GlobalPose.cpp │ │ ├── PoseQueue.cpp │ │ ├── comp_stdio.cpp │ │ ├── lineBuffer.cpp │ │ └── scaledTime.cpp ├── estop │ ├── CMakeLists.txt │ ├── Makefile │ ├── launch │ │ ├── EStopParam.launch │ │ └── fake_estop.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── broadcaster.cpp │ │ ├── estop.cpp │ │ └── fake_estop.cpp ├── gls │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── gls.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ └── gls.cpp ├── glsupport │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── facelist.h │ │ ├── fontRenderer.h │ │ ├── gl_support.h │ │ ├── helvetica.h │ │ ├── pointlist.h │ │ └── textures.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── rosdep.yaml │ └── src │ │ ├── facelist.cpp │ │ ├── fontRenderer.cpp │ │ ├── gl_support.cc │ │ ├── pointlist.cpp │ │ └── textures.cpp ├── imagery │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── bil.h │ │ ├── compassrose.h │ │ ├── imagery.h │ │ ├── imageryServer.h │ │ ├── imageryStructs.h │ │ ├── imagery_proj.h │ │ └── textureCache.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── bil.cpp │ │ ├── imagery.cpp │ │ ├── imageryServer.cpp │ │ ├── imagery_proj.cpp │ │ └── textureCache.cpp ├── imaging │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── iplConvert.h │ │ ├── reorganize.h │ │ ├── vlrImage.h │ │ ├── vlrImageMisc.h │ │ ├── vlrImageTags.h │ │ └── vlrImaging.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── iplConvert.cpp │ │ └── vlrImage.cpp ├── lltransform │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── lltransform.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── lltospcs.cpp │ │ └── lltoutm.cpp ├── localize │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── fake_localize.h │ │ ├── laserMap.h │ │ ├── localizeVelodyne.h │ │ ├── terrainmap.h │ │ └── veloClient.h │ ├── launch │ │ ├── localize.launch │ │ └── test.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ └── LocalizePose.msg │ └── src │ │ ├── fake_localize.cpp │ │ ├── generate_rndf.cpp │ │ ├── laserMap.cpp │ │ ├── localizeVelodyne.cpp │ │ ├── map_velodyne.cpp │ │ ├── terrainmap.cpp │ │ ├── test_localize_accuracy.cpp │ │ ├── veloClient.cpp │ │ └── velo_calibrate.cpp ├── passat │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── cancore.h │ │ ├── passat_fsm.h │ │ └── passatcore.h │ ├── launch │ │ ├── VehicleParams.launch │ │ └── passat.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── PassatExtOutput.msg │ │ ├── PassatOutput.msg │ │ ├── PassatState.msg │ │ └── PassatStatus.msg │ └── src │ │ ├── can │ │ ├── can.cpp │ │ └── cancore.cpp │ │ └── passat │ │ ├── passat.cpp │ │ ├── passat_main.cpp │ │ ├── passat_test.cpp │ │ ├── passatcore.cpp │ │ └── set_parking_brake.cpp ├── passatmodel │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── bluebk.h │ │ ├── bluedn.h │ │ ├── blueft.h │ │ ├── bluelt.h │ │ ├── bluert.h │ │ ├── blueup.h │ │ ├── junior-plate.h │ │ ├── junior2-plate.h │ │ ├── lasermodel.h │ │ ├── passatgl.h │ │ ├── passatmodel.h │ │ └── skybox.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── lasermodel.cpp │ │ ├── passatgl.cpp │ │ ├── passatmodel.cpp │ │ ├── passatwagongl.cpp │ │ ├── skybox.cpp │ │ ├── tiregl.cpp │ │ └── velodynegl.cpp ├── stack.xml ├── utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ └── pyramid_images.cc ├── vehiclemodels │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── vehiclemodels.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── hummer.cpp │ │ ├── lamborghini.cpp │ │ ├── lotus.cpp │ │ ├── porsche.cpp │ │ ├── stickered_passatwagongl.cpp │ │ ├── textures │ │ ├── tex0.h │ │ ├── tex1.h │ │ ├── tex10.h │ │ ├── tex11.h │ │ ├── tex12.h │ │ ├── tex13.h │ │ ├── tex2.h │ │ ├── tex3.h │ │ ├── tex4.h │ │ ├── tex5.h │ │ ├── tex6.h │ │ ├── tex7.h │ │ ├── tex8.h │ │ └── tex9.h │ │ └── vehiclemodels.cpp └── vehiclesim │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ ├── crosswalks.h │ ├── lasersim.h │ ├── rndf_lookup.h │ ├── trafficlights.h │ └── vehicle.h │ ├── launch │ └── multisim.launch │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ ├── crosswalks.cpp │ ├── extract_start_state.cc │ ├── lasersim.cpp │ ├── multisim.cpp │ ├── phantom_ibeo.cpp │ ├── place_cars.cpp │ ├── rndf_lookup.cpp │ ├── setup_simulation.cc │ ├── spawn_centrals.cpp │ ├── spawn_software.cpp │ ├── trafficlights.cpp │ ├── vehicle.cpp │ └── vehiclesim.cpp ├── libraries ├── ANN │ ├── Makefile │ ├── distance.patch │ ├── fPIC.patch │ ├── gcc43_shared.patch │ └── manifest.xml ├── CMakeLists.txt ├── FLANN │ ├── Makefile │ ├── cmakelists.patch │ ├── dist_extended.patch │ ├── manifest.xml │ └── wiped ├── Makefile ├── cgal │ ├── Makefile │ ├── mainpage.dox │ └── manifest.xml ├── cminpack │ ├── Makefile │ ├── fPIC.patch │ └── manifest.xml ├── display │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── display.h │ │ ├── displayDefs.h │ │ ├── displayGL.h │ │ └── glWidget.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── display.cpp │ │ ├── displayGL.cpp │ │ ├── displayGL_1d.cpp │ │ ├── displayGL_2d.cpp │ │ ├── displayGL_3d.cpp │ │ └── glWidget.cpp ├── filter │ ├── CMakeLists.txt │ ├── FindGSL.cmake │ ├── Makefile │ ├── include │ │ ├── gsl.h │ │ └── kalman_filter.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── rosdep.yaml │ └── src │ │ ├── gsl.cpp │ │ └── kalman_filter.cpp ├── google-perftools │ ├── Makefile │ ├── mainpage.dox │ └── manifest.xml ├── google-test │ ├── Makefile │ └── manifest.xml ├── kdtree │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── bucket.h │ │ └── kdtree.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── bucket.cpp │ │ ├── draw_kdtree.cpp │ │ ├── kdtree.cpp │ │ └── test_kdtree.cpp ├── matplotlib_interface │ ├── CMakeLists.txt │ ├── Makefile │ ├── example.cpp │ ├── example_gaussian.py │ ├── include │ │ └── matplotlib_interface │ │ │ └── matplotlib_interface.h │ ├── mainpage.dox │ ├── manifest.xml │ └── matplotlib_interface.cpp ├── qpOASES │ ├── Makefile │ ├── manifest.xml │ └── patchfile ├── socket │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── vlrSocket.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ └── vlrSocket.cpp └── stack.xml ├── perception ├── CMakeLists.txt ├── Makefile ├── chamfer_matching │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── chamfer_matching │ │ │ └── chamfer_matching.h │ ├── manifest.xml │ └── src │ │ └── chamfer_matching.cpp ├── cluster_descriptors │ ├── CMakeLists.txt │ ├── Makefile │ ├── cluster_descriptor_pipelines.cpp │ ├── cluster_descriptors.cpp │ ├── include │ │ └── cluster_descriptors │ │ │ └── cluster_descriptors.h │ ├── mainpage.dox │ ├── manifest.xml │ └── test │ │ ├── test_cluster_descriptors.cpp │ │ └── test_pipeline_creation_speed.cpp ├── descriptors_2d │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── descriptors_2d │ │ │ ├── descriptors_2d.h │ │ │ └── test_descriptors_2d.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── src │ │ ├── descriptors_2d.cpp │ │ ├── example.cpp │ │ ├── hist_test.cpp │ │ └── surf_test.cpp │ └── test │ │ └── test_descriptors_2d.cpp ├── descriptors_3d │ ├── CMakeLists.txt │ ├── Makefile │ ├── examples │ │ └── interest_point_example.cpp │ ├── include │ │ └── descriptors_3d │ │ │ ├── all_descriptors.h │ │ │ ├── bounding_box_raw.h │ │ │ ├── bounding_box_spectral.h │ │ │ ├── channel.h │ │ │ ├── curvature.h │ │ │ ├── descriptor_3d.h │ │ │ ├── generic │ │ │ ├── neighborhood_feature.h │ │ │ ├── orientation_generic.h │ │ │ └── spin_image_generic.h │ │ │ ├── orientation_normal.h │ │ │ ├── orientation_tangent.h │ │ │ ├── position.h │ │ │ ├── shape_spectral.h │ │ │ ├── shared │ │ │ └── spectral_analysis.h │ │ │ ├── spin_image_custom.h │ │ │ ├── spin_image_normal.h │ │ │ └── spin_image_tangent.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── bounding_box_raw.cpp │ │ ├── bounding_box_spectral.cpp │ │ ├── channel.cpp │ │ ├── curvature.cpp │ │ ├── descriptor_3d.cpp │ │ ├── generic │ │ ├── neighborhood_feature.cpp │ │ ├── orientation_generic.cpp │ │ └── spin_image_generic.cpp │ │ ├── orientation_normal.cpp │ │ ├── orientation_tangent.cpp │ │ ├── position.cpp │ │ ├── shape_spectral.cpp │ │ ├── shared │ │ └── spectral_analysis.cpp │ │ ├── spin_image_custom.cpp │ │ ├── spin_image_normal.cpp │ │ └── spin_image_tangent.cpp ├── dgcgrid │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── grid.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ └── grid.cpp ├── grid │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── cell.h │ │ └── grid.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── cell.cpp │ │ └── grid.cpp ├── kalman_multitracker │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── kalman_multitracker │ │ │ └── kalman_multitracker.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── example.cpp │ │ └── kalman_multitracker.cpp ├── linear_kalman_filter │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── linear_kalman_filter │ │ │ └── linear_kalman_filter.h │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── example.cpp │ │ └── linear_kalman_filter.cpp ├── multibooster │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── multibooster │ │ │ ├── multibooster.h │ │ │ ├── name_mapping.h │ │ │ └── synth_data.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── multibooster.cpp │ ├── multibooster_dataset.cpp │ ├── multitool.cpp │ ├── name_mapping.cpp │ ├── test │ │ ├── speed_test.cpp │ │ ├── test_multibooster.cpp │ │ ├── test_multibooster_dataset.cpp │ │ └── test_name_mapping.cpp │ ├── weak_classifier_tree.cpp │ └── weak_classifier_tree_research.cpp ├── perception │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── box.h │ │ ├── classifier_stack.h │ │ ├── extra_features.h │ │ ├── kalman_multitracker.h │ │ ├── laser_segment.h │ │ ├── multibooster_support.h │ │ ├── multibooster_support2.h │ │ ├── obstacle.h │ │ ├── perception.h │ │ ├── perception_defines.h │ │ ├── perception_types.h │ │ ├── pointCloudClient.h │ │ ├── segment.h │ │ ├── track_manager.h │ │ ├── tracked_obstacle.h │ │ ├── tracker.h │ │ ├── utils.h │ │ ├── veloClient.h │ │ └── velodyne_rings.h │ ├── launch │ │ ├── PerceptionParam.launch │ │ ├── perception.launch │ │ ├── perceptiondbg.launch │ │ └── perceptionmck.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── DynamicObstacle.msg │ │ ├── PerceptionObstacles.msg │ │ ├── ScanPoint.msg │ │ ├── StaticObstaclePoint.msg │ │ └── VirtualScan.msg │ ├── rosdep.yaml │ └── src │ │ ├── Makefile.classifier │ │ ├── background_extractor.cpp │ │ ├── box.cc │ │ ├── box_test.cpp │ │ ├── check_mbd_duplicates.cpp │ │ ├── extra_features.cpp │ │ ├── ibeo.cc │ │ ├── integration.cc │ │ ├── ipc.cc │ │ ├── kalman_multitracker.cpp │ │ ├── laser_segment.cpp │ │ ├── ldlrs.cc │ │ ├── line.cc │ │ ├── main.cpp │ │ ├── multibooster_support.cpp │ │ ├── multibooster_support2.cpp │ │ ├── obstacle.cpp │ │ ├── obstacle_test.cpp │ │ ├── old_track_vis.cpp │ │ ├── perception.cpp │ │ ├── perception_eval.cpp │ │ ├── perception_test.cpp │ │ ├── perception_viz.cpp │ │ ├── pointCloudClient.cpp │ │ ├── radar.cc │ │ ├── ray_tracing.cc │ │ ├── scan.cc │ │ ├── segment.cpp │ │ ├── segment_velodyne.cc │ │ ├── test_cloud_projection.cpp │ │ ├── track_classifier.cpp │ │ ├── track_dataset_extractor.cpp │ │ ├── track_extractor.cpp │ │ ├── track_manager.cpp │ │ ├── track_projector.cpp │ │ ├── track_stats.cpp │ │ ├── track_visualizer.cpp │ │ ├── tracked_obstacle.cpp │ │ ├── tracker.cc │ │ ├── tracker_test.cpp │ │ ├── utils.cc │ │ ├── veloClient.cpp │ │ ├── veloGroundFinder.cpp │ │ └── velodyne_rings.cpp ├── pipeline │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── pipeline │ │ │ └── pipeline.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── src │ │ └── pipeline.cpp │ └── test │ │ └── test_pipeline.cpp ├── point_cloud_mapping │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── point_cloud_mapping │ │ │ ├── cloud_geometry.h │ │ │ ├── cloud_io.h │ │ │ ├── cloud_octree.h │ │ │ ├── geometry │ │ │ ├── angles.h │ │ │ ├── areas.h │ │ │ ├── distances.h │ │ │ ├── intersections.h │ │ │ ├── nearest.h │ │ │ ├── norms.h │ │ │ ├── point.h │ │ │ ├── projections.h │ │ │ ├── statistics.h │ │ │ └── transforms.h │ │ │ ├── kdtree │ │ │ ├── kdtree.h │ │ │ ├── kdtree_ann.h │ │ │ └── kdtree_flann.h │ │ │ ├── normal_estimation_in_proc.h │ │ │ ├── octree_index.h │ │ │ ├── octree_node.h │ │ │ ├── pfh_descriptor │ │ │ ├── fpfh.h │ │ │ └── pfh.h │ │ │ └── sample_consensus │ │ │ ├── lmeds.h │ │ │ ├── mlesac.h │ │ │ ├── model_types.h │ │ │ ├── msac.h │ │ │ ├── ransac.h │ │ │ ├── rmsac.h │ │ │ ├── rransac.h │ │ │ ├── sac.h │ │ │ ├── sac_model.h │ │ │ ├── sac_model_circle.h │ │ │ ├── sac_model_cylinder.h │ │ │ ├── sac_model_line.h │ │ │ ├── sac_model_normal_plane.h │ │ │ ├── sac_model_oriented_line.h │ │ │ ├── sac_model_oriented_plane.h │ │ │ ├── sac_model_parallel_lines.h │ │ │ ├── sac_model_plane.h │ │ │ └── sac_model_sphere.h │ ├── manifest.xml │ ├── normal_estimation.launch │ ├── organized_normal_estimation.launch │ ├── planar_fit.launch │ ├── src │ │ ├── cloud_downsampler.cpp │ │ ├── cloud_geometry │ │ │ ├── angles.cpp │ │ │ ├── areas.cpp │ │ │ ├── distances.cpp │ │ │ ├── intersections.cpp │ │ │ ├── nearest.cpp │ │ │ ├── point.cpp │ │ │ ├── projections.cpp │ │ │ ├── statistics.cpp │ │ │ └── transforms.cpp │ │ ├── cloud_io │ │ │ ├── misc.cpp │ │ │ ├── read.cpp │ │ │ ├── tools │ │ │ │ ├── cloudmsg_to_screen.cpp │ │ │ │ ├── convert_pcd_ascii_binary.cpp │ │ │ │ ├── pcd_to_msg.cpp │ │ │ │ └── pointcloud_to_pcd.cpp │ │ │ └── write.cpp │ │ ├── cloud_kdtree │ │ │ ├── kdtree_ann.cpp │ │ │ └── kdtree_flann.cpp │ │ ├── cloud_octree │ │ │ ├── octree.cpp │ │ │ └── octree_node.cpp │ │ ├── normal_estimation.cpp │ │ ├── normal_estimation_in_proc.cpp │ │ ├── organized_normal_estimation.cpp │ │ ├── planar_fit.cpp │ │ ├── player_laser_log_to_msg.cpp │ │ └── sample_consensus │ │ │ ├── lmeds.cpp │ │ │ ├── mlesac.cpp │ │ │ ├── msac.cpp │ │ │ ├── ransac.cpp │ │ │ ├── rmsac.cpp │ │ │ ├── rransac.cpp │ │ │ ├── sac.cpp │ │ │ ├── sac_model.cpp │ │ │ ├── sac_model_circle.cpp │ │ │ ├── sac_model_cylinder.cpp │ │ │ ├── sac_model_line.cpp │ │ │ ├── sac_model_normal_plane.cpp │ │ │ ├── sac_model_oriented_line.cpp │ │ │ ├── sac_model_oriented_plane.cpp │ │ │ ├── sac_model_parallel_lines.cpp │ │ │ ├── sac_model_plane.cpp │ │ │ └── sac_model_sphere.cpp │ └── test │ │ ├── cloud_geometry │ │ ├── test_geometry_angles.cpp │ │ ├── test_geometry_areas.cpp │ │ ├── test_geometry_statistics.cpp │ │ └── test_geometry_transform.cpp │ │ ├── cloud_io │ │ ├── bun0.pcd │ │ └── test_io.cpp │ │ ├── cloud_kdtree │ │ ├── bunny_model.h │ │ └── test_kdtree.cpp │ │ └── sample_consensus │ │ ├── test_circle_fit.cpp │ │ ├── test_cylinder_fit.cpp │ │ ├── test_line_fit.cpp │ │ ├── test_plane_fit.cpp │ │ └── test_sphere_fit.cpp ├── stack.xml ├── trafficlights │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ ├── ShapeTable.h │ │ ├── detection_grid.h │ │ ├── histogram_filter_tl.h │ │ ├── image_data.h │ │ └── traffic_light_transforms.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── rosdep.yaml │ └── src │ │ ├── braking_distance.cpp │ │ ├── detection_grid.cpp │ │ ├── histogram_filter_tl.cpp │ │ ├── image_data.cpp │ │ ├── offline_detection.cpp │ │ ├── send_light_message.cpp │ │ ├── traffic_light_label.cpp │ │ ├── traffic_light_msg_inject.cpp │ │ ├── traffic_light_notify.cpp │ │ ├── traffic_light_transforms.cpp │ │ └── traffic_light_view.cpp └── velodyne │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ ├── Driver.h │ ├── Points.h │ ├── Project3D.h │ ├── defaultcal.h │ ├── velo_support.h │ ├── velodyne.h │ └── velodyneConfig.h │ ├── launch │ ├── Nodetest.launch │ ├── Playback.launch │ ├── VelodyneParam.launch │ ├── velodyne.launch │ ├── velodyne_view.vcg │ └── view.launch │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ ├── Block.msg │ ├── BlockRaw.msg │ ├── Packet.msg │ ├── Projected.msg │ ├── Return.msg │ ├── ScanPoint.msg │ └── Stat.msg │ ├── nodelet_velodyne.xml │ └── src │ ├── Driver.cpp │ ├── Points.cpp │ ├── Project3D.cpp │ ├── velo_support.cpp │ ├── velodyne.cpp │ ├── velodyneConfig.cpp │ ├── velodyne_dump.cpp │ ├── velodyne_logger.cpp │ ├── velodyne_main.cpp │ ├── velodyne_stat.cc │ ├── vlf_cut.cpp │ └── vlf_index.cpp └── planner ├── CMakeLists.txt ├── Makefile ├── aw_chsm_planning ├── CMakeLists.txt ├── Makefile ├── include │ ├── aw_ChsmEvents.hpp │ ├── aw_ChsmPlanner.hpp │ ├── aw_CrosswalkManager.hpp │ ├── aw_IntersectionManager.hpp │ ├── aw_LaneChangeManager.hpp │ ├── aw_MergeFeasabilityCheck.hpp │ ├── aw_PassObstacleManager.hpp │ ├── aw_RouteSampler.hpp │ ├── aw_SituationInterpretation.hpp │ ├── aw_StActive.hpp │ ├── aw_StBase.hpp │ ├── aw_StCrosswalk.hpp │ ├── aw_StDrive.hpp │ ├── aw_StDriveKTurn.hpp │ ├── aw_StDrivePassObstacle.hpp │ ├── aw_StError.hpp │ ├── aw_StIntersection.hpp │ ├── aw_StIntersectionTrafficLightQueue.hpp │ ├── aw_StIntersectionTrafficLightStop.hpp │ ├── aw_StIntersectionTrafficLightWait.hpp │ ├── aw_StLaneChange.hpp │ ├── aw_StLaneChangeTypes.hpp │ ├── aw_StPause.hpp │ ├── aw_StReplan.hpp │ ├── aw_StStop.hpp │ ├── aw_StTrafficLight.hpp │ ├── aw_StWaitForActivation.hpp │ ├── aw_StZone.hpp │ ├── aw_TrafficLightManager.hpp │ ├── collisionCheck.h │ ├── obstaclePrediction.h │ └── trajectoryEvaluator.h ├── mainpage.dox ├── manifest.xml └── src │ ├── aw_ChsmPlanner.cpp │ ├── aw_CrosswalkManager.cpp │ ├── aw_IntersectionManager.cpp │ ├── aw_LaneChangeManager.cpp │ ├── aw_MergeFeasabilityCheck.cpp │ ├── aw_PassObstacleManager.cpp │ ├── aw_RouteSampler.cpp │ ├── aw_SituationInterpretation.cpp │ ├── aw_StActive.cpp │ ├── aw_StBase.cpp │ ├── aw_StCrosswalk.cpp │ ├── aw_StDrive.cpp │ ├── aw_StDriveKTurn.cpp │ ├── aw_StDrivePassObstacle.cpp │ ├── aw_StError.cpp │ ├── aw_StIntersection.cpp │ ├── aw_StIntersectionTrafficLightQueue.cpp │ ├── aw_StIntersectionTrafficLightStop.cpp │ ├── aw_StIntersectionTrafficLightWait.cpp │ ├── aw_StLaneChange.cpp │ ├── aw_StPause.cpp │ ├── aw_StReplan.cpp │ ├── aw_StStop.cpp │ ├── aw_StTrafficLight.cpp │ ├── aw_StWaitForActivation.cpp │ ├── aw_StZone.cpp │ ├── aw_TrafficLightManager.cpp │ ├── collisionCheck.cpp │ ├── obstacleUpdates.cpp │ └── trajectoryEvaluator.cpp ├── aw_geometry ├── CMakeLists.txt ├── Makefile ├── include │ ├── aw_CGAL.h │ ├── aw_geometry.h │ ├── aw_geometry_2d.h │ ├── aw_geometry_3d.h │ ├── aw_octree.h │ └── aw_octree_template.h ├── mainpage.dox ├── manifest.xml └── src │ ├── aw_geometry_2d.cpp │ └── aw_geometry_3d.cpp ├── aw_rndf ├── CMakeLists.txt ├── Makefile ├── include │ ├── aw_CheckpointList.h │ ├── aw_MDFTokens.h │ ├── aw_Mission.h │ ├── aw_RNDFTokens.h │ ├── aw_RndfId.h │ ├── aw_SpeedLimit.h │ ├── aw_SpeedLimitList.h │ ├── aw_StringTools.h │ ├── aw_checkPoint.h │ ├── aw_crosswalk.h │ ├── aw_exit.h │ ├── aw_intersection.h │ ├── aw_lane.h │ ├── aw_laneQuadTree.h │ ├── aw_laneSegment.h │ ├── aw_netElement.h │ ├── aw_perimeter.h │ ├── aw_perimeterPoint.h │ ├── aw_roadNetwork.h │ ├── aw_roadNetworkGL.h │ ├── aw_roadNetworkSearch.h │ ├── aw_segment.h │ ├── aw_spot.h │ ├── aw_stop.h │ ├── aw_trafficLight.h │ ├── aw_trafficLightGL.h │ ├── aw_wayPoint.h │ ├── aw_zone.h │ ├── crosswalksign.h │ ├── mergesign.h │ ├── stopsign.h │ ├── trafficlightsign.h │ └── yieldsign.h ├── mainpage.dox ├── manifest.xml └── src │ ├── aw_CheckpointList.cpp │ ├── aw_Mission.cpp │ ├── aw_SpeedLimit.cpp │ ├── aw_SpeedLimitList.cpp │ ├── aw_StringTools.cpp │ ├── aw_checkPoint.cpp │ ├── aw_crosswalk.cpp │ ├── aw_exit.cpp │ ├── aw_intersection.cpp │ ├── aw_lane.cpp │ ├── aw_laneQuadTree.cpp │ ├── aw_laneSegment.cpp │ ├── aw_netElement.cpp │ ├── aw_perimeter.cpp │ ├── aw_perimeterPoint.cpp │ ├── aw_roadNetwork.cpp │ ├── aw_roadNetworkGL.cpp │ ├── aw_roadNetworkSearch.cpp │ ├── aw_segment.cpp │ ├── aw_spot.cpp │ ├── aw_stop.cpp │ ├── aw_trafficLight.cpp │ ├── aw_trafficLightGL.cpp │ ├── aw_wayPoint.cpp │ ├── aw_zone.cpp │ └── trafficlight.cpp ├── aw_topology ├── CMakeLists.txt ├── Makefile ├── include │ ├── aw_AStarSearch.h │ ├── aw_BlockadeManager.hpp │ ├── aw_Counter.h │ ├── aw_Graph.h │ ├── aw_LaneConnector.h │ ├── aw_Maneuver.h │ ├── aw_RndfEdge.h │ ├── aw_RndfGraph.h │ ├── aw_RndfGraphBuilder.h │ ├── aw_RndfGraphSearch.h │ ├── aw_RndfIntersection.h │ ├── aw_RndfVertex.h │ ├── aw_Route.h │ ├── aw_Topology.hpp │ ├── aw_Vehicle.h │ ├── aw_VehicleManager.hpp │ ├── aw_graph_tools.hpp │ ├── aw_match_to_graph.hpp │ └── vehicleConstants.h ├── mainpage.dox ├── manifest.xml └── src │ ├── aw_BlockadeManager.cpp │ ├── aw_Graph.cpp │ ├── aw_RndfEdge.cpp │ ├── aw_RndfGraph.cpp │ ├── aw_RndfGraphBuilder.cpp │ ├── aw_RndfGraphSearch.cpp │ ├── aw_RndfIntersection.cpp │ ├── aw_RndfVertex.cpp │ ├── aw_Route.cpp │ ├── aw_Topology.cpp │ ├── aw_Vehicle.cpp │ ├── aw_VehicleManager.cpp │ ├── aw_graph_tools.cpp │ └── aw_match_to_graph.cpp ├── carlist ├── CMakeLists.txt ├── Makefile ├── include │ └── carlist.h ├── mainpage.dox ├── manifest.xml └── src │ └── carlist.cpp ├── curvesmoothing ├── CMakeLists.txt ├── Makefile ├── include │ └── curveSmoother.h ├── mainpage.dox ├── manifest.xml └── src │ └── curveSmoother.cpp ├── paw2 ├── CMakeLists.txt ├── Makefile ├── include │ ├── baseDemo.h │ ├── bufferedStringBuf.h │ ├── circle_demo.h │ ├── conout.h │ ├── drawSensorData.h │ ├── fakeObstacleTracker.h │ ├── graphics.h │ ├── paw2.h │ ├── paw2App.h │ ├── paw2Camera.h │ ├── paw2GlView.h │ ├── paw2InternalData.h │ ├── paw2Velodyne.h │ ├── paw2_gui.h │ ├── project_sensors.h │ ├── rdConsole.h │ ├── static_map_demo.h │ └── template_paw2InternalData.h ├── launch │ ├── Paw2Param.launch │ ├── paw2.launch │ └── paw2dbg.launch ├── mainpage.dox ├── manifest.xml └── src │ ├── 3dm-Henry.cpp │ ├── baseDemo.cpp │ ├── bufferedStringBuf.cpp │ ├── circle_demo.cpp │ ├── conout.cpp │ ├── drawSensorData.cpp │ ├── fakeObstacleTracker.cpp │ ├── fake_car.cpp │ ├── graphics.cpp │ ├── labeled_car.cpp │ ├── makeCircleRNDF.cpp │ ├── paw2.cpp │ ├── paw2Camera.cpp │ ├── paw2GlView.cpp │ ├── paw2InternalData.cpp │ ├── paw2Velodyne.cpp │ ├── paw2_gui.cpp │ ├── paw2_qtgui.ui │ ├── project_sensors.cpp │ ├── rdConsole.cpp │ ├── static_map_demo.cpp │ ├── tbimages.qrc │ ├── tbimages │ ├── n_exit.png │ ├── n_exit256.png │ ├── n_ffwd.png │ ├── n_ffwd256.png │ ├── n_pause.png │ ├── n_pause256.png │ ├── n_play.png │ ├── n_play256.png │ ├── n_play_end.png │ ├── n_play_end256.png │ ├── n_rwd.png │ ├── n_rwd256.png │ ├── n_start.png │ ├── n_start256.png │ ├── n_stop.png │ ├── n_stop256.png │ └── open.png │ └── template_paw2InternalData.cpp ├── polytraj ├── CMakeLists.txt ├── Makefile ├── include │ ├── horner.h │ ├── keepLaneAndTrackPointSet2D.h │ ├── keepLaneAndVelocitySet2D.h │ ├── keepVelocityTrajSet.h │ ├── keep_lane_traj_set.h │ ├── polyTraj.h │ ├── polyTraj2D.h │ ├── poly_traj.h │ ├── poly_traj_structs.h │ ├── rootTraj.h │ ├── test_center_line.h │ └── trackPointTrajSet.h ├── mainpage.dox ├── manifest.xml └── src │ ├── horner.cpp │ ├── keepLaneAndTrackPointSet2D.cpp │ ├── keepLaneAndVelocitySet2D.cpp │ ├── keepVelocityTrajSet.cpp │ ├── keep_lane_traj_set.cpp │ ├── polyTraj.cpp │ ├── polyTraj2D.cpp │ ├── rootTraj.cpp │ └── trackPointTrajSet.cpp ├── rndf_edit ├── CMakeLists.txt ├── Makefile ├── include │ ├── REConsole.h │ ├── RECrosswalk.h │ ├── REElement.h │ ├── REFindElement.h │ ├── RELane.h │ ├── REPerimeter.h │ ├── REPerimeterPoint.h │ ├── RESegment.h │ ├── RESpot.h │ ├── RESpotPoint.h │ ├── RETrafficLight.h │ ├── REWayPoint.h │ ├── REZone.h │ ├── RNDFEditGLView.h │ ├── conout.h │ ├── glwidget.h │ ├── rndf_edit_app.h │ └── rndf_edit_gui.h ├── launch │ └── rndf_edit.launch ├── mainpage.dox ├── manifest.xml └── src │ ├── REConsole.cpp │ ├── RECrosswalk.cpp │ ├── REElement.cpp │ ├── REFindElement.cpp │ ├── RELane.cpp │ ├── REPerimeter.cpp │ ├── REPerimeterPoint.cpp │ ├── RESegment.cpp │ ├── RESpot.cpp │ ├── RESpotPoint.cpp │ ├── RETrafficLight.cpp │ ├── REWayPoint.cpp │ ├── REZone.cpp │ ├── RNDFEditGLView.cpp │ ├── conout.cpp │ ├── glwidget.cpp │ ├── rndf_edit.cpp │ ├── rndf_edit_gui.cpp │ ├── rndf_edit_qtgui.ui │ ├── tbimages.cpp │ ├── tbimages.qrc │ ├── tbimages │ ├── crosswalk.png │ ├── exit.png │ ├── lane.png │ ├── minus.png │ ├── open.png │ ├── perimeter.png │ ├── perimeterpoint.png │ ├── quit.png │ ├── save.png │ ├── segment.png │ ├── spot.png │ ├── spotpoint.png │ ├── traffic_light.png │ ├── waypoint.png │ └── zone.png │ ├── trajectory2Lane.ui │ └── trajectory2Lane_qtgui.ui ├── rosdep.yaml └── stack.xml /README.md: -------------------------------------------------------------------------------- 1 | # stanford_self_driving_car_code 2 | Stanford Code From Cars That Entered DARPA Grand Challenges 3 | 4 | Software Infrastructure for Stanford's Autonomous Vehicles 5 | 6 | See http://robots.stanford.edu/papers/junior08.pdf 7 | 8 | Originally found on Sourceforge 9 | -------------------------------------------------------------------------------- /driving/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of 5 | # directories (or patterns, but directories should suffice) that should 6 | # be excluded from the distro. This is not the place to put things that 7 | # should be ignored everywhere, like "build" directories; that happens in 8 | # rosbuild/rosbuild.cmake. Here should be listed packages that aren't 9 | # ready for inclusion in a distro. 10 | # 11 | # This list is combined with the list in rosbuild/rosbuild.cmake. Note 12 | # that CMake 2.6 may be required to ensure that the two lists are combined 13 | # properly. CMake 2.4 seems to have unpredictable scoping rules for such 14 | # variables. 15 | #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) 16 | 17 | rosbuild_make_distribution(0.1.0) 18 | -------------------------------------------------------------------------------- /driving/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake_stack.mk -------------------------------------------------------------------------------- /driving/applanix/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | #set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(applanix src/applanix.cc src/applanixcore.cc) 25 | target_link_libraries(applanix z) 26 | #rosbuild_add_executable(applanix_logger src/applanix_logger.cc src/applanixcore.cc) 27 | #target_link_libraries(applanix_logger z) 28 | rosbuild_add_executable(fake_applanix src/fake_applanix.cc) 29 | #rosbuild_add_executable(applanix_integrate src/applanix_integrate.cc) 30 | #target_link_libraries(applanix_integrate z) 31 | -------------------------------------------------------------------------------- /driving/applanix/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/applanix/launch/ApplanixParam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /driving/applanix/launch/applanix.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /driving/applanix/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b applanix is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/applanix/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Applanix is a driver that communicates with the POSLV hardware 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/applanix 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /driving/applanix/msg/ApplanixDMI.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 signed_odometer # DMI distance odometer, in meters, signed value 3 | float64 unsigned_odometer # DMI distance odometer, in meters, unsigned value 4 | uint32 id # unique id for internal tracking 5 | float64 hardware_timestamp # Timestamp from the Applanix hardware, in UTC seconds of the week. 6 | int32 hardware_time_mode # Mode of timestamp from the Applanix hardware. 0 = None. 1 = Acquire. 2 = Locked. 7 | float64 timestamp 8 | 9 | -------------------------------------------------------------------------------- /driving/applanix/msg/ApplanixGPS.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 primary_sats # primary GPS satellite constellation. 3 | uint32 primary_id # primary GPS unique id, for internal tracking. 4 | float64 primary_timestamp # primary GPS timestamp from machine receiving Applanix message, in seconds 5 | int32 secondary_sats # secondary GPS satellite constellation. 6 | uint32 secondary_id # secondary GPS unique id, for internal tracking. 7 | float64 secondary_timestamp # secondary GPS timestamp from machine receiving Applanix message, in seconds 8 | int32 gams_solution_code # GAMS status code. Range is 0-7. 7 is full solution. 9 | uint32 gams_id # GAMS unique id, for internal tracking. 10 | float64 gams_timestamp # GAMS timestamp from machine receiving Applanix message, in seconds 11 | float64 timestamp 12 | 13 | 14 | -------------------------------------------------------------------------------- /driving/applanix/msg/ApplanixPose.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | float64 smooth_x 4 | float64 smooth_y 5 | float64 smooth_z 6 | float64 latitude 7 | float64 longitude 8 | float64 altitude 9 | float32 vel_north 10 | float32 vel_east 11 | float32 vel_up 12 | float32 speed 13 | float32 track 14 | float64 roll 15 | float64 pitch 16 | float64 yaw 17 | float64 rate_roll 18 | float64 rate_pitch 19 | float64 rate_yaw 20 | float64 accel_x 21 | float64 accel_y 22 | float64 accel_z 23 | float64 wander 24 | uint32 id 25 | int32 postprocess_code 26 | float64 hardware_timestamp 27 | int32 hardware_time_mode 28 | -------------------------------------------------------------------------------- /driving/applanix/msg/ApplanixRMS.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 rms_north # North position error, in meters (global frame) 3 | float32 rms_east # East position error, in meters (global frame) 4 | float32 rms_up # Up position error, in meters (global frame) 5 | float32 rms_v_north # North velocity error, in m/s (global frame) 6 | float32 rms_v_east # East velocity error, in m/s (global frame) 7 | float32 rms_v_up # Up velocity error, in m/s (global frame) 8 | float32 rms_roll # roll error, in radians 9 | float32 rms_pitch # pitch error, in radians 10 | float32 rms_yaw # yaw error, in radians 11 | float32 semi_major # length of semi major axis of error ellipse, in m 12 | float32 semi_minor # length of semi minor axis of error ellipse, in m 13 | float32 orientation # orientation of error ellipse, radians 14 | uint32 id # unique ID for internal tracking 15 | int32 postprocess_code # 0 = Real Time. 1 = Post Processed. 2 = Post Processed with Base Station. 16 | float64 hardware_timestamp # Timestamp from the Applanix hardware, in UTC seconds of the week. 17 | int32 hardware_time_mode # Mode of timestamp from the Applanix hardware. 0 = None. 1 = Acquire. 2 = Locked. 18 | float64 timestamp 19 | 20 | -------------------------------------------------------------------------------- /driving/asyncwriter/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | set(CMAKE_C_FLAGS "-O2 -fPIC") 15 | set(CMAKE_CXX_FLAGS "-O2 -fPIC") 16 | 17 | #set the default path for built executables to the "bin" directory 18 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 19 | #set the default path for built libraries to the "lib" directory 20 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 21 | 22 | #uncomment if you have defined messages 23 | #rosbuild_genmsg() 24 | #uncomment if you have defined services 25 | #rosbuild_gensrv() 26 | 27 | rosbuild_add_library(async_writer src/async_writer.cc) 28 | -------------------------------------------------------------------------------- /driving/asyncwriter/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/asyncwriter/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b async_writer is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/asyncwriter/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | asyncwriter 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/async_writer 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /driving/controller/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(controller src/controller.cpp) 25 | #rosbuild_add_executable(controller_log_viewer src/controller_log_viewer.cpp) 26 | -------------------------------------------------------------------------------- /driving/controller/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/controller/launch/controller.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /driving/controller/launch/controllerdbg.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /driving/controller/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b controller is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/controller/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | controller 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/controller 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /driving/controller/msg/ControllerTarget.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 target_velocity # target velocity, in m/s 3 | float64 target_steering_angle # target steering angle, in degrees 4 | float64 cross_track_error # perpendicular distance to intended trajectory, in meters 5 | float64 heading_error # heading error, in degrees 6 | float64 timestamp 7 | 8 | -------------------------------------------------------------------------------- /driving/dgccompat/.goutputstream-VJHC0V: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE Debug) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(velodyne_playback_standalone src/velodyne_playback_server.cpp src/velodyne_playback_standalone.cpp src/data_player.cpp) 25 | rosbuild_add_executable(dgcplayback src/velodyne_playback_server.cpp src/data_player.cpp) 26 | rosbuild_add_executable(dgcplayback src/dgc_playback.cpp src/playback_server.cpp src/applanix_interface.cpp) 27 | 28 | -------------------------------------------------------------------------------- /driving/dgccompat/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE Debug) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(velodyne_playback_standalone src/velodyne_playback_server.cpp src/velodyne_playback_standalone.cpp src/data_player.cpp) 25 | rosbuild_add_executable(dgcplayback src/velodyne_playback_server.cpp src/data_player.cpp) 26 | rosbuild_add_executable(dgcplayback src/dgc_playback.cpp src/playback_server.cpp src/applanix_interface.cpp) 27 | 28 | -------------------------------------------------------------------------------- /driving/dgccompat/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/dgccompat/launch/playback.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/dgccompat/launch/playbackdbg.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/dgccompat/launch/playbackmck.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/dgccompat/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b dgccompat is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/dgccompat/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dgccompat 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/dgccompat 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /driving/dgcglobal/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(dgcglobal src/global.cpp src/transform.cpp) 25 | rosbuild_add_library(serial src/serial.cpp) 26 | rosbuild_add_library(usbfind src/usbfind.cpp) 27 | -------------------------------------------------------------------------------- /driving/dgcglobal/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/dgcglobal/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b dgcglobal is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/dgcglobal/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dgcglobal 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/dgcglobal 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/dgclogger/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(logio src/logio.cc) 25 | -------------------------------------------------------------------------------- /driving/dgclogger/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/dgclogger/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b dgclogio is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/dgclogger/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dgclogger 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/dgclogger 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/drivestatus/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | #rosbuild_add_boost_directories() 28 | #rosbuild_link_boost(${PROJECT_NAME} thread) 29 | #rosbuild_add_executable(example examples/example.cpp) 30 | #target_link_libraries(example ${PROJECT_NAME}) 31 | -------------------------------------------------------------------------------- /driving/drivestatus/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/drivestatus/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b drivestatus is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/drivestatus/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | drivestatus 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/drivestatus 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /driving/drivestatus/msg/DriveStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int8 status 3 | 4 | int8 ERROR = -2 5 | int8 ESTOP = -1 6 | int8 OFF = 0 7 | int8 STOP = 1 8 | int8 PAUSE = 2 9 | int8 RUN = 3 10 | -------------------------------------------------------------------------------- /driving/drivestatus/src/statuscenter.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import roslib 4 | roslib.load_manifest('drivestatus') 5 | import rospy 6 | from drivestatus.msg import DriveStatus 7 | from drivestatus.srv import * 8 | 9 | class StatusCenter: 10 | 11 | def __init__(self): 12 | self.pub = rospy.Publisher('drivestatus', DriveStatus) 13 | rospy.Service('drivestatusrequest', ChangeDriveStatus, self.requestHandler) 14 | self.status = DriveStatus() 15 | rospy.init_node('statuscenter') 16 | 17 | def loop(self): 18 | while not rospy.is_shutdown(): 19 | self.status.header.stamp = rospy.Time.now() 20 | center.pub.publish(self.status) 21 | rospy.sleep(0.5) 22 | 23 | def requestHandler(self, req): 24 | 25 | if self._isValid(req): 26 | rospy.loginfo("Request for status " + StatusCenter.statusToString(req.status) + " success") 27 | self.status.status = req.status 28 | self.status.header.stamp = rospy.Time.now() 29 | center.pub.publish(self.status) 30 | return () 31 | else: 32 | rospy.loginfo("Request for status " + StatusCenter.statusToString(req.status) + " failed") 33 | return None 34 | 35 | 36 | def _isValid(self, req): 37 | ''' 38 | Validate request for a change in status 39 | ''' 40 | if req.status < DriveStatus.ERROR or req.status > DriveStatus.RUN: 41 | return False 42 | return True 43 | 44 | @staticmethod 45 | def statusToString(status): 46 | return { 47 | -2 : 'ERROR', 48 | -1 : 'ESTOP', 49 | 0 : 'OFF', 50 | 1 : 'STOP', 51 | 2 : 'PAUSE', 52 | 3 : 'RUN', 53 | }.get(status, 'INVALID') 54 | 55 | if __name__ == '__main__': 56 | 57 | center = StatusCenter() 58 | center.status.status = DriveStatus.OFF 59 | 60 | try: 61 | center.loop() 62 | except rospy.ROSInterruptException: 63 | pass 64 | -------------------------------------------------------------------------------- /driving/drivestatus/srv/ChangeDriveStatus.srv: -------------------------------------------------------------------------------- 1 | int8 status 2 | --- 3 | -------------------------------------------------------------------------------- /driving/driving_common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | rosbuild_add_library(${PROJECT_NAME} src/comp_stdio.cpp src/lineBuffer.cpp src/scaledTime.cpp src/GlobalPose.cpp src/PoseQueue.cpp) 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | #rosbuild_add_boost_directories() 28 | #rosbuild_link_boost(${PROJECT_NAME} thread) 29 | #rosbuild_add_executable(example examples/example.cpp) 30 | #target_link_libraries(example ${PROJECT_NAME}) 31 | -------------------------------------------------------------------------------- /driving/driving_common/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/driving_common/launch/common.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /driving/driving_common/launch/minsim.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/driving_common/launch/sensor_params.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 10 | 11 | -------------------------------------------------------------------------------- /driving/driving_common/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b driving_common is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/driving_common/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | driving_common 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/driving_common 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /driving/driving_common/msg/Actuator.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 direction 3 | uint8 steering_mode 4 | float64 steering_value # depending on steering_mode this is either angle or torque 5 | float64 brake_pressure 6 | float64 throttle_fraction 7 | float64 timestamp 8 | 9 | # for direction 10 | uint8 DIRECTION_FORWARD = 0 11 | uint8 DIRECTION_REVERSE = 1 12 | 13 | # for steering mode 14 | uint8 ANGLE_CONTROL = 0 15 | uint8 TORQUE_CONTROL = 1 16 | 17 | 18 | -------------------------------------------------------------------------------- /driving/driving_common/msg/EStopRequest.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | uint8 estop_code 4 | 5 | # for estop_code 6 | uint8 ESTOP_DISABLE = 0 7 | uint8 ESTOP_PAUSE = 1 8 | uint8 ESTOP_RUN = 2 9 | 10 | -------------------------------------------------------------------------------- /driving/driving_common/msg/EStopStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | uint8 estop_code 4 | 5 | # for estop_code 6 | uint8 ESTOP_DISABLE = 0 7 | uint8 ESTOP_PAUSE = 1 8 | uint8 ESTOP_RUN = 2 9 | 10 | -------------------------------------------------------------------------------- /driving/driving_common/msg/ErrorString.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string text 3 | string host 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/GLSOverlay.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 coordinates 3 | float64 origin_x 4 | float64 origin_y 5 | float64 origin_z 6 | uint8[] cmd_buf 7 | bool first_vertex 8 | string name 9 | float64 timestamp 10 | 11 | uint8 GLOBAL_COORDINATES = 1 12 | uint8 SMOOTH_COORDINATES = 2 13 | uint8 LOCAL_COORDINATES = 3 14 | 15 | uint8 POINTS = 0 16 | uint8 LINES = 1 17 | uint8 LINE_STRIP = 2 18 | uint8 LINE_LOOP = 3 19 | uint8 TRIANGLES = 4 20 | uint8 TRIANGLE_STRIP = 5 21 | uint8 TRIANGLE_FAN = 6 22 | uint8 QUADS = 7 23 | uint8 QUAD_STRIP = 8 24 | uint8 POLYGON = 9 25 | 26 | uint8 END = 10 27 | uint8 VERTEX3 = 11 28 | uint8 COLOR = 12 29 | uint8 PUSH_MATRIX = 13 30 | uint8 POP_MATRIX = 14 31 | uint8 ROTATEF = 15 32 | uint8 TRANSLATEF = 16 33 | uint8 SCALEF = 17 34 | uint8 LINEWIDTH = 18 35 | uint8 POINTSIZE = 19 36 | uint8 RENDERSTROKESTRING = 20 37 | uint8 DRAW_ARROW = 21 38 | uint8 VERTEX2 = 22 39 | uint8 COLOR4 = 23 40 | uint8 CIRCLE = 24 41 | uint8 SQUARE = 25 42 | uint8 CARPET = 26 43 | uint8 COLOR_CARPET = 27 44 | 45 | uint8 LINE_STIPPLE = 28 46 | uint8 ENABLE = 29 47 | uint8 DISABLE = 30 48 | 49 | uint8 DEPTH_MASK = 31 50 | 51 | -------------------------------------------------------------------------------- /driving/driving_common/msg/HCIString.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string text 3 | string host 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/Heartbeat.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string modulename 3 | float64 timestamp 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/LdlrsData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 scan_count 3 | float32 angular_resolution 4 | float32 start_angle 5 | float32 end_angle 6 | float32 range 7 | int16[] intensity 8 | int32 sector_start_ts 9 | int32 sector_end_ts 10 | float64 timestamp 11 | 12 | -------------------------------------------------------------------------------- /driving/driving_common/msg/Pose.msg: -------------------------------------------------------------------------------- 1 | float64 x 2 | float64 y 3 | float64 z 4 | float64 yaw 5 | float64 pitch 6 | float64 roll 7 | 8 | 9 | -------------------------------------------------------------------------------- /driving/driving_common/msg/RadarSensor.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 id 3 | int32 measurement_number 4 | RadarTarget[] target 5 | int8 sensor_dirty 6 | int8 hw_failure 7 | int8 sgu_failure 8 | int8 sgu_comsurveillance 9 | int8 cu_io1_received 10 | int8 cu_io2_received 11 | int8 cu_request_received 12 | int32 scu_temperature 13 | float64 timestamp 14 | -------------------------------------------------------------------------------- /driving/driving_common/msg/RadarSensorLRR3.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 measurement_number 3 | RadarTargetLRR3[] target 4 | float32 vehicle_yaw_rate 5 | float32 vehicle_velocity 6 | float32 vehicle_acceleration 7 | float32 vehicle_slip_angle 8 | float32 curvature 9 | 10 | int8 acc_target_id 11 | int8 acc_stationary_id 12 | float32 acc_distance 13 | float32 acc_course_offset 14 | float32 acc_relative_acceleration 15 | float32 acc_relative_velocity 16 | 17 | int8 pss_moving_id 18 | int8 pss_stationary_id 19 | float32 pss_moving_distance 20 | float32 pss_moving_lateral_offset 21 | float32 pss_stationary_distance 22 | float32 pss_stationary_lateral_offset 23 | int8 sensor_dirty 24 | int8 hw_failure 25 | int8 sgu_failure 26 | int32 scu_temperature 27 | float32 horz_missalign_angle 28 | 29 | int8 cu_request 30 | int8 cu_handle 31 | 32 | float64 timestamp -------------------------------------------------------------------------------- /driving/driving_common/msg/RadarTarget.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | int8 measured 3 | int8 historical 4 | float32 distance 5 | float32 lateral_offset 6 | float32 lateral_offset_var 7 | float32 relative_acceleration 8 | float32 relative_velocity 9 | -------------------------------------------------------------------------------- /driving/driving_common/msg/RadarTargetLRR3.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | int8 measured 3 | int8 historical 4 | int8 valid 5 | int8 moving_state 6 | float32 long_distance 7 | float32 long_relative_velocity 8 | float32 long_relative_acceleration 9 | float32 long_distance_std 10 | float32 long_velocity_std 11 | float32 long_acceleration_std 12 | float32 lateral_distance 13 | float32 lateral_relative_velocity 14 | float32 lateral_distance_std 15 | float32 prob_exist 16 | float32 prob_obstacle 17 | -------------------------------------------------------------------------------- /driving/driving_common/msg/SimulatorGroundTruth.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | SimulatorVehiclePose[] vehicle 3 | int32 our_vehicle_num 4 | float64 timestamp 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/driving_common/msg/SimulatorTag.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | string[] tag 3 | float64 timestamp 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/SimulatorVehiclePose.msg: -------------------------------------------------------------------------------- 1 | float64 x 2 | float64 y 3 | float64 theta 4 | float64 alpha 5 | float32 v 6 | float32 forward_accel 7 | float32 lateral_accel 8 | int8 plan_warning 9 | int8 collision_warning 10 | int8 forward_accel_warning 11 | int8 lateral_accel_warning 12 | 13 | 14 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TrafficLightPose.msg: -------------------------------------------------------------------------------- 1 | string name # traffic light name/id from rndf 2 | float64 lat # latitude 3 | float64 lon # longitude 4 | float64 z # height above ground 5 | float64 orientation # orientation around z axis 6 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TrafficLightState.msg: -------------------------------------------------------------------------------- 1 | string name # traffic light name/id from rndf 2 | uint8 state # state of main part of light: r=red, g=green, y=yellow, u=unknown 3 | uint8 state_arrow # if has a turn arrow, include its state 4 | # otherwise this is set to 'n' to indicate that it does not have a turn arrow 5 | float64 timestamp_rg_switch # time of switch from red to green 6 | float64 timestamp_gy_switch # time of switch from green to red 7 | float64 timestamp # should match timestamp of camera image that the state was determined from 8 | float64 confidence # correlation value from 0 to 1 9 | int32 u # section of the camera image plane where the light is predicted to be located 10 | int32 v 11 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TrafficLightStateRequest.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | TrafficLightPose[] light_pose 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TrafficLightStates.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | TrafficLightState[] light_state 4 | 5 | -------------------------------------------------------------------------------- /driving/driving_common/msg/Trajectory2D.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | TrajectoryPoint2D[] point 3 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TrajectoryPoint2D.msg: -------------------------------------------------------------------------------- 1 | #Header header not sent directly 2 | float64 t 3 | float64 x 4 | float64 y 5 | float64 theta 6 | float64 kappa 7 | float64 kappa_dot 8 | float64 v 9 | float64 a 10 | float64 jerk 11 | float64 delta_theta # heading misalignment with center line 12 | float64 d # offset to center line 13 | float64 a_lat # lateral (to traj not to center line!) acceleration 14 | -------------------------------------------------------------------------------- /driving/driving_common/msg/TurnSignal.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 signal 3 | float64 timestamp 4 | 5 | # values for signal 6 | uint8 NONE=0 7 | uint8 LEFT=1 8 | uint8 RIGHT=2 9 | uint8 BOTH=3 10 | uint8 UNKNOWN=4 11 | 12 | -------------------------------------------------------------------------------- /driving/driving_common/param/mdfs/shoreline_circle_mdf.txt: -------------------------------------------------------------------------------- 1 | MDF_name shoreline_circle_mdf.txt 2 | RNDF shoreline_circle_rndf.txt 3 | format_version 1.0 4 | creation_date 11/09/2006 5 | checkpoints 6 | num_checkpoints 5 7 | 1 8 | 1 9 | 1 10 | 1 11 | 1 12 | end_checkpoints 13 | speed_limits 14 | num_speed_limits 1 15 | 1 0 30 16 | end_speed_limits 17 | end_file 18 | -------------------------------------------------------------------------------- /driving/driving_common/param/mdfs/shoreline_mdf.txt: -------------------------------------------------------------------------------- 1 | MDF_name shoreline_mdf.txt 2 | RNDF shoreline_rndf.txt 3 | format_version 1.0 4 | creation_date 9/19/2006 5 | checkpoints 6 | num_checkpoints 12 7 | 1 8 | 3 9 | 8 10 | 5 11 | 11 12 | 6 13 | 12 14 | 4 15 | 9 16 | 10 17 | 2 18 | 7 19 | end_checkpoints 20 | speed_limits 21 | num_speed_limits 6 22 | 1 0 30 23 | 2 0 30 24 | 3 0 30 25 | 4 0 30 26 | 5 0 30 27 | 6 0 30 28 | end_speed_limits 29 | end_file 30 | -------------------------------------------------------------------------------- /driving/driving_common/param/mdfs/shoreline_trafficcircle_8_mdf.txt: -------------------------------------------------------------------------------- 1 | MDF_name shortloop_mdf.txt 2 | RNDF shortloop_left_rndf.txt 3 | format_version 1.0 4 | creation_date 9/19/2006 5 | checkpoints 6 | num_checkpoints 3 7 | 22 8 | 17 9 | 13 10 | end_checkpoints 11 | speed_limits 12 | num_speed_limits 1 13 | 1 0 30 14 | end_speed_limits 15 | end_file 16 | -------------------------------------------------------------------------------- /driving/driving_common/param/mdfs/shoreline_trafficcircle_8_straight_mdf.txt: -------------------------------------------------------------------------------- 1 | MDF_name shortloop_mdf.txt 2 | RNDF shortloop_left_rndf.txt 3 | format_version 1.0 4 | creation_date 9/19/2006 5 | checkpoints 6 | num_checkpoints 1 7 | 31 8 | end_checkpoints 9 | speed_limits 10 | num_speed_limits 1 11 | 1 0 30 12 | end_speed_limits 13 | end_file 14 | -------------------------------------------------------------------------------- /driving/driving_common/param/mdfs/shortloop_mdf.txt: -------------------------------------------------------------------------------- 1 | MDF_name shortloop_mdf.txt 2 | RNDF shortloop_rndf.txt 3 | format_version 1.0 4 | creation_date 9/19/2006 5 | checkpoints 6 | num_checkpoints 2 7 | 1 8 | 2 9 | end_checkpoints 10 | speed_limits 11 | num_speed_limits 5 12 | 1 0 30 13 | 2 0 30 14 | 3 0 30 15 | 4 0 30 16 | 5 0 30 17 | end_speed_limits 18 | end_file 19 | -------------------------------------------------------------------------------- /driving/estop/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(fake_estop src/fake_estop.cpp) 25 | #rosbuild_add_executable(estop src/estop.cpp) 26 | #rosbuild_add_executable(broadcaster src/broadcaster.cpp) 27 | 28 | #common commands for building c++ executables and libraries 29 | #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) 30 | #target_link_libraries(${PROJECT_NAME} another_library) 31 | #rosbuild_add_boost_directories() 32 | #rosbuild_link_boost(${PROJECT_NAME} thread) 33 | #rosbuild_add_executable(example examples/example.cpp) 34 | #target_link_libraries(example ${PROJECT_NAME}) 35 | -------------------------------------------------------------------------------- /driving/estop/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/estop/launch/EStopParam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /driving/estop/launch/fake_estop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /driving/estop/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b estop is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/estop/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | estop 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/estop 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /driving/gls/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(gls src/gls.cpp) 25 | -------------------------------------------------------------------------------- /driving/gls/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/gls/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b gls is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/gls/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | gls 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/gls 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /driving/glsupport/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | set(ROS_BUILD_TYPE Debug) 12 | 13 | rosbuild_init() 14 | 15 | #set the default path for built executables to the "bin" directory 16 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 17 | #set the default path for built libraries to the "lib" directory 18 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 19 | 20 | #uncomment if you have defined messages 21 | #rosbuild_genmsg() 22 | #uncomment if you have defined services 23 | #rosbuild_gensrv() 24 | 25 | include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake) 26 | pkg_check_modules(FTGL REQUIRED ftgl) 27 | find_package(Freetype REQUIRED) 28 | include_directories(${FREETYPE_INCLUDE_DIRS}) 29 | include_directories(${QT_INCLUDE_DIR}) 30 | link_directories(${FTGL_LIBRARY_DIRS}) 31 | rosbuild_add_library(textures src/textures.cpp) 32 | rosbuild_add_library(gl_support src/gl_support.cc src/fontRenderer.cpp src/pointlist.cpp src/facelist.cpp) 33 | target_link_libraries(gl_support ${FREETYPE_LIBRARIES}) 34 | target_link_libraries(gl_support ${FTGL_LIBRARIES}) 35 | -------------------------------------------------------------------------------- /driving/glsupport/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/glsupport/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b glsupport is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/glsupport/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | glsupport 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/glsupport 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /driving/glsupport/rosdep.yaml: -------------------------------------------------------------------------------- 1 | ftgl: 2 | ubuntu: libftgl-dev 3 | -------------------------------------------------------------------------------- /driving/imagery/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | set(ROS_BUILD_TYPE Debug) 13 | 14 | set(CMAKE_CXX_FLAGS "-std=c++0x") 15 | 16 | rosbuild_init() 17 | 18 | #set the default path for built executables to the "bin" directory 19 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 20 | #set the default path for built libraries to the "lib" directory 21 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 22 | 23 | #uncomment if you have defined messages 24 | #rosbuild_genmsg() 25 | #uncomment if you have defined services 26 | #rosbuild_gensrv() 27 | 28 | find_package(Freetype REQUIRED) 29 | include_directories(${FREETYPE_INCLUDE_DIRS}) 30 | rosbuild_add_library(bil src/bil.cpp) 31 | rosbuild_add_library(imagery src/imagery.cpp src/imagery_proj.cpp src/imageryServer.cpp src/textureCache.cpp) 32 | target_link_libraries(imagery bil) 33 | target_link_libraries(imagery ${FREETYPE_LIBARIES}) 34 | -------------------------------------------------------------------------------- /driving/imagery/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/imagery/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b imagery is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/imagery/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | imagery 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/imagery 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /driving/imaging/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | rosbuild_add_library(${PROJECT_NAME} src/iplConvert.cpp src/vlrImage.cpp) 24 | 25 | -------------------------------------------------------------------------------- /driving/imaging/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/imaging/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b imaging is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/imaging/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | another image library that will be gone soon... 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/imaging 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /driving/lltransform/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | set(CMAKE_C_FLAGS "-O2 -fPIC") 15 | set(CMAKE_CXX_FLAGS "-O2 -fPIC") 16 | 17 | #set the default path for built executables to the "bin" directory 18 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 19 | #set the default path for built libraries to the "lib" directory 20 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 21 | 22 | #uncomment if you have defined messages 23 | #rosbuild_genmsg() 24 | #uncomment if you have defined services 25 | #rosbuild_gensrv() 26 | 27 | rosbuild_add_library(lltransform src/lltoutm.cpp src/lltospcs.cpp) 28 | -------------------------------------------------------------------------------- /driving/lltransform/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/lltransform/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b lltransform is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/lltransform/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | lltransform 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/lltransform 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /driving/localize/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/localize/launch/localize.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/localize/launch/test.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/localize/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b localize is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/localize/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | localize 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/localize 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /driving/localize/msg/LocalizePose.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | int32 source 4 | float64 corrected_x 5 | float64 corrected_y 6 | string utmzone 7 | float64 x_offset 8 | float64 y_offset 9 | float32 std_x 10 | float32 std_y 11 | float32 std_f 12 | float32 std_s 13 | -------------------------------------------------------------------------------- /driving/passat/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(can src/can/can.cpp src/can/cancore.cpp) 25 | rosbuild_add_executable(passat src/passat/passat_main.cpp src/passat/passatcore.cpp src/passat/passat.cpp) 26 | rosbuild_add_executable(passat_test src/passat/passat_test.cpp src/passat/passatcore.cpp) 27 | rosbuild_add_executable(set_parking_break src/passat/set_parking_brake.cpp src/passat/passatcore.cpp) 28 | 29 | -------------------------------------------------------------------------------- /driving/passat/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/passat/launch/VehicleParams.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/passat/launch/passat.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /driving/passat/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b passat is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/passat/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | passat 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/passat 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/passat/msg/PassatExtOutput.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 turn_signal_state 3 | bool engine_kill 4 | bool honk 5 | bool parking_brake 6 | uint64 bytes_written 7 | float64 timestamp 8 | 9 | -------------------------------------------------------------------------------- /driving/passat/msg/PassatOutput.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 steering_torque 3 | float64 brake_pressure 4 | float64 throttle_fraction 5 | uint8 gear 6 | int16 steering_int 7 | uint16 brake_int 8 | uint16 throttle_int 9 | uint64 bytes_written 10 | float64 timestamp 11 | 12 | 13 | -------------------------------------------------------------------------------- /driving/passat/msg/PassatState.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | int32 fsm_state 3 | float64 timestamp 4 | 5 | -------------------------------------------------------------------------------- /driving/passat/msg/PassatStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint8 brake_error 3 | uint8 prc_warning_lamp 4 | uint8 can_failure 5 | float32 actual_brake_pressure1 6 | float32 actual_brake_pressure2 7 | float32 requested_brake_pressure 8 | float32 brake_travel 9 | uint8 no_brake_200ms 10 | uint8 brake_initializing 11 | uint8 no_steering_400ms 12 | uint8 no_gear_200ms 13 | float32 motor_temp 14 | int32 motor_error_code 15 | int16 rs232_buffer_overruns 16 | int16 rs232_framing_error 17 | int16 data_buffer_overrun 18 | int16 broken_packet 19 | int16 missed_messages 20 | float64 timestamp 21 | 22 | -------------------------------------------------------------------------------- /driving/passatmodel/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | set(CMAKE_CXX_FLAGS "-std=c++0x") 13 | 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | #rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | 26 | include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake) 27 | 28 | # ftgl + freetype 29 | pkg_check_modules(FTGL REQUIRED ftgl) 30 | find_package(Freetype REQUIRED) 31 | include_directories(${FREETYPE_INCLUDE_DIRS}) 32 | link_directories(${FTGL_LIBRARY_DIRS}) 33 | 34 | rosbuild_add_library(${PROJECT_NAME} src/lasermodel.cpp src/passatgl.cpp src/passatmodel.cpp src/passatwagongl.cpp) 35 | rosbuild_add_library(${PROJECT_NAME} src/skybox.cpp src/tiregl.cpp src/velodynegl.cpp) 36 | 37 | target_link_libraries(${PROJECT_NAME} ${FREETYPE_LIBRARIES}) 38 | target_link_libraries(${PROJECT_NAME} ${FTGL_LIBRARIES}) 39 | 40 | -------------------------------------------------------------------------------- /driving/passatmodel/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/passatmodel/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b passatmodel is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/passatmodel/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | passat model... 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/passatmodel 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/stack.xml: -------------------------------------------------------------------------------- 1 | 2 | driving 3 | Stanford Driving 4 | BSD 5 | 6 | http://ros.org/wiki/driving 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /driving/utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | #set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_executable(pyramid_images src/pyramid_images.cc) 25 | target_link_libraries(pyramid_images z) 26 | 27 | -------------------------------------------------------------------------------- /driving/utils/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /driving/utils/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b utils is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/utils/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Collection of driving related utility programs. 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/utils 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /driving/vehiclemodels/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | set(CMAKE_CXX_FLAGS "-std=c++0x") 13 | 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | #rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | 26 | rosbuild_add_library(${PROJECT_NAME} src/hummer.cpp src/lamborghini.cpp src/lotus.cpp) 27 | rosbuild_add_library(${PROJECT_NAME} src/porsche.cpp src/stickered_passatwagongl.cpp src/vehiclemodels.cpp) 28 | -------------------------------------------------------------------------------- /driving/vehiclemodels/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/vehiclemodels/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b vehiclemodels is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/vehiclemodels/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | vehicle models :-) 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/vehiclemodels 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /driving/vehiclesim/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | set(ROS_BUILD_TYPE Debug) 12 | 13 | rosbuild_init() 14 | 15 | #set the default path for built executables to the "bin" directory 16 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 17 | #set the default path for built libraries to the "lib" directory 18 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 19 | 20 | #uncomment if you have defined messages 21 | #rosbuild_genmsg() 22 | #uncomment if you have defined services 23 | #rosbuild_gensrv() 24 | 25 | rosbuild_add_library(vehicle src/vehicle.cpp) 26 | rosbuild_add_executable(vehiclesim src/vehiclesim.cpp) 27 | target_link_libraries(vehiclesim vehicle) 28 | rosbuild_add_executable(multisim src/multisim.cpp src/lasersim.cpp src/trafficlights.cpp src/crosswalks.cpp) 29 | target_link_libraries(multisim vehicle) 30 | #rosbuild_add_executable(spawn_software src/spawn_software.cpp) 31 | #rosbuild_add_executable(spawn_centrals src/spawn_centrals.cpp) 32 | #rosbuild_add_executable(setup_simulation src/setup_simulation.cc) 33 | #rosbuild_add_executable(extract_start_state src/extract_start_state.cc) 34 | #rosbuild_add_executable(place_cars src/place_cars.cpp src/rndf_lookup.cpp) 35 | -------------------------------------------------------------------------------- /driving/vehiclesim/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /driving/vehiclesim/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b vehiclesim is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /driving/vehiclesim/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | vehiclesim 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/vehiclesim 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /libraries/ANN/Makefile: -------------------------------------------------------------------------------- 1 | all: installed 2 | 3 | TARBALL = build/ann_1.1.1.tar.gz 4 | TARBALL_URL = http://pr.willowgarage.com/downloads/ann_1.1.1.tar.gz 5 | UNPACK_CMD = tar xfz 6 | SOURCE_DIR = build/ann_1.1.1 7 | TARBALL_PATCH = gcc43_shared.patch fPIC.patch distance.patch 8 | 9 | include $(shell rospack find mk)/download_unpack_build.mk 10 | 11 | installed: $(SOURCE_DIR)/unpacked Makefile 12 | echo "Building ANN..." 13 | if test `uname` = Darwin; then \ 14 | cd build/ann_1.1.1 && make macosx-g++; \ 15 | else\ 16 | cd build/ann_1.1.1 && make linux-shared-g++; \ 17 | fi 18 | touch installed 19 | clean: wipe 20 | wipe: 21 | rm -rf build installed 22 | -------------------------------------------------------------------------------- /libraries/ANN/distance.patch: -------------------------------------------------------------------------------- 1 | --- include/ANN/ANN.h.orig 2009-03-28 00:51:04.000000000 +0100 2 | +++ include/ANN/ANN.h 2009-03-28 00:51:24.000000000 +0100 3 | @@ -152,7 +152,7 @@ 4 | //---------------------------------------------------------------------- 5 | 6 | typedef float ANNcoord; // coordinate data type 7 | -typedef double ANNdist; // distance data type 8 | +typedef float ANNdist; // distance data type 9 | 10 | //---------------------------------------------------------------------- 11 | // ANNidx 12 | -------------------------------------------------------------------------------- /libraries/ANN/fPIC.patch: -------------------------------------------------------------------------------- 1 | --- Make-config 2009-02-05 15:12:09.000000000 -0800 2 | +++ Make-config.new 2009-02-05 15:22:58.000000000 -0800 3 | @@ -72,7 +72,7 @@ 4 | $(MAKE) targets \ 5 | "ANNLIB = libANN.a" \ 6 | "C++ = g++" \ 7 | - "CFLAGS = -O3" \ 8 | + "CFLAGS = -O3 -fPIC" \ 9 | "MAKELIB = ar ruv" \ 10 | "RANLIB = true" 11 | 12 | @@ -81,7 +81,7 @@ 13 | $(MAKE) targets \ 14 | "ANNLIB = libANN.so" \ 15 | "C++ = g++" \ 16 | - "CFLAGS = -O3" \ 17 | + "CFLAGS = -O3 -fPIC" \ 18 | "MAKELIB = g++ -shared -o" \ 19 | "RANLIB = true" 20 | 21 | -------------------------------------------------------------------------------- /libraries/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of 5 | # directories (or patterns, but directories should suffice) that should 6 | # be excluded from the distro. This is not the place to put things that 7 | # should be ignored everywhere, like "build" directories; that happens in 8 | # rosbuild/rosbuild.cmake. Here should be listed packages that aren't 9 | # ready for inclusion in a distro. 10 | # 11 | # This list is combined with the list in rosbuild/rosbuild.cmake. Note 12 | # that CMake 2.6 may be required to ensure that the two lists are combined 13 | # properly. CMake 2.4 seems to have unpredictable scoping rules for such 14 | # variables. 15 | #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) 16 | 17 | rosbuild_make_distribution(0.1.0) 18 | -------------------------------------------------------------------------------- /libraries/FLANN/Makefile: -------------------------------------------------------------------------------- 1 | all: installed 2 | 3 | TARBALL = build/flann-1.2-src.zip 4 | TARBALL_URL = http://pr.willowgarage.com/downloads/flann-1.2-src.zip 5 | UNPACK_CMD = unzip -x 6 | SOURCE_DIR = build/flann-1.2-src 7 | TARBALL_PATCH = cmakelists.patch dist_extended.patch 8 | 9 | include $(shell rospack find mk)/download_unpack_build.mk 10 | 11 | installed: wiped $(SOURCE_DIR)/unpacked 12 | echo "Building FLANN..." 13 | mkdir -p build/build && cd build/build && cmake ../flann-1.2-src/src && make && make install 14 | if [ `uname` = Darwin ]; then \ 15 | install_name_tool -id `rospack find FLANN`/build/flann-1.2-src/build/lib/libflann.dylib build/flann-1.2-src/build/lib/libflann.dylib; \ 16 | fi 17 | touch installed 18 | 19 | clean: wipe 20 | 21 | wiped: Makefile 22 | make wipe 23 | touch wiped 24 | 25 | wipe: 26 | rm -rf build installed 27 | -------------------------------------------------------------------------------- /libraries/FLANN/cmakelists.patch: -------------------------------------------------------------------------------- 1 | --- src/cpp/tests/CMakeLists.txt.orig 2008-12-30 16:51:46.000000000 -0800 2 | +++ src/cpp/tests/CMakeLists.txt 2008-12-30 16:51:50.000000000 -0800 3 | @@ -5,7 +5,7 @@ 4 | 5 | #ADD_EXECUTABLE(test_autotune test_autotune.cc) 6 | 7 | -ADD_EXECUTABLE(test_dist test_dist.cc) 8 | +#ADD_EXECUTABLE(test_dist test_dist.cc) 9 | 10 | ADD_EXECUTABLE(flann_test flann_test.cc) 11 | TARGET_LINK_LIBRARIES(flann_test flann) 12 | --- src/CMakeLists.txt.orig 2008-12-30 16:52:01.000000000 -0800 13 | +++ src/CMakeLists.txt 2008-12-30 16:52:03.000000000 -0800 14 | @@ -5,5 +5,5 @@ 15 | set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/../build) 16 | 17 | ADD_SUBDIRECTORY( cpp ) 18 | -ADD_SUBDIRECTORY( matlab ) 19 | +#ADD_SUBDIRECTORY( matlab ) 20 | ADD_SUBDIRECTORY( python ) 21 | -------------------------------------------------------------------------------- /libraries/FLANN/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | FLANN is a library for performing fast approximate nearest neighbor 5 | searches in high dimensional spaces. It contains a collection of 6 | algorithms we found to work best for nearest neighbor search and a 7 | system for automatically choosing the best algorithm and optimum 8 | parameters depending on the dataset. 9 | 10 | FLANN is written in C++ and contains bindings for the following 11 | languages: C, MATLAB and Python. 12 | 13 | 14 | 15 | Marius Muja and David Lowe 16 | LGPL 17 | 18 | http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /libraries/FLANN/wiped: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ManavA/stanford_self_driving_car_code/60c5d48ae499006fe64ff82f6954741678a76425/libraries/FLANN/wiped -------------------------------------------------------------------------------- /libraries/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake_stack.mk -------------------------------------------------------------------------------- /libraries/cgal/Makefile: -------------------------------------------------------------------------------- 1 | ############################################################ 2 | # Makefile template for wrapping external libraries into ROS 3 | # author: Stanford Driving 4 | ############################################################ 5 | 6 | # name and build dir 7 | LIBNAME = CGAL-3.7 8 | SOURCE_DIR = build/$(LIBNAME) 9 | 10 | # download and extract 11 | TARBALL = build/$(LIBNAME).tar.gz 12 | TARBALL_URL = https://gforge.inria.fr/frs/download.php/27641/$(LIBNAME).tar.gz 13 | # MD5SUM_FILE = $(LIBNAME).tar.gz.md5sum 14 | # UNPACK_CMD = tar xzf 15 | 16 | # configure 17 | # CONFIGURE_CMD = chmod +x $(SOURCE_DIR)/configure && cd $(SOURCE_DIR) && ./configure --prefix=$(PWD) 18 | CONFIGURE_CMD = cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(PWD) . 19 | 20 | # build 21 | BUILD_CMD = cd $(SOURCE_DIR) && make 22 | 23 | # install 24 | INSTALL_CMD = cd $(SOURCE_DIR) && make install 25 | 26 | 27 | ############################################################ 28 | 29 | all: installed cleanup 30 | 31 | include $(shell rospack find mk)/download_unpack_build.mk 32 | 33 | configured: $(SOURCE_DIR)/unpacked 34 | @echo "configuring $(LIBNAME)" 35 | $(CONFIGURE_CMD) 36 | @touch configured 37 | @echo "configuring $(LIBNAME) finished" 38 | 39 | built: configured 40 | @echo "building $(LIBNAME)" 41 | $(BUILD_CMD) 42 | @touch built 43 | @echo "building $(LIBNAME) finished" 44 | 45 | installed: built 46 | @echo "installing $(LIBNAME)" 47 | $(INSTALL_CMD) 48 | @touch installed 49 | @echo "installing $(LIBNAME) finished" 50 | 51 | cleanup: 52 | @echo "cleaning temporary build files" 53 | -rm -rf build 54 | @mkdir -p $(SOURCE_DIR) 55 | @touch $(SOURCE_DIR)/unpacked 56 | @touch configured 57 | @touch built 58 | @touch installed 59 | 60 | clean: 61 | -rm -rf build configured built installed 62 | 63 | wipe: clean 64 | -rm -rf include lib 65 | -------------------------------------------------------------------------------- /libraries/cgal/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b cgal is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/cgal/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cgal 5 | 6 | 7 | Stanford Driving 8 | BSD,QPL 9 | 10 | http://ros.org/wiki/cgal 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /libraries/cminpack/Makefile: -------------------------------------------------------------------------------- 1 | all: installed 2 | 3 | TARBALL = build/cminpack-1.0.2.tar.gz 4 | TARBALL_URL = http://pr.willowgarage.com/downloads/cminpack-1.0.2.tar.gz 5 | UNPACK_CMD = tar xfz 6 | SOURCE_DIR = build/cminpack-1.0.2 7 | TARBALL_PATCH = fPIC.patch 8 | 9 | include $(shell rospack find mk)/download_unpack_build.mk 10 | 11 | installed: $(SOURCE_DIR)/unpacked Makefile 12 | echo "Building CMinpack..." 13 | cd $(SOURCE_DIR) && make 14 | touch installed 15 | clean: wipe 16 | wipe: 17 | rm -rf build installed 18 | -------------------------------------------------------------------------------- /libraries/cminpack/fPIC.patch: -------------------------------------------------------------------------------- 1 | --- Makefile.orig 2009-02-27 16:40:06.000000000 +0100 2 | +++ Makefile 2009-03-31 12:17:26.000000000 +0200 3 | @@ -3,7 +3,7 @@ 4 | 5 | #CC=cc 6 | CC=gcc 7 | -CFLAGS= -O2 -g -Wall -Wextra -I. 8 | +CFLAGS= -fPIC -O2 -g -Wall -Wextra -I. 9 | #CFLAGS= -g -Wall -I. 10 | OBJS = \ 11 | chkder.o enorm.o hybrd1.o hybrj.o lmdif1.o lmstr1.o qrfac.o r1updt.o \ 12 | -------------------------------------------------------------------------------- /libraries/display/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /libraries/display/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b display is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/display/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | data display library 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/display 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /libraries/filter/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | set(CMAKE_C_FLAGS "-O2 -fPIC") 15 | set(CMAKE_CXX_FLAGS "-O2 -fPIC") 16 | 17 | #set the default path for built executables to the "bin" directory 18 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 19 | #set the default path for built libraries to the "lib" directory 20 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 21 | 22 | #uncomment if you have defined messages 23 | #rosbuild_genmsg() 24 | #uncomment if you have defined services 25 | #rosbuild_gensrv() 26 | 27 | set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}) 28 | find_package(GSL REQUIRED) 29 | rosbuild_add_library(filter src/kalman_filter.cpp src/gsl.cpp) 30 | target_link_libraries(filter ${GSL_LIBRARIES}) 31 | -------------------------------------------------------------------------------- /libraries/filter/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /libraries/filter/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b filter is a library providing basic kalman and particle filters. 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/filter/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | filter 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/filter 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /libraries/filter/rosdep.yaml: -------------------------------------------------------------------------------- 1 | gsl: 2 | ubuntu: libgsl0-dev 3 | -------------------------------------------------------------------------------- /libraries/google-perftools/Makefile: -------------------------------------------------------------------------------- 1 | TARBALL = build/google-perftools-1.5.tar.gz 2 | TARBALL_URL = http://google-perftools.googlecode.com/files/google-perftools-1.5.tar.gz 3 | SOURCE_DIR = build/google-perftools-1.5 4 | #TARBALL_PATCH = patchfile 5 | 6 | all: installed 7 | 8 | include $(shell rospack find mk)/download_unpack_build.mk 9 | 10 | installed: $(SOURCE_DIR)/unpacked 11 | cd $(SOURCE_DIR) && chmod +x configure && ./configure --enable-frame-pointers && make 12 | mkdir -p bin 13 | cp $(SOURCE_DIR)/src/pprof bin/ #Can't symlink or rosrun won't accept it. 14 | touch $@ 15 | 16 | clean: 17 | -rm -rf $(SOURCE_DIR) installed bin/ 18 | 19 | wipe: clean 20 | -rm -rf build -------------------------------------------------------------------------------- /libraries/google-perftools/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b google-perftools is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/google-perftools/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | google-perftools 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/google-perftools 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /libraries/google-test/Makefile: -------------------------------------------------------------------------------- 1 | all: gtest 2 | 3 | TARBALL = build/gtest-1.0.1.tar.gz 4 | TARBALL_URL = http://pr.willowgarage.com/downloads/gtest-1.0.1.tar.gz 5 | SOURCE_DIR = build/gtest-1.0.1 6 | MD5SUM_FILE = gtest-1.0.1.tar.gz.md5sum 7 | include $(shell rospack find mk)/download_unpack_build.mk 8 | 9 | # gtest's death test appears to hang when gtest is compiled with Bullseye's 10 | # gcc wrapper. So, if COVFILE is set (which indicates that we're doing a 11 | # coverage build), then we heuristically modify the PATH to get at the 12 | # real gcc. 13 | ifneq ($(strip $(COVFILE)),) 14 | NEWPATH = /usr/bin:$(PATH) 15 | else 16 | NEWPATH = $(PATH) 17 | endif 18 | 19 | gtest: $(SOURCE_DIR)/unpacked 20 | cd $(SOURCE_DIR) && PATH=$(NEWPATH) ./configure --prefix=$(CURDIR)/gtest 21 | cd $(SOURCE_DIR) && PATH=$(NEWPATH) make install 22 | touch gtest 23 | 24 | clean: 25 | rm -rf gtest $(SOURCE_DIR) 26 | 27 | wipe: clean 28 | rm -rf build 29 | -------------------------------------------------------------------------------- /libraries/google-test/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | google-test contains 5 | the googletest 6 | framework for C++, by Google. gtest is the standard unit test 7 | library for ROS code written in C++, including 8 | roscpp 9 | and, as such, is included within the ROS distribution. This package 10 | wraps version 1.0.1. Our intent is to migrate to OS package manager 11 | distributions as this library becomes more widely available. 12 | 13 | 14 | Google 15 | BSD 16 | 17 | http://ros.org/wiki/gtest/ 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /libraries/kdtree/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | set(CMAKE_C_FLAGS "-O2 -fPIC") 15 | set(CMAKE_CXX_FLAGS "-O2 -fPIC") 16 | 17 | #set the default path for built executables to the "bin" directory 18 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 19 | #set the default path for built libraries to the "lib" directory 20 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 21 | 22 | #uncomment if you have defined messages 23 | #rosbuild_genmsg() 24 | #uncomment if you have defined services 25 | #rosbuild_gensrv() 26 | 27 | rosbuild_add_library(kdtree src/kdtree.cpp) 28 | rosbuild_add_library(bucket src/bucket.cpp) 29 | -------------------------------------------------------------------------------- /libraries/kdtree/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /libraries/kdtree/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b kdtree is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/kdtree/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | kdtree 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/kdtree 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /libraries/matplotlib_interface/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | #rosbuild_link_boost(${PROJECT_NAME} thread) 28 | rosbuild_add_boost_directories() 29 | find_package(PythonLibs REQUIRED) 30 | rosbuild_add_library(matplotlib_interface matplotlib_interface.cpp) 31 | rosbuild_add_executable(example example.cpp) 32 | target_link_libraries(matplotlib_interface ${PYTHON_LIBRARIES}) 33 | target_link_libraries(example ${PYTHON_LIBRARIES}) 34 | target_link_libraries(example matplotlib_interface) -------------------------------------------------------------------------------- /libraries/matplotlib_interface/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /libraries/matplotlib_interface/example_gaussian.py: -------------------------------------------------------------------------------- 1 | #from pylab import * #Done in example.cpp. 2 | 3 | delta = 0.05 4 | x = y = arange(-5.0, 5.0, delta) 5 | X, Y = meshgrid(x, y) 6 | Z = bivariate_normal(X, Y, var_x, var_y, mu_x, mu_y, var_xy) 7 | CS = contour(X, Y, Z) 8 | clabel(CS, inline=1, fontsize=10) 9 | draw() 10 | waitforbuttonpress() 11 | clf() 12 | -------------------------------------------------------------------------------- /libraries/matplotlib_interface/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b matplotlib_interface is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/matplotlib_interface/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | matplotlib_interface 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | aoeu 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /libraries/qpOASES/Makefile: -------------------------------------------------------------------------------- 1 | ############################################################ 2 | # Makefile template for wrapping external libraries into ROS 3 | ############################################################ 4 | 5 | # name and build dir 6 | LIBNAME = qpOASES-2.0 7 | SOURCE_DIR = build/$(LIBNAME) 8 | 9 | # download and extract 10 | TARBALL = build/$(LIBNAME).tar.gz 11 | #TARBALL_URL = http://www.kuleuven.be/optec/software/qpOASES/download/$(LIBNAME).tar.gz 12 | TARBALL_URL = http://pr.willowgarage.com/downloads/$(LIBNAME).tar.gz 13 | TARBALL_PATCH = patchfile 14 | # MD5SUM_FILE = $(LIBNAME).tar.gz.md5sum 15 | # UNPACK_CMD = tar xzf 16 | 17 | # configure 18 | CONFIGURE_CMD = 19 | 20 | # build 21 | BUILD_CMD = cd $(SOURCE_DIR)/SRC && make -f Makefile 22 | 23 | # install 24 | INSTALL_CMD = mkdir -p include && cp -rf $(SOURCE_DIR)/INCLUDE include/qpOASES && mkdir -p lib && cp -rf $(SOURCE_DIR)/SRC/*.so lib 25 | 26 | 27 | ############################################################ 28 | 29 | all: installed cleanup 30 | 31 | include $(shell rospack find mk)/download_unpack_build.mk 32 | 33 | configured: $(SOURCE_DIR)/unpacked 34 | @echo "configuring $(LIBNAME)" 35 | $(CONFIGURE_CMD) 36 | @touch configured 37 | @echo "configuring $(LIBNAME) finished" 38 | 39 | built: configured 40 | @echo "building $(LIBNAME)" 41 | $(BUILD_CMD) 42 | @touch built 43 | @echo "building $(LIBNAME) finished" 44 | 45 | installed: built 46 | @echo "installing $(LIBNAME)" 47 | $(INSTALL_CMD) 48 | @touch installed 49 | @echo "installing $(LIBNAME) finished" 50 | 51 | cleanup: 52 | @echo "cleaning temporary build files" 53 | -rm -rf build 54 | @mkdir -p $(SOURCE_DIR) 55 | @touch $(SOURCE_DIR)/unpacked 56 | @touch configured 57 | @touch built 58 | @touch installed 59 | 60 | clean: 61 | -rm -rf build configured built installed 62 | 63 | wipe: clean 64 | -rm -rf include lib 65 | -------------------------------------------------------------------------------- /libraries/qpOASES/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | qpOASES is a QP solver. See the URL for more information. 5 | 6 | 7 | Hans Joachim Ferreau, et al. 8 | LGPL 9 | 10 | http://www.kuleuven.be/optec/index.php/software/qpOASES 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /libraries/qpOASES/patchfile: -------------------------------------------------------------------------------- 1 | diff -ur build_orig/qpOASES-2.0/SRC/make_linux.mk build/qpOASES-2.0/SRC/make_linux.mk 2 | --- SRC/make_linux.mk 2010-04-16 19:31:22.020044623 -0700 3 | +++ SRC/make_linux.mk 2010-04-16 19:32:14.551887153 -0700 4 | @@ -38,11 +38,11 @@ 5 | RM = rm 6 | 7 | OBJEXT = o 8 | -LIBEXT = a 9 | +LIBEXT = so 10 | EXE = 11 | DEF_TARGET = -o $@ 12 | 13 | -CPPFLAGS = -Wall -pedantic -Wshadow -Wfloat-equal -O3 -finline-functions -DLINUX 14 | +CPPFLAGS = -Wall -pedantic -Wshadow -Wfloat-equal -O3 -finline-functions -DLINUX -fPIC 15 | #CPPFLAGS = -pg -g -D__DEBUG__ 16 | 17 | QPOASES_LIB = -L${SRCDIR} -lqpOASES 18 | diff -ur build_orig/qpOASES-2.0/SRC/Utils.cpp build/qpOASES-2.0/SRC/Utils.cpp 19 | --- SRC/Utils.cpp 2010-04-16 19:31:22.020044623 -0700 20 | +++ SRC/Utils.cpp 2010-04-16 19:33:37.050638266 -0700 21 | @@ -31,6 +31,8 @@ 22 | */ 23 | 24 | 25 | +#define __NO_COPYRIGHT__ 26 | + 27 | #include 28 | #include 29 | #include 30 | -------------------------------------------------------------------------------- /libraries/socket/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(${PROJECT_NAME} src/vlrSocket.cpp) 25 | 26 | -------------------------------------------------------------------------------- /libraries/socket/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /libraries/socket/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b socket is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /libraries/socket/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | socket 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/socket 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /libraries/stack.xml: -------------------------------------------------------------------------------- 1 | 2 | libraries 3 | Stanford Driving 4 | BSD 5 | 6 | http://ros.org/wiki/libraries 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /perception/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of 5 | # directories (or patterns, but directories should suffice) that should 6 | # be excluded from the distro. This is not the place to put things that 7 | # should be ignored everywhere, like "build" directories; that happens in 8 | # rosbuild/rosbuild.cmake. Here should be listed packages that aren't 9 | # ready for inclusion in a distro. 10 | # 11 | # This list is combined with the list in rosbuild/rosbuild.cmake. Note 12 | # that CMake 2.6 may be required to ensure that the two lists are combined 13 | # properly. CMake 2.4 seems to have unpredictable scoping rules for such 14 | # variables. 15 | #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) 16 | 17 | rosbuild_make_distribution(0.1.0) 18 | -------------------------------------------------------------------------------- /perception/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake_stack.mk -------------------------------------------------------------------------------- /perception/chamfer_matching/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | 3 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 4 | set(ROS_BUILD_TYPE RelWithDebInfo) 5 | rosbuild_init() 6 | 7 | rosbuild_add_library(chamfer_matching src/chamfer_matching.cpp) 8 | -------------------------------------------------------------------------------- /perception/chamfer_matching/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /perception/chamfer_matching/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | A chamfer matching library, using both edge distance and orientation. 4 | 5 | 6 | Marius Muja 7 | BSD 8 | http://pr.willowgarage.com 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /perception/cluster_descriptors/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE Debug) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | #rosbuild_add_library(cluster_descriptors cluster_descriptors.cpp cluster_descriptor_pipelines.cpp) 26 | rosbuild_add_library(cluster_descriptors cluster_descriptors.cpp) 27 | rosbuild_add_boost_directories() 28 | 29 | rosbuild_add_gtest(test_cluster_descriptors test/test_cluster_descriptors.cpp) 30 | rosbuild_add_gtest_build_flags(test_cluster_descriptors) 31 | target_link_libraries(test_cluster_descriptors cluster_descriptors) 32 | 33 | #target_link_libraries(${PROJECT_NAME} another_library) 34 | #rosbuild_add_boost_directories() 35 | #rosbuild_link_boost(${PROJECT_NAME} thread) 36 | #rosbuild_add_executable(example examples/example.cpp) 37 | #target_link_libraries(example ${PROJECT_NAME}) 38 | 39 | #rosbuild_add_link_flags(test_cluster_descriptors "-lprofiler") -------------------------------------------------------------------------------- /perception/cluster_descriptors/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/cluster_descriptors/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b cluster_descriptors is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/cluster_descriptors/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cluster_descriptors 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/cluster_descriptors 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /perception/descriptors_2d/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/descriptors_2d/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Image descriptors library. This package provides a common interface to many different image descriptors, including, for example, Hog, Surf, superpixel color histogram, Haar wavelets, etc. 5 | 6 | 7 | Alex Teichman 8 | BSD 9 | 10 | http://pr.willowgarage.com/wiki/descriptors 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /perception/descriptors_3d/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE Release) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | add_definitions(-DEIGEN_NO_DEBUG) 20 | rosbuild_add_boost_directories() 21 | 22 | #common commands for building c++ executables and libraries 23 | rosbuild_add_library(${PROJECT_NAME} 24 | src/descriptor_3d.cpp 25 | src/generic/neighborhood_feature.cpp 26 | src/bounding_box_raw.cpp 27 | src/shared/spectral_analysis.cpp 28 | src/bounding_box_spectral.cpp 29 | src/shape_spectral.cpp 30 | src/generic/orientation_generic.cpp 31 | src/orientation_normal.cpp 32 | src/orientation_tangent.cpp 33 | src/position.cpp 34 | src/generic/spin_image_generic.cpp 35 | src/spin_image_normal.cpp 36 | src/spin_image_tangent.cpp 37 | src/spin_image_custom.cpp 38 | src/curvature.cpp 39 | src/channel.cpp) 40 | #rosbuild_add_openmp_flags (${PROJECT_NAME}) 41 | #Does not compile with OpenMP on gcc-4.3 42 | 43 | rosbuild_add_executable(interest_point_example examples/interest_point_example.cpp) 44 | target_link_libraries(interest_point_example ${PROJECT_NAME}) 45 | 46 | -------------------------------------------------------------------------------- /perception/descriptors_3d/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/descriptors_3d/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Feature descriptor library for 3-D data 5 | 6 | 7 | Daniel Munoz/ dmunoz@willowgarage.com 8 | BSD 9 | http://pr.willowgarage.com/wiki/descriptors_3d 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /perception/dgcgrid/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(grid src/grid.cpp) 25 | -------------------------------------------------------------------------------- /perception/dgcgrid/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/dgcgrid/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b dgcgrid is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/dgcgrid/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | dgcgrid 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/dgcgrid 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /perception/grid/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(grid src/grid.cpp src/cell.cpp) 25 | -------------------------------------------------------------------------------- /perception/grid/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/grid/include/cell.h: -------------------------------------------------------------------------------- 1 | #ifndef CELL_H_ 2 | #define CELL_H_ 3 | 4 | #include 5 | 6 | namespace perception { 7 | 8 | // TODO: remove CellBase 9 | template 10 | class CellBase { 11 | public: 12 | CellBase() : size_(sizeof(T)) { 13 | 14 | } 15 | 16 | ~CellBase() {} 17 | 18 | virtual void clear() {} 19 | 20 | CellBase(const CellBase& other) : size_(sizeof(T)) {} 21 | 22 | private: 23 | uint32_t size_; 24 | // uint32_t const size_; // No assigment operator possible :-( 25 | }; 26 | 27 | 28 | } // namespace perception 29 | 30 | #endif 31 | -------------------------------------------------------------------------------- /perception/grid/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b dgcgrid is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/grid/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | grid 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/dgcgrid 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /perception/grid/src/cell.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace perception { 4 | 5 | 6 | } // namespace perception 7 | -------------------------------------------------------------------------------- /perception/kalman_multitracker/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | rosbuild_add_library(${PROJECT_NAME} src/kalman_multitracker.cpp) 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | rosbuild_add_boost_directories() 28 | #rosbuild_link_boost(${PROJECT_NAME} thread) 29 | rosbuild_add_executable(example src/example.cpp) 30 | target_link_libraries(example ${PROJECT_NAME}) 31 | -------------------------------------------------------------------------------- /perception/kalman_multitracker/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/kalman_multitracker/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b kalman_multitracker is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/kalman_multitracker/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | kalman_multitracker 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/kalman_multitracker 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /perception/linear_kalman_filter/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | rosbuild_add_library(${PROJECT_NAME} src/linear_kalman_filter.cpp) 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | rosbuild_add_boost_directories() 28 | #rosbuild_link_boost(${PROJECT_NAME} thread) 29 | rosbuild_add_executable(example src/example.cpp) 30 | target_link_libraries(example ${PROJECT_NAME}) 31 | -------------------------------------------------------------------------------- /perception/linear_kalman_filter/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/linear_kalman_filter/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b linear_kalman_filter is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/linear_kalman_filter/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | linear_kalman_filter 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/linear_kalman_filter 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /perception/multibooster/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/multibooster/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b multibooster is ... 6 | 7 | 14 | 15 | 16 | \section codeapi Code API 17 | 18 | 28 | 29 | 30 | */ -------------------------------------------------------------------------------- /perception/multibooster/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | MultiBooster is a multi-class, multi-descriptor boosting algorithm which uses hypersphere weak classifiers. 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/multibooster 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /perception/perception/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE Debug) 11 | 12 | set(CMAKE_CXX_FLAGS "-std=c++0x") 13 | set(ROS_COMPILE_FLAGS "-Wno-unknown-pragmas") 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | 26 | rosbuild_add_executable(perception src/main.cpp src/perception.cpp src/veloGroundFinder.cpp src/utils.cc src/kalman_multitracker.cpp) 27 | rosbuild_add_executable(perception src/line.cc src/ray_tracing.cc src/integration.cc src/scan.cc src/multibooster_support2.cpp) 28 | rosbuild_add_executable(perception src/tracker.cc src/box.cc src/segment.cpp src/obstacle.cpp src/veloClient.cpp) 29 | rosbuild_add_executable(perception src/tracked_obstacle.cpp src/radar.cc src/velodyne_rings.cpp src/pointCloudClient.cpp) 30 | # cut from above command: src/laser_segment.cpp 31 | -------------------------------------------------------------------------------- /perception/perception/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/perception/launch/perception.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /perception/perception/launch/perceptiondbg.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /perception/perception/launch/perceptionmck.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /perception/perception/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b perception is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/perception/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | perception 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/perception 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /perception/perception/msg/DynamicObstacle.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | uint8 type 3 | uint8 type_this_frame 4 | int32 classified_this_frame 5 | float32 confidence 6 | float64 x 7 | float64 y 8 | float32 direction 9 | float32 width 10 | float32 length 11 | float32 velocity 12 | float32 x_var 13 | float32 y_var 14 | float32 xy_cov 15 | int8 turn_signal 16 | -------------------------------------------------------------------------------- /perception/perception/msg/PerceptionObstacles.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 timestamp 3 | StaticObstaclePoint[] static_point 4 | DynamicObstacle[] dynamic_obstacle 5 | -------------------------------------------------------------------------------- /perception/perception/msg/ScanPoint.msg: -------------------------------------------------------------------------------- 1 | float32 dist 2 | float32 angle 3 | float32 x 4 | float32 y 5 | 6 | -------------------------------------------------------------------------------- /perception/perception/msg/StaticObstaclePoint.msg: -------------------------------------------------------------------------------- 1 | float32 x 2 | float32 y 3 | float32 z_min 4 | float32 z_max 5 | uint8 type 6 | 7 | uint8 FREE = 0 8 | uint8 LOW = 1 9 | uint8 HIGH = 2 10 | uint8 DYNAMIC = 3 11 | uint8 STREET = 4 12 | uint8 UNKNOWN = 255 13 | -------------------------------------------------------------------------------- /perception/perception/msg/VirtualScan.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 origin_x 3 | float32 origin_y 4 | float32 resolution 5 | perception/ScanPoint[] p 6 | int64 counter 7 | driving_common/Pose robot 8 | float64 timestamp 9 | 10 | 11 | -------------------------------------------------------------------------------- /perception/perception/rosdep.yaml: -------------------------------------------------------------------------------- 1 | gsl: 2 | ubuntu: libgsl0-dev 3 | -------------------------------------------------------------------------------- /perception/pipeline/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | rosbuild_add_library(pipeline src/pipeline.cpp) 26 | target_link_libraries(pipeline pthread) 27 | #target_link_libraries(${PROJECT_NAME} another_library) 28 | rosbuild_add_boost_directories() 29 | 30 | rosbuild_add_gtest(test_pipeline test/test_pipeline.cpp) 31 | rosbuild_add_gtest_build_flags(test_pipeline) 32 | target_link_libraries(test_pipeline pipeline) 33 | #rosbuild_link_boost(${PROJECT_NAME} thread) 34 | #rosbuild_add_executable(example examples/example.cpp) 35 | #target_link_libraries(example ${PROJECT_NAME}) 36 | -------------------------------------------------------------------------------- /perception/pipeline/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/pipeline/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b pipeline is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/pipeline/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | pipeline 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/pipeline 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /perception/point_cloud_mapping/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /perception/point_cloud_mapping/normal_estimation.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /perception/point_cloud_mapping/organized_normal_estimation.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /perception/point_cloud_mapping/src/cloud_geometry/angles.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2009 Radu Bogdan Rusu 3 | * 4 | * All rights reserved. 5 | * 6 | * Redistribution and use in source and binary forms, with or without 7 | * modification, are permitted provided that the following conditions are met: 8 | * 9 | * * Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * * Redistributions in binary form must reproduce the above copyright 12 | * notice, this list of conditions and the following disclaimer in the 13 | * documentation and/or other materials provided with the distribution. 14 | * 15 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 19 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 20 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 21 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 22 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 23 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 24 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 25 | * POSSIBILITY OF SUCH DAMAGE. 26 | * 27 | * $Id: angles.cpp 12435 2009-03-12 08:46:30Z veedee $ 28 | * 29 | */ 30 | 31 | /** \author Radu Bogdan Rusu */ 32 | 33 | #include 34 | #include 35 | 36 | namespace cloud_geometry 37 | { 38 | 39 | namespace angles 40 | { 41 | 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /perception/point_cloud_mapping/src/cloud_geometry/projections.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2008 Radu Bogdan Rusu 3 | * 4 | * All rights reserved. 5 | * 6 | * Redistribution and use in source and binary forms, with or without 7 | * modification, are permitted provided that the following conditions are met: 8 | * 9 | * * Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * * Redistributions in binary form must reproduce the above copyright 12 | * notice, this list of conditions and the following disclaimer in the 13 | * documentation and/or other materials provided with the distribution. 14 | * 15 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 19 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 20 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 21 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 22 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 23 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 24 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 25 | * POSSIBILITY OF SUCH DAMAGE. 26 | * 27 | * $Id: projections.cpp 16379 2009-05-29 19:20:46Z hsujohnhsu $ 28 | * 29 | */ 30 | 31 | /** \author Radu Bogdan Rusu */ 32 | 33 | #include 34 | #include 35 | 36 | namespace cloud_geometry 37 | { 38 | 39 | namespace projections 40 | { 41 | 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /perception/stack.xml: -------------------------------------------------------------------------------- 1 | 2 | perception 3 | Stanford Driving 4 | BSD 5 | 6 | http://ros.org/wiki/perception 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /perception/trafficlights/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | set(CMAKE_CXX_FLAGS "-std=c++0x") 13 | set(ROS_COMPILE_FLAGS "-Wno-unknown-pragmas") 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | 26 | #rosbuild_add_executable(trafficlights src/) 27 | rosbuild_add_executable(send_light_message src/send_light_message.cpp) 28 | -------------------------------------------------------------------------------- /perception/trafficlights/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /perception/trafficlights/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b trafficlights is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/trafficlights/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | perception 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/perception 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /perception/trafficlights/rosdep.yaml: -------------------------------------------------------------------------------- 1 | gsl: 2 | ubuntu: libgsl0-dev 3 | -------------------------------------------------------------------------------- /perception/velodyne/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk 2 | -------------------------------------------------------------------------------- /perception/velodyne/launch/Nodetest.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 8 | 10 | 11 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /perception/velodyne/launch/Playback.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /perception/velodyne/launch/VelodyneParam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /perception/velodyne/launch/velodyne.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /perception/velodyne/launch/velodyne_view.vcg: -------------------------------------------------------------------------------- 1 | Background\ ColorR=0 2 | Background\ ColorG=0 3 | Background\ ColorB=0 4 | Fixed\ Frame=/Applanix 5 | Target\ Frame=/Velodyne 6 | Point\ Cloud2.Alpha=1 7 | Point\ Cloud2.Billboard\ Size=0,01 8 | Point\ Cloud2.Color\ Transformer=Intensity 9 | Point\ Cloud2.Decay\ Time=0 10 | Point\ Cloud2.Enabled=1 11 | Point\ Cloud2.Position\ Transformer=XYZ 12 | Point\ Cloud2.Selectable=1 13 | Point\ Cloud2.Style=0 14 | Point\ Cloud2.Topic=/driving/velodyne/spin 15 | Point\ Cloud2..AxisAutocompute\ Value\ Bounds=1 16 | Point\ Cloud2..AxisAxis=2 17 | Point\ Cloud2..AxisMax\ Value=567,4 18 | Point\ Cloud2..AxisMin\ Value=-787,6 19 | Point\ Cloud2..AxisUse\ Fixed\ Frame=1 20 | Point\ Cloud2..Flat\ ColorColorR=1 21 | Point\ Cloud2..Flat\ ColorColorG=1 22 | Point\ Cloud2..Flat\ ColorColorB=1 23 | Point\ Cloud2..IntensityAutocompute\ Intensity\ Bounds=0 24 | Point\ Cloud2..IntensityMax\ ColorR=1 25 | Point\ Cloud2..IntensityMax\ ColorG=1 26 | Point\ Cloud2..IntensityMax\ ColorB=1 27 | Point\ Cloud2..IntensityMax\ Intensity=239 28 | Point\ Cloud2..IntensityMin\ ColorR=0 29 | Point\ Cloud2..IntensityMin\ ColorG=0 30 | Point\ Cloud2..IntensityMin\ ColorB=0 31 | Point\ Cloud2..IntensityMin\ Intensity=10 32 | Tool\ 2D\ Nav\ GoalTopic=goal 33 | Tool\ 2D\ Pose\ EstimateTopic=initialpose 34 | Camera\ Type=rviz::OrbitViewController 35 | Camera\ Config=1.311 0.968476 2700.72 -82.9097 -15.728 81.8932 36 | Property\ Grid\ State=selection=;expanded=.Global Options,Point Cloud2.Enabled;scrollpos=0,0;splitterpos=213,442;ispageselected=1 37 | [Display0] 38 | Name=Point Cloud2 39 | Package=rviz 40 | ClassName=rviz::PointCloud2Display 41 | -------------------------------------------------------------------------------- /perception/velodyne/launch/view.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /perception/velodyne/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b velodyne is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /perception/velodyne/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | velodyne 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/velodyne 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /perception/velodyne/msg/Block.msg: -------------------------------------------------------------------------------- 1 | uint8 block # Upper or lower block 2 | uint16 encoder # Encoder angle in 1/100th degree units. 0-35999 3 | Return[32] laser 4 | geometry_msgs/Point32[32] point 5 | float64 timestamp 6 | 7 | uint8 BLOCK_UPPER = 0 8 | uint8 BLOCK_LOWER = 1 9 | uint8 NUM_BEAMS = 32 10 | -------------------------------------------------------------------------------- /perception/velodyne/msg/BlockRaw.msg: -------------------------------------------------------------------------------- 1 | uint8 block # Upper or lower block 2 | uint16 encoder # Encoder angle in 1/100th degree units. 0-35999 3 | Return[32] laser 4 | float64 timestamp 5 | 6 | uint8 BLOCK_UPPER = 0 7 | uint8 BLOCK_LOWER = 1 8 | uint8 NUM_BEAMS = 32 9 | -------------------------------------------------------------------------------- /perception/velodyne/msg/Packet.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | BlockRaw[12] block 3 | uint16 spin_count 4 | 5 | uint8 NUM_BLOCKS = 12 6 | -------------------------------------------------------------------------------- /perception/velodyne/msg/Projected.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | Block[12] block 3 | uint16 spin_count 4 | 5 | uint8 NUM_BLOCKS = 12 6 | -------------------------------------------------------------------------------- /perception/velodyne/msg/Return.msg: -------------------------------------------------------------------------------- 1 | # Distance in 2mm increments 2 | uint16 distance 3 | # Return intensity as 0-255 range 4 | uint8 intensity 5 | -------------------------------------------------------------------------------- /perception/velodyne/msg/ScanPoint.msg: -------------------------------------------------------------------------------- 1 | # unit here is 5mm(!). Do x * 0.005 to convert to m => the maximum range is 163.84m (using 15bit only). 2 | int16 x 3 | int16 y 4 | int16 z 5 | uint16 range 6 | uint8 intensity 7 | 8 | -------------------------------------------------------------------------------- /perception/velodyne/msg/Stat.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint64 turn_rate 3 | uint64 byte_rate 4 | float64 timestamp 5 | 6 | -------------------------------------------------------------------------------- /perception/velodyne/nodelet_velodyne.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Hardware driver to read data from the Velodyne and publish it 5 | 6 | 7 | 8 | 9 | Projects raw velodyne Packet data into 3D coordinates, as well as applying calibration corrections 10 | 11 | 12 | 13 | 14 | Collects projected velodyne data and creates a PointCloud of each spin with it 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /planner/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of 5 | # directories (or patterns, but directories should suffice) that should 6 | # be excluded from the distro. This is not the place to put things that 7 | # should be ignored everywhere, like "build" directories; that happens in 8 | # rosbuild/rosbuild.cmake. Here should be listed packages that aren't 9 | # ready for inclusion in a distro. 10 | # 11 | # This list is combined with the list in rosbuild/rosbuild.cmake. Note 12 | # that CMake 2.6 may be required to ensure that the two lists are combined 13 | # properly. CMake 2.4 seems to have unpredictable scoping rules for such 14 | # variables. 15 | #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) 16 | 17 | rosbuild_make_distribution(0.1.0) 18 | -------------------------------------------------------------------------------- /planner/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake_stack.mk -------------------------------------------------------------------------------- /planner/aw_chsm_planning/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/aw_chsm_planning/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b aw_chsm_planning is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/aw_chsm_planning/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | aw_chsm_planning 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/aw_chsm_planning 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /planner/aw_chsm_planning/src/aw_StBase.cpp: -------------------------------------------------------------------------------- 1 | /******************************************************** 2 | Stanford Driving Software 3 | Copyright (c) 2011 Stanford University 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with 7 | or without modification, are permitted provided that the 8 | following conditions are met: 9 | 10 | * Redistributions of source code must retain the above 11 | copyright notice, this list of conditions and the 12 | following disclaimer. 13 | * Redistributions in binary form must reproduce the above 14 | copyright notice, this list of conditions and the 15 | following disclaimer in the documentation and/or other 16 | materials provided with the distribution. 17 | * The names of the contributors may not be used to endorse 18 | or promote products derived from this software 19 | without specific prior written permission. 20 | 21 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 22 | CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED 23 | WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 24 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 25 | PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 26 | COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 27 | INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 28 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 29 | PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 30 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 31 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 32 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 33 | OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 34 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 35 | DAMAGE. 36 | ********************************************************/ 37 | 38 | 39 | #include 40 | 41 | namespace vlr { 42 | 43 | } // namespace vlr 44 | -------------------------------------------------------------------------------- /planner/aw_geometry/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | set(CMAKE_CXX_FLAGS "-std=c++0x") 13 | 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | #rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | 26 | rosbuild_add_library(aw_geometry src/aw_geometry_3d.cpp src/aw_geometry_2d.cpp) 27 | -------------------------------------------------------------------------------- /planner/aw_geometry/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/aw_geometry/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b aw_geometry is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/aw_geometry/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | aw_geometry 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/aw_geometry 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /planner/aw_rndf/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | set(ROS_BUILD_TYPE Debug) 12 | 13 | set(CMAKE_CXX_FLAGS "-std=c++0x") 14 | 15 | rosbuild_init() 16 | 17 | #set the default path for built executables to the "bin" directory 18 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 19 | #set the default path for built libraries to the "lib" directory 20 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 21 | 22 | #uncomment if you have defined messages 23 | #rosbuild_genmsg() 24 | #uncomment if you have defined services 25 | #rosbuild_gensrv() 26 | 27 | include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake) 28 | 29 | # ftgl + freetype 30 | pkg_check_modules(FTGL REQUIRED ftgl) 31 | find_package(Freetype REQUIRED) 32 | include_directories(${FREETYPE_INCLUDE_DIRS}) 33 | link_directories(${FTGL_LIBRARY_DIRS}) 34 | 35 | rosbuild_add_library(aw_rndf src/aw_CheckpointList.cpp src/aw_Mission.cpp src/aw_SpeedLimitList.cpp src/aw_checkPoint.cpp src/aw_exit.cpp src/aw_lane.cpp src/aw_laneSegment.cpp src/aw_netElement.cpp src/aw_perimeter.cpp src/aw_perimeterPoint.cpp src/aw_roadNetwork.cpp src/aw_segment.cpp src/aw_spot.cpp src/aw_stop.cpp src/aw_SpeedLimit.cpp src/aw_StringTools.cpp src/aw_wayPoint.cpp src/aw_zone.cpp src/aw_laneQuadTree.cpp src/aw_roadNetworkSearch.cpp src/aw_intersection.cpp src/aw_trafficLight.cpp src/aw_crosswalk.cpp) 36 | rosbuild_add_library(aw_rndf src/aw_roadNetworkGL.cpp src/aw_trafficLightGL.cpp) 37 | -------------------------------------------------------------------------------- /planner/aw_rndf/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/aw_rndf/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b aw_rndf is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/aw_rndf/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | aw_rndf 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/aw_rndf 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /planner/aw_topology/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | #set(ROS_BUILD_TYPE Debug) 13 | 14 | rosbuild_init() 15 | 16 | #set the default path for built executables to the "bin" directory 17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 18 | #set the default path for built libraries to the "lib" directory 19 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 20 | 21 | #uncomment if you have defined messages 22 | #rosbuild_genmsg() 23 | #uncomment if you have defined services 24 | #rosbuild_gensrv() 25 | include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake) 26 | pkg_check_modules(FTGL REQUIRED ftgl) 27 | find_package(Freetype REQUIRED) 28 | include_directories(${FREETYPE_INCLUDE_DIRS}) 29 | link_directories(${FTGL_LIBRARY_DIRS}) 30 | 31 | rosbuild_add_library(${PROJECT_NAME} src/aw_BlockadeManager.cpp src/aw_graph_tools.cpp src/aw_RndfGraphBuilder.cpp) 32 | rosbuild_add_library(${PROJECT_NAME} src/aw_RndfIntersection.cpp src/aw_Topology.cpp) 33 | rosbuild_add_library(${PROJECT_NAME} src/aw_match_to_graph.cpp src/aw_RndfGraph.cpp src/aw_RndfVertex.cpp) 34 | rosbuild_add_library(${PROJECT_NAME} src/aw_Vehicle.cpp src/aw_Graph.cpp src/aw_RndfEdge.cpp src/aw_RndfGraphSearch.cpp) 35 | rosbuild_add_library(${PROJECT_NAME} src/aw_Route.cpp src/aw_VehicleManager.cpp) 36 | 37 | target_link_libraries(${PROJECT_NAME} ${FREETYPE_LIBRARIES}) 38 | target_link_libraries(${PROJECT_NAME} ${FTGL_LIBRARIES}) 39 | 40 | -------------------------------------------------------------------------------- /planner/aw_topology/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/aw_topology/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b aw_topology is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/aw_topology/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | aw_topology 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/aw_topology 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /planner/carlist/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(${PROJECT_NAME} src/carlist.cpp) 25 | -------------------------------------------------------------------------------- /planner/carlist/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/carlist/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b carlist is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/carlist/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | carlist 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/carlist 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /planner/curvesmoothing/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | set(ROS_BUILD_TYPE Debug) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | rosbuild_add_library(${PROJECT_NAME} src/curveSmoother.cpp) 26 | 27 | -------------------------------------------------------------------------------- /planner/curvesmoothing/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/curvesmoothing/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b curvesmoothing is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/curvesmoothing/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | curvesmoothing 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/curvesmoothing 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /planner/paw2/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/paw2/launch/Paw2Param.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /planner/paw2/launch/paw2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /planner/paw2/launch/paw2dbg.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /planner/paw2/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b paw2 is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/paw2/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | paw2 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/paw2 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /planner/paw2/src/tbimages.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | tbimages/open.png 4 | tbimages/n_start.png 5 | tbimages/n_rwd.png 6 | tbimages/n_play.png 7 | tbimages/n_pause.png 8 | tbimages/n_stop.png 9 | tbimages/n_ffwd.png 10 | tbimages/n_exit.png 11 | 12 | 13 | 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Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE RelWithDebInfo) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | rosbuild_add_library(poly_traj src/keepVelocityTrajSet.cpp src/keep_lane_traj_set.cpp src/keepLaneAndVelocitySet2D.cpp src/keepLaneAndTrackPointSet2D.cpp src/trackPointTrajSet.cpp src/polyTraj.cpp src/polyTraj2D.cpp src/rootTraj.cpp src/horner.cpp) 25 | -------------------------------------------------------------------------------- /planner/polytraj/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /planner/polytraj/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b polytraj is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /planner/polytraj/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | polytraj 5 | 6 | 7 | Stanford Driving 8 | BSD 9 | 10 | http://ros.org/wiki/polytraj 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 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-------------------------------------------------------------------------------- 1 | 2 | planner 3 | Stanford Driving 4 | BSD 5 | 6 | http://ros.org/wiki/planner 7 | 8 | 9 | 10 | 11 | 12 | 13 | --------------------------------------------------------------------------------