├── task_msgs
    ├── msg
    │   ├── Task.msg
    │   └── TaskArray.msg
    ├── README.md
    ├── package.xml
    └── CMakeLists.txt
├── README.md
└── centralised_auction
    ├── README.md
    ├── launch
        ├── example1.launch
        ├── example2.launch
        ├── example3.launch
        └── example4.launch
    ├── include
        └── centralised_auction
        │   └── sequential_auction.h
    ├── package.xml
    ├── config
        ├── rviz.rviz
        ├── rviz3.rviz
        └── rviz4.rviz
    ├── CMakeLists.txt
    └── src
        ├── sequential_auction.cpp
        └── centralised_auction_node.cpp


/task_msgs/msg/Task.msg:
--------------------------------------------------------------------------------
1 | geometry_msgs/Pose  pose
2 | 
3 | 


--------------------------------------------------------------------------------
/task_msgs/msg/TaskArray.msg:
--------------------------------------------------------------------------------
1 | task_msgs/Task[] array
2 | 
3 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # task_allocation
2 | ROS package for multi robot task allocation. Given a series of task and robot locations, allocates the tasks to robots using sequential single-item auction.
3 | 
4 | 
5 | 
6 | 
7 | 


--------------------------------------------------------------------------------
/task_msgs/README.md:
--------------------------------------------------------------------------------
1 | # task_msgs
2 | This package contains the messages for the [task_allocation](..) nodes.
3 | 
4 | ### 1. ROS Message Types
5 | [Task](msg/Task.msg)
6 | 
7 | [TaskArray](msg/TaskArray.msg)
8 | 


--------------------------------------------------------------------------------
/centralised_auction/README.md:
--------------------------------------------------------------------------------
 1 | # centralised_auction
 2 | ROS package for multi robot task allocation. Given a series of task and robot locations, allocates the tasks to robots using sequential single-item auction.
 3 | 
 4 | ## 1. Nodes
 5 | ### 1.1 centralised_auction_node
 6 | #### 1.1.1 Published Topics
 7 | `prefix#/tasks` ([`WaypointArray`](https://github.com/Nick-Sullivan/waypoint_follower/blob/master/waypoint_follower_msgs/msg/WaypointArray.msg))
 8 | 
 9 | The tasks to be completed, in order. `prefix` is a given parameter, and `#` is the robot ID.
10 | 
11 | #### 1.1.2 Parameters
12 | `~prefix` (`string`, default: `robot`)
13 | 
14 | The published topic prefix.
15 | 
16 | `~tasks` (`array`, default: `[]`)
17 | 
18 | The positions (x,y,z) and orientations (x,y,z,w) of the tasks.
19 | 
20 | `~robots` (`array`, default: `[]`)
21 | 
22 | The positions (x,y,z) of the robots.
23 | 


--------------------------------------------------------------------------------
/centralised_auction/launch/example1.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <!-- Example 1, launches the centralised auction node to generate waypoint order.
 4 |      Nothing to see in RVIZ, but will produce topics robot0/tasks and 
 5 |      robot1/tasks, which are waypoint arrays. -->
 6 | <launch>
 7 | 
 8 |   <!-- Launch waypoint following.
 9 |        tasks:  x,y,z,  x,y,z,w
10 |        robots: x,y,z                 -->
11 |   <node pkg="centralised_auction" type="centralised_auction_node" 
12 |         name="centralised_auction" output="screen">
13 |     <rosparam param="tasks">[ 1, -1, 0,  0, 0, 0, 1,
14 |                              -1,  1, 0,  0, 0, 0, 1, 
15 |                               2, -2, 0,  0, 0, 0, 1,
16 |                              -2, -4, 0,  0, 0, 0, 1]
17 |     </rosparam>
18 |     <rosparam param="robots">[1, 0, 0,
19 |                              -1, 0, 0]
20 |     </rosparam>      
21 |   </node>
22 |   
23 | </launch>
24 | 


--------------------------------------------------------------------------------
/centralised_auction/include/centralised_auction/sequential_auction.h:
--------------------------------------------------------------------------------
 1 | #ifndef SEQUENTIAL_AUCTION_H
 2 | #define SEQUENTIAL_AUCTION_H
 3 | 
 4 | #include <ros/ros.h>
 5 | #include <ros/console.h>
 6 | #include <vector>
 7 | #include "task_msgs/Task.h"
 8 | #include "task_msgs/TaskArray.h"
 9 | #include "geometry_msgs/Pose.h"
10 | 
11 | using std::cout;
12 | using std::endl;
13 | using std::vector;
14 | using task_msgs::Task;
15 | using task_msgs::TaskArray;
16 | using geometry_msgs::Pose;
17 | 
18 | 
19 | class SequentialAuction {
20 |   public:
21 |     bool              use_least_contested_bid;
22 |     bool              return_home;
23 |     
24 |     SequentialAuction(vector<Task> unallocated_tasks,
25 |                       vector<Pose> robot_poses);
26 |     vector<TaskArray> allocateTasks();
27 |     
28 |   private:
29 |     // These variables are unchanged through allocation.
30 |     int               num_robots;
31 |     int               num_tasks;
32 |     vector<Pose>      robot_poses;
33 |     vector<Task>      tasks;
34 |     // Working variables for alloction.
35 |     vector<int>              unalloc;
36 |     vector< vector<int> >    paths;       //consider changing to lists for efficiency
37 |     vector<double>           path_costs;
38 |     vector< vector<double> > bids;
39 |     
40 |     // Output variable from allocation.
41 |     vector<TaskArray> allocations;
42 |     
43 |     void formOutput();
44 |     void processWinner(int winning_robot, int winning_task);
45 |     void selectWinner(int &winning_robot, int &winning_task);
46 |     void prepareAllocations();
47 |     void calculateAllBids();
48 |     void calculateBids(int robot_num);
49 |     double insertTask( int robot_num, int unalloc_id, vector<int>& new_path);
50 |     double calculatePathCost( int robot_num, vector<int> path );
51 |     void printPaths();
52 |     void printPath( vector<int> path );
53 |     void printBids();
54 | 
55 | };
56 | 
57 | 
58 | #endif //SEQUENTIAL_AUCTION_H
59 | 


--------------------------------------------------------------------------------
/centralised_auction/launch/example2.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <!-- Example 2, launches the centralised auction node to generate waypoint order.
 4 |      The waypoint follower node receives this and produces pose arrays that can 
 5 |      be viewed in RVIZ. -->
 6 | <launch>
 7 | 
 8 |   <!-- Launch waypoint following.
 9 |        tasks:  x,y,z,  x,y,z,w
10 |        robots: x,y,z                 -->
11 |   <node pkg="centralised_auction" type="centralised_auction_node" 
12 |         name="centralised_auction" output="screen">
13 |     <rosparam param="tasks">[ 1, -1, 0,  0, 0, 0, 1,
14 |                              -1,  1, 0,  0, 0, 0, 1, 
15 |                               2, -2, 0,  0, 0, 0, 1,
16 |                              -2, -4, 0,  0, 0, 0, 1]
17 |     </rosparam>
18 |     <rosparam param="robots">[1, 0, 0,
19 |                              -1, 0, 0]
20 |     </rosparam>    
21 |   </node>
22 |   
23 |   <!-- Launch waypoint following. -->
24 |   <node ns="robot0" pkg="waypoint_follower" type="waypoint_follower2_node" name="waypoint_follower" output="screen">
25 |     <param name="odom_frame"       value="robot0/odom"/>
26 |     <param name="baselink_frame"   value="robot0/base_link"/>
27 |     <remap from="set_waypoints"    to="tasks"/>
28 |   </node>
29 |   <node ns="robot1" pkg="waypoint_follower" type="waypoint_follower2_node" name="waypoint_follower" output="screen">
30 |     <param name="odom_frame"       value="robot1/odom"/>
31 |     <param name="baselink_frame"   value="robot1/base_link"/>
32 |     <remap from="set_waypoints"    to="tasks"/>
33 |   </node>
34 |   
35 |   <!-- Create static map to odom transforms. -->
36 |   <node ns="robot0" pkg="tf" type="static_transform_publisher" name="static_map_odom_tf"
37 | 			  args="0 0 0 0 0 0 map robot0/odom 100"/>
38 | 	<node ns="robot1" pkg="tf" type="static_transform_publisher" name="static_map_odom_tf"
39 | 			  args="0 0 0 0 0 0 map robot1/odom 100"/>		  
40 |   
41 |   <node ns="robot0" pkg="tf" type="static_transform_publisher" name="static_map_odom_tf2"
42 | 			  args="0 0 0 0 0 0 robot0/odom robot0/base_link 100"/>
43 | 	<node ns="robot1" pkg="tf" type="static_transform_publisher" name="static_map_odom_tf2"
44 | 			  args="0 0 0 0 0 0 robot0/odom robot0/base_link 100"/>	
45 |         
46 |   <!-- Display on RVIZ. -->
47 |   <group if="true">
48 |     <node name="rviz" pkg="rviz" type="rviz"
49 |         args="-d $(find centralised_auction)/config/rviz.rviz">
50 |     </node>
51 |   </group>  
52 |   
53 | </launch>
54 | 


--------------------------------------------------------------------------------
/centralised_auction/launch/example3.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <!-- Example 3, launches the centralised auction node to generate waypoint order.
 4 |      The waypoint follower node receives this and produces pose arrays that can 
 5 |      be viewed in RVIZ, as well as move_base commands. The commands are then 
 6 |      executed on the simulated Jackals. -->
 7 | <launch>
 8 |   <!-- Start Gazebo with an empty world. -->
 9 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
10 |     <arg name="use_sim_time" value="true"/>
11 |     <arg name="debug"        value="false"/>
12 |     <arg name="gui"          value="false"/>
13 | 	  <arg name="headless"     value="true"/>			
14 |     <arg name="world_name"   value="$(find multi_jackal_tutorials)/worlds/slow_world.world"/>
15 |     <arg name="paused"       value="false"/>
16 |   </include>
17 |   
18 |   <!-- Spawn the robots. -->
19 |   <include file="$(find multi_jackal_base)/launch/jackal_base.launch">
20 |     <arg name="ns"            value="jackal0"/>
21 |   </include>
22 | 
23 |   <!-- Launch waypoint following.
24 |        tasks:  x,y,z,  x,y,z,w
25 |        robots: x,y,z                 -->
26 |   <node pkg="centralised_auction" type="centralised_auction_node" name="centralised_auction" output="screen">
27 |     <param name="prefix" value="jackal"/>
28 |     <rosparam param="tasks">[-4, 2, 0,  0, 0, 0, 1,
29 |                              -3,-4, 0,  0, 0, 0, 1,
30 |                              -1,-4, 0,  0, 0, 0, 1,
31 |                              -1, 2, 0,  0, 0, 0, 1, 
32 |                               3, 4, 0,  0, 0, 0, 1,
33 |                               4, 4, 0,  0, 0, 0, 1,
34 |                               3,-4, 0,  0, 0, 0, 1]
35 |     </rosparam>
36 |     <rosparam param="robots">[0, 0, 0]
37 |     </rosparam>      
38 |   </node>
39 |   
40 |   <!-- Launch waypoint following. Change out put to 'screen' or 'log' to show
41 |        or hide terminal output.-->
42 |   <node ns="jackal0" pkg="waypoint_follower" type="waypoint_follower2_node" 
43 |         name="waypoint_follower" output="log">
44 |     <param name="odom_frame"       value="jackal0/odom"/>
45 |     <param name="baselink_frame"   value="jackal0/base_link"/>
46 |     <param name="lin_vel"          value="0.5"/>
47 |     <param name="ang_vel"          value="1.5"/>
48 |     <remap from="set_waypoints"    to="tasks"/>
49 |   </node>
50 |   
51 |   <!-- Display on RVIZ. -->
52 |   <group if="true">
53 |     <node name="rviz" pkg="rviz" type="rviz"
54 |         args="-d $(find centralised_auction)/config/rviz3.rviz">
55 |     </node>
56 |   </group>  
57 |   
58 | </launch>
59 | 


--------------------------------------------------------------------------------
/task_msgs/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>task_msgs</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The task_msgs package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="nick@todo.todo">nick</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/task_msgs</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>geometry_msgs</build_depend>
53 |   <build_depend>message_generation</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_export_depend>geometry_msgs</build_export_depend>
56 |   <build_export_depend>std_msgs</build_export_depend>
57 |   <build_export_depend>message_generation</build_export_depend>
58 |   <exec_depend>geometry_msgs</exec_depend>
59 |   <exec_depend>std_msgs</exec_depend>
60 |   <exec_depend>message_runtime</exec_depend>
61 | 
62 |   <!-- The export tag contains other, unspecified, tags -->
63 |   <export>
64 |     <!-- Other tools can request additional information be placed here -->
65 | 
66 |   </export>
67 | </package>
68 | 


--------------------------------------------------------------------------------
/centralised_auction/launch/example4.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <!-- Example 3, launches the centralised auction node to generate waypoint order.
 4 |      The waypoint follower node receives this and produces pose arrays that can 
 5 |      be viewed in RVIZ, as well as move_base commands. The commands are then 
 6 |      executed on the simulated Jackals. -->
 7 | <launch>
 8 |   <!-- Start Gazebo with an empty world. -->
 9 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
10 |     <arg name="use_sim_time" value="true"/>
11 |     <arg name="debug"        value="false"/>
12 |     <arg name="gui"          value="false"/>
13 | 	  <arg name="headless"     value="true"/>			
14 |     <arg name="world_name"   value="$(find multi_jackal_tutorials)/worlds/slow_world.world"/>
15 |     <arg name="paused"       value="false"/>
16 |   </include>
17 |   
18 |   <!-- Spawn the robots. -->
19 |   <include file="$(find multi_jackal_base)/launch/jackal_base.launch">
20 |     <arg name="ns"            value="jackal0"/>
21 |   </include>
22 |   <include file="$(find multi_jackal_base)/launch/jackal_base.launch">
23 |     <arg name="ns"            value="jackal1"/>
24 |     <arg name="x"             value="-1"/>
25 |     <arg name="yaw"           value="3.14"/>
26 |   </include>
27 | 
28 |   <!-- Launch waypoint following.
29 |        tasks:  x,y,z,  x,y,z,w
30 |        robots: x,y,z                 -->
31 |   <node pkg="centralised_auction" type="centralised_auction_node" 
32 |         name="centralised_auction" output="screen">
33 |     <param name="prefix" value="jackal"/>
34 |     <rosparam param="tasks">[-4, 2, 0,  0, 0, 0, 1,
35 |                              -3,-4, 0,  0, 0, 0, 1,
36 |                              -1,-4, 0,  0, 0, 0, 1,
37 |                              -1, 2, 0,  0, 0, 0, 1, 
38 |                               3, 4, 0,  0, 0, 0, 1,
39 |                               4, 4, 0,  0, 0, 0, 1,
40 |                               3,-4, 0,  0, 0, 0, 1]
41 |     </rosparam>
42 |     <rosparam param="robots">[0, 0, 0, 
43 |                              -1, 0, 0]
44 |     </rosparam>      
45 |   </node>
46 |   
47 |   <!-- Launch waypoint following. Change out put to 'screen' or 'log' to show
48 |        or hide terminal output.-->
49 |   <node ns="jackal0" pkg="waypoint_follower" type="waypoint_follower2_node" 
50 |         name="waypoint_follower" output="log">
51 |     <param name="odom_frame"       value="jackal0/odom"/>
52 |     <param name="baselink_frame"   value="jackal0/base_link"/>
53 |     <param name="lin_vel"          value="0.5"/>
54 |     <param name="ang_vel"          value="1.5"/>
55 |     <remap from="set_waypoints"    to="tasks"/>
56 |   </node>
57 |   <node ns="jackal1" pkg="waypoint_follower" type="waypoint_follower2_node" 
58 |         name="waypoint_follower" output="log">
59 |     <param name="odom_frame"       value="jackal1/odom"/>
60 |     <param name="baselink_frame"   value="jackal1/base_link"/>
61 |     <param name="lin_vel"          value="0.5"/>
62 |     <param name="ang_vel"          value="1.5"/>
63 |     <remap from="set_waypoints"    to="tasks"/>
64 |   </node>
65 |   
66 |   <!-- Display on RVIZ. -->
67 |   <group if="true">
68 |     <node name="rviz" pkg="rviz" type="rviz"
69 |         args="-d $(find centralised_auction)/config/rviz3.rviz">
70 |     </node>
71 |   </group>  
72 |   
73 | </launch>
74 | 


--------------------------------------------------------------------------------
/centralised_auction/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>centralised_auction</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The centralised_auction package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="nick@todo.todo">nick</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/centralised_auction</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>roscpp</build_depend>
53 |   <build_depend>nav_msgs</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_depend>waypoint_follower</build_depend>
56 |   <build_depend>waypoint_follower_msgs</build_depend>
57 |   <build_depend>task_msgs</build_depend>
58 |   <build_depend>multi_jackal_tutorials</build_depend>
59 |   <build_export_depend>roscpp</build_export_depend>
60 |   <build_export_depend>nav_msgs</build_export_depend>
61 |   <build_export_depend>std_msgs</build_export_depend>
62 |   <build_export_depend>waypoint_follower</build_export_depend>
63 |   <build_export_depend>waypoint_follower_msgs</build_export_depend>
64 |   <build_export_depend>task_msgs</build_export_depend>
65 |   <build_export_depend>multi_jackal_tutorials</build_export_depend>
66 |   <exec_depend>roscpp</exec_depend>
67 |   <exec_depend>nav_msgs</exec_depend>
68 |   <exec_depend>std_msgs</exec_depend>
69 |   <exec_depend>waypoint_follower</exec_depend>
70 |   <exec_depend>waypoint_follower_msgs</exec_depend>
71 |   <exec_depend>task_msgs</exec_depend>
72 |   <exec_depend>multi_jackal_tutorials</exec_depend>
73 |   <!-- The export tag contains other, unspecified, tags -->
74 |   <export>
75 |     <!-- Other tools can request additional information be placed here -->
76 | 
77 |   </export>
78 | </package>
79 | 


--------------------------------------------------------------------------------
/centralised_auction/config/rviz.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |       Splitter Ratio: 0.63055557
  9 |     Tree Height: 775
 10 |   - Class: rviz/Selection
 11 |     Name: Selection
 12 |   - Class: rviz/Tool Properties
 13 |     Expanded:
 14 |       - /2D Pose Estimate1
 15 |       - /2D Nav Goal1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.588679016
 19 |   - Class: rviz/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: ""
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.0299999993
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Alpha: 1
 51 |       Buffer Length: 1
 52 |       Class: rviz/Path
 53 |       Color: 25; 255; 0
 54 |       Enabled: true
 55 |       Head Diameter: 0.100000001
 56 |       Head Length: 0.100000001
 57 |       Length: 0.300000012
 58 |       Line Style: Lines
 59 |       Line Width: 0.0299999993
 60 |       Name: Robot0-WaypointPath
 61 |       Offset:
 62 |         X: 0
 63 |         Y: 0
 64 |         Z: 0
 65 |       Pose Color: 0; 255; 0
 66 |       Pose Style: Arrows
 67 |       Radius: 0.0299999993
 68 |       Shaft Diameter: 0.0500000007
 69 |       Shaft Length: 0.150000006
 70 |       Topic: /robot0/waypoint_paths
 71 |       Unreliable: false
 72 |       Value: true
 73 |     - Alpha: 1
 74 |       Buffer Length: 1
 75 |       Class: rviz/Path
 76 |       Color: 255; 0; 0
 77 |       Enabled: true
 78 |       Head Diameter: 0.100000001
 79 |       Head Length: 0.100000001
 80 |       Length: 0.300000012
 81 |       Line Style: Lines
 82 |       Line Width: 0.0299999993
 83 |       Name: Robot1-WaypointPath
 84 |       Offset:
 85 |         X: 0
 86 |         Y: 0
 87 |         Z: 0
 88 |       Pose Color: 255; 0; 0
 89 |       Pose Style: Arrows
 90 |       Radius: 0.0299999993
 91 |       Shaft Diameter: 0.0500000007
 92 |       Shaft Length: 0.150000006
 93 |       Topic: /robot1/waypoint_paths
 94 |       Unreliable: false
 95 |       Value: true
 96 |   Enabled: true
 97 |   Global Options:
 98 |     Background Color: 48; 48; 48
 99 |     Default Light: true
100 |     Fixed Frame: map
101 |     Frame Rate: 30
102 |   Name: root
103 |   Tools:
104 |     - Class: rviz/Interact
105 |       Hide Inactive Objects: true
106 |     - Class: rviz/MoveCamera
107 |     - Class: rviz/Select
108 |     - Class: rviz/FocusCamera
109 |     - Class: rviz/Measure
110 |     - Class: rviz/SetInitialPose
111 |       Topic: /initialpose
112 |     - Class: rviz/SetGoal
113 |       Topic: /move_base_simple/goal
114 |     - Class: rviz/PublishPoint
115 |       Single click: true
116 |       Topic: /clicked_point
117 |   Value: true
118 |   Views:
119 |     Current:
120 |       Class: rviz/Orbit
121 |       Distance: 10.4669018
122 |       Enable Stereo Rendering:
123 |         Stereo Eye Separation: 0.0599999987
124 |         Stereo Focal Distance: 1
125 |         Swap Stereo Eyes: false
126 |         Value: false
127 |       Focal Point:
128 |         X: 0
129 |         Y: 0
130 |         Z: 0
131 |       Focal Shape Fixed Size: true
132 |       Focal Shape Size: 0.0500000007
133 |       Invert Z Axis: false
134 |       Name: Current View
135 |       Near Clip Distance: 0.00999999978
136 |       Pitch: 1.3154
137 |       Target Frame: <Fixed Frame>
138 |       Value: Orbit (rviz)
139 |       Yaw: 1.54540002
140 |     Saved: ~
141 | Window Geometry:
142 |   Displays:
143 |     collapsed: false
144 |   Height: 1056
145 |   Hide Left Dock: false
146 |   Hide Right Dock: true
147 |   QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000336fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000336000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
148 |   Selection:
149 |     collapsed: false
150 |   Time:
151 |     collapsed: false
152 |   Tool Properties:
153 |     collapsed: false
154 |   Views:
155 |     collapsed: true
156 |   Width: 1855
157 |   X: 65
158 |   Y: 24
159 | 


--------------------------------------------------------------------------------
/task_msgs/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(task_msgs)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   geometry_msgs
 12 |   message_generation
 13 |   std_msgs
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | # catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend tag for "message_generation"
 35 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 36 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 37 | ##     but can be declared for certainty nonetheless:
 38 | ##     * add a run_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | add_message_files(
 51 |   FILES
 52 |   Task.msg
 53 |   TaskArray.msg
 54 | )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | generate_messages(
 72 |   DEPENDENCIES
 73 |   geometry_msgs  std_msgs
 74 | )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES task_msgs
108 |  CATKIN_DEPENDS geometry_msgs message_generation std_msgs
109 | #  DEPENDS system_lib
110 | )
111 | 
112 | ###########
113 | ## Build ##
114 | ###########
115 | 
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 |   ${catkin_INCLUDE_DIRS}
121 | )
122 | 
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | #   src/${PROJECT_NAME}/task_msgs.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 | 
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/task_msgs_node.cpp)
137 | 
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 | 
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 | 
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | #   ${catkin_LIBRARIES}
151 | # )
152 | 
153 | #############
154 | ## Install ##
155 | #############
156 | 
157 | # all install targets should use catkin DESTINATION variables
158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
159 | 
160 | ## Mark executable scripts (Python etc.) for installation
161 | ## in contrast to setup.py, you can choose the destination
162 | # install(PROGRAMS
163 | #   scripts/my_python_script
164 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165 | # )
166 | 
167 | ## Mark executables and/or libraries for installation
168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
169 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
170 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
171 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
172 | # )
173 | 
174 | ## Mark cpp header files for installation
175 | # install(DIRECTORY include/${PROJECT_NAME}/
176 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
177 | #   FILES_MATCHING PATTERN "*.h"
178 | #   PATTERN ".svn" EXCLUDE
179 | # )
180 | 
181 | ## Mark other files for installation (e.g. launch and bag files, etc.)
182 | # install(FILES
183 | #   # myfile1
184 | #   # myfile2
185 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
186 | # )
187 | 
188 | #############
189 | ## Testing ##
190 | #############
191 | 
192 | ## Add gtest based cpp test target and link libraries
193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_task_msgs.cpp)
194 | # if(TARGET ${PROJECT_NAME}-test)
195 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
196 | # endif()
197 | 
198 | ## Add folders to be run by python nosetests
199 | # catkin_add_nosetests(test)
200 | 


--------------------------------------------------------------------------------
/centralised_auction/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(centralised_auction)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   nav_msgs
 12 |   std_msgs
 13 |   waypoint_follower
 14 |   waypoint_follower_msgs
 15 |   multi_jackal_tutorials
 16 |   roscpp
 17 |   task_msgs
 18 | )
 19 | 
 20 | ## System dependencies are found with CMake's conventions
 21 | # find_package(Boost REQUIRED COMPONENTS system)
 22 | 
 23 | 
 24 | ## Uncomment this if the package has a setup.py. This macro ensures
 25 | ## modules and global scripts declared therein get installed
 26 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 27 | # catkin_python_setup()
 28 | 
 29 | ################################################
 30 | ## Declare ROS messages, services and actions ##
 31 | ################################################
 32 | 
 33 | ## To declare and build messages, services or actions from within this
 34 | ## package, follow these steps:
 35 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 36 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 37 | ## * In the file package.xml:
 38 | ##   * add a build_depend tag for "message_generation"
 39 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 40 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 41 | ##     but can be declared for certainty nonetheless:
 42 | ##     * add a run_depend tag for "message_runtime"
 43 | ## * In this file (CMakeLists.txt):
 44 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 45 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 46 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 47 | ##     catkin_package(CATKIN_DEPENDS ...)
 48 | ##   * uncomment the add_*_files sections below as needed
 49 | ##     and list every .msg/.srv/.action file to be processed
 50 | ##   * uncomment the generate_messages entry below
 51 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 52 | 
 53 | ## Generate messages in the 'msg' folder
 54 | # add_message_files(
 55 | #   FILES
 56 | #   Message1.msg
 57 | #   Message2.msg
 58 | # )
 59 | 
 60 | ## Generate services in the 'srv' folder
 61 | # add_service_files(
 62 | #   FILES
 63 | #   Service1.srv
 64 | #   Service2.srv
 65 | # )
 66 | 
 67 | ## Generate actions in the 'action' folder
 68 | # add_action_files(
 69 | #   FILES
 70 | #   Action1.action
 71 | #   Action2.action
 72 | # )
 73 | 
 74 | ## Generate added messages and services with any dependencies listed here
 75 | # generate_messages(
 76 | #   DEPENDENCIES
 77 | #   nav_msgs#   std_msgs#   waypoint_follower_msgs
 78 | # )
 79 | 
 80 | ################################################
 81 | ## Declare ROS dynamic reconfigure parameters ##
 82 | ################################################
 83 | 
 84 | ## To declare and build dynamic reconfigure parameters within this
 85 | ## package, follow these steps:
 86 | ## * In the file package.xml:
 87 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 88 | ## * In this file (CMakeLists.txt):
 89 | ##   * add "dynamic_reconfigure" to
 90 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 91 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 92 | ##     and list every .cfg file to be processed
 93 | 
 94 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 95 | # generate_dynamic_reconfigure_options(
 96 | #   cfg/DynReconf1.cfg
 97 | #   cfg/DynReconf2.cfg
 98 | # )
 99 | 
100 | ###################################
101 | ## catkin specific configuration ##
102 | ###################################
103 | ## The catkin_package macro generates cmake config files for your package
104 | ## Declare things to be passed to dependent projects
105 | ## INCLUDE_DIRS: uncomment this if your package contains header files
106 | ## LIBRARIES: libraries you create in this project that dependent projects also need
107 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
108 | ## DEPENDS: system dependencies of this project that dependent projects also need
109 | catkin_package(
110 |   INCLUDE_DIRS include
111 | #  LIBRARIES centralised_auction
112 |   CATKIN_DEPENDS nav_msgs std_msgs waypoint_follower_msgs task_msgs
113 | #  DEPENDS system_lib
114 | )
115 | 
116 | ###########
117 | ## Build ##
118 | ###########
119 | 
120 | ## Specify additional locations of header files
121 | ## Your package locations should be listed before other locations
122 | include_directories(
123 |   include
124 |   ${catkin_INCLUDE_DIRS}
125 | )
126 | 
127 | ## Declare a C++ library
128 | #add_library(centralised_auction_node src/centralised_auction_node.cpp)
129 | add_library(sequential_auction src/sequential_auction.cpp)
130 | 
131 | ## Add cmake target dependencies of the library
132 | ## as an example, code may need to be generated before libraries
133 | ## either from message generation or dynamic reconfigure
134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
135 | 
136 | ## Declare a C++ executable
137 | ## With catkin_make all packages are built within a single CMake context
138 | ## The recommended prefix ensures that target names across packages don't collide
139 | add_executable(centralised_auction_node src/centralised_auction_node.cpp src/sequential_auction.cpp)
140 | 
141 | ## Rename C++ executable without prefix
142 | ## The above recommended prefix causes long target names, the following renames the
143 | ## target back to the shorter version for ease of user use
144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
146 | 
147 | ## Add cmake target dependencies of the executable
148 | ## same as for the library above
149 | add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
150 | 
151 | ## Specify libraries to link a library or executable target against
152 | target_link_libraries(centralised_auction_node sequential_auction ${catkin_LIBRARIES})
153 | 
154 | #############
155 | ## Install ##
156 | #############
157 | 
158 | # all install targets should use catkin DESTINATION variables
159 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
160 | 
161 | ## Mark executable scripts (Python etc.) for installation
162 | ## in contrast to setup.py, you can choose the destination
163 | # install(PROGRAMS
164 | #   scripts/my_python_script
165 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
166 | # )
167 | 
168 | ## Mark executables and/or libraries for installation
169 | install(TARGETS 
170 |   centralised_auction_node
171 |   sequential_auction
172 |   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
173 |   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
175 | )
176 | 
177 | ## Mark cpp header files for installation
178 | install(DIRECTORY include/${PROJECT_NAME}/
179 |   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
180 |   FILES_MATCHING PATTERN "*.h"
181 |   PATTERN ".svn" EXCLUDE
182 | )
183 | 
184 | ## Mark other files for installation (e.g. launch and bag files, etc.)
185 | # install(FILES
186 | #   # myfile1
187 | #   # myfile2
188 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
189 | # )
190 | 
191 | #############
192 | ## Testing ##
193 | #############
194 | 
195 | ## Add gtest based cpp test target and link libraries
196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_centralised_auction.cpp)
197 | # if(TARGET ${PROJECT_NAME}-test)
198 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
199 | # endif()
200 | 
201 | ## Add folders to be run by python nosetests
202 | # catkin_add_nosetests(test)
203 | 


--------------------------------------------------------------------------------
/centralised_auction/src/sequential_auction.cpp:
--------------------------------------------------------------------------------
  1 | #include "centralised_auction/sequential_auction.h"
  2 | 
  3 | /********************************************
  4 |  * Public functions (high level).
  5 |  ********************************************/
  6 |  
  7 | // Constructor.
  8 | SequentialAuction::SequentialAuction(vector<Task> unallocated_tasks,
  9 |                                      vector<Pose> robot_poses){
 10 |   this->tasks       = unallocated_tasks;
 11 |   this->num_tasks   = unallocated_tasks.size();
 12 |   this->robot_poses = robot_poses;
 13 |   this->num_robots  = robot_poses.size();
 14 |   return_home = false;
 15 |   use_least_contested_bid = false;
 16 | }
 17 | 
 18 | // The allocation procedure. Each iteration, selects a winner to allocate and
 19 | // recalculates bids. 
 20 | vector<TaskArray> SequentialAuction::allocateTasks(){
 21 |   int winning_robot, winning_task;
 22 |   prepareAllocations();
 23 |   calculateAllBids();
 24 |   while( !unalloc.empty() ){
 25 |     //cout << "The bids are: " << endl;
 26 |     //printBids();
 27 |     selectWinner(winning_robot, winning_task);
 28 |     //cout << "winner is: " << winning_robot << ", " << winning_task << endl;
 29 |     processWinner(winning_robot, winning_task);
 30 |     calculateBids(winning_robot);                                              
 31 |   }        
 32 |   cout << "Allocations: " << endl;
 33 |   printPaths();
 34 |   
 35 |   formOutput();
 36 |   return allocations;                                        
 37 | }
 38 | 
 39 | /********************************************
 40 |  * Allocation processing (medium level)
 41 |  ********************************************/
 42 |  
 43 | // Clears paths, sets the correct size for bidding matrix.
 44 | void SequentialAuction::prepareAllocations(){
 45 |   unalloc.clear();
 46 |   paths.clear();
 47 |   path_costs.clear();
 48 |   bids.clear();
 49 |   allocations.clear();
 50 |   for( int i=0; i<num_tasks; i++ ){
 51 |     unalloc.push_back(i);
 52 |   }
 53 |   for( int i=0; i<num_robots; i++ ){
 54 |     vector<int> v;
 55 |     paths.push_back( v );
 56 |     path_costs.push_back(0);
 57 |   }
 58 |   for( int i=0; i<num_robots; i++ ){
 59 |     vector<double> v;
 60 |     for( int j=0; j<num_tasks; j++ ){
 61 |       v.push_back(-1);
 62 |     }
 63 |     bids.push_back( v );
 64 |   }
 65 | }
 66 | 
 67 | void SequentialAuction::calculateAllBids(){
 68 |   for( int i=0; i<num_robots; i++ ){
 69 |     calculateBids( i );
 70 |   }
 71 | }
 72 | 
 73 | // Populates the bidding matrix with bids for the currently unallocated tasks.
 74 | void SequentialAuction::calculateBids( int robot_num ){
 75 |   for( int i=0; i<unalloc.size(); i++ ){
 76 |     //cout << "task " << unalloc[i] << endl;
 77 |     // Get the current path cost.
 78 |     double prev_cost = path_costs[robot_num];
 79 |     // Calculate the new path cost if we were to add the task to the path.
 80 |     vector<int> new_path;
 81 |     double new_cost = insertTask( robot_num, unalloc[i], new_path );
 82 |     // Bid the new path cost.
 83 |     bids[robot_num][unalloc[i]] = new_cost;
 84 |   }
 85 | }
 86 | 
 87 | // Selects the winning robot and task by the minimum non-negative bid.
 88 | void SequentialAuction::selectWinner(int &winning_robot, int &winning_task){
 89 |   // Option - winner is the least contested bid.
 90 |   if( use_least_contested_bid && num_robots > 1){
 91 |     double max_bid_diff, min_bid, min_bid2, bid_diff, bid;
 92 |     int temp_winning_robot = -1;
 93 |     max_bid_diff = -1;
 94 |     for( int j=0; j<num_tasks; j++ ){
 95 |       min_bid = -1;
 96 |       min_bid2 = -1;
 97 |       for( int i=0; i<num_robots; i++ ){
 98 |         bid = bids[i][j];
 99 |         if( (bid < min_bid || min_bid == -1) && bid >= 0){
100 |           min_bid2 = min_bid;
101 |           min_bid = bid;
102 |           temp_winning_robot = i;
103 |           continue;
104 |         }
105 |         if( (bid < min_bid2 || min_bid2 == -1) && bid >= 0){
106 |           min_bid2 = bid;
107 |         }
108 |       }
109 |       bid_diff = min_bid2 - min_bid;
110 |       if( bid_diff > max_bid_diff ) {
111 |         max_bid_diff = bid_diff;
112 |         winning_task = j;
113 |         winning_robot = temp_winning_robot;
114 |       }
115 |     }
116 |     return;
117 |   }
118 |   // Option (default) - winner is the lowest bid.
119 |   double min_bid = -1;
120 |   for( int i=0; i<num_robots; i++ ){
121 |     for( int j=0; j<num_tasks; j++ ){
122 |       double bid = bids[i][j];
123 |       if( (bid < min_bid || min_bid == -1) && bid >= 0 ){
124 |         min_bid = bid;
125 |         winning_robot = i;
126 |         winning_task  = j;
127 |       }
128 |     }
129 |   }
130 | }
131 | 
132 | // Adds the winning task to the winning robots path, and removes the task from
133 | // the unallocated list. Also sets all bids for the winning task to -1.
134 | void SequentialAuction::processWinner(int winning_robot, int winning_task){
135 |   insertTask( winning_robot, winning_task, paths[winning_robot]);
136 |   for( int i=0; i<num_robots; i++ ){
137 |     bids[i][winning_task] = -1;
138 |   }
139 |   for( int i=0; i<unalloc.size(); i++ ){
140 |     if( unalloc[i] == winning_task ){
141 |       unalloc.erase(unalloc.begin()+i);
142 |       return;
143 |     }
144 |   }
145 | }
146 | 
147 | // Populates the allocations variable.
148 | void SequentialAuction::formOutput(){
149 |   allocations.clear();
150 |   for( int i=0; i<num_robots; i++ ){
151 |     TaskArray ta;
152 |     vector<int> path = paths[i];
153 |     for( int j=0; j<path.size(); j++ ){
154 |       int id = path[j];
155 |       ta.array.push_back(tasks[id]);
156 |     }
157 |     allocations.push_back(ta);
158 |   }
159 | }
160 | 
161 | /********************************************
162 |  * (low level).
163 |  ********************************************/
164 | 
165 | // Calculate the new path if a task were to be inserted into a path. Returns
166 | // the cost of the new path.
167 | double SequentialAuction::insertTask( int robot_num, int unalloc_id, vector<int>& new_path){
168 |   vector<int> path = paths[robot_num];
169 |   double      path_cost;
170 |   vector<int> best_path;
171 |   double      best_path_cost = -1;
172 |   for( int i=0; i<=path.size(); i++ ){
173 |     path.insert( path.begin()+i, unalloc_id );
174 |     //printPath( path );
175 |     path_cost = calculatePathCost( robot_num, path );
176 |     //cout << "cost: " << path_cost << endl;
177 |     if( path_cost < best_path_cost || best_path_cost == -1 ){
178 |       best_path_cost = path_cost;
179 |       best_path = path;
180 |     }    
181 |     path.erase( path.begin()+i );
182 |   }
183 |   
184 |   new_path = best_path;
185 |   return best_path_cost;
186 | }
187 | 
188 | // Calculates the cost to go from the robots start pose to each task in order,
189 | // then returning home (optionally).
190 | double SequentialAuction::calculatePathCost( int robot_num, vector<int> path ){
191 |   double dist = 0;
192 |   double x_prev, y_prev, x_next, y_next, x_diff, y_diff;
193 |   int task_id;
194 |   x_prev = robot_poses[robot_num].position.x;
195 |   y_prev = robot_poses[robot_num].position.y;
196 |   for( int i=0; i<path.size(); i++ ){
197 |     task_id = path[i];
198 |     x_next = tasks[task_id].pose.position.x;
199 |     y_next = tasks[task_id].pose.position.y;
200 |     x_diff = x_next - x_prev;
201 |     y_diff = y_next - y_prev;
202 |     dist += sqrt( x_diff*x_diff + y_diff*y_diff );
203 |     x_prev = x_next;
204 |     y_prev = y_next;  
205 |   }
206 |   if( return_home ){
207 |     x_next = robot_poses[robot_num].position.x;
208 |     y_next = robot_poses[robot_num].position.y;
209 |     x_diff = x_next - x_prev;
210 |     y_diff = y_next - y_prev;
211 |     dist += sqrt( x_diff*x_diff + y_diff*y_diff );
212 |   }
213 |   return dist;
214 | }
215 | 
216 | 
217 | /********************************************
218 |  * Printouts, purely for debugging.
219 |  ********************************************/
220 | void SequentialAuction::printPaths(){
221 |   for( int i=0; i<num_robots; i++ ){
222 |     printPath( paths[i] );
223 |   }
224 | }
225 | 
226 | void SequentialAuction::printPath( vector<int> path ){
227 |   cout << "[ ";
228 |   for( int i=0; i<path.size(); i++ ){
229 |     cout << path[i] << " ";
230 |   }
231 |   cout << "]" << endl;
232 | }
233 | 
234 | void SequentialAuction::printBids(){
235 |   for( int i=0; i<num_robots; i++ ){
236 |     for( int j=0; j<num_tasks; j++ ){
237 |       printf("% 6.1f ", bids[i][j]);
238 |     }
239 |     cout << endl;
240 |   }
241 | }
242 | 
243 | 
244 | 
245 |  
246 | 


--------------------------------------------------------------------------------
/centralised_auction/src/centralised_auction_node.cpp:
--------------------------------------------------------------------------------
  1 | #include <ros/ros.h>
  2 | #include <ros/console.h>
  3 | #include <vector>
  4 | #include "task_msgs/Task.h"
  5 | #include "task_msgs/TaskArray.h"
  6 | #include "geometry_msgs/Pose.h"
  7 | #include "geometry_msgs/PoseArray.h"
  8 | //#include "waypoint_follower_msgs/Waypoint.h"
  9 | //#include "waypoint_follower_msgs/WaypointStamped.h"
 10 | #include "waypoint_follower_msgs/WaypointArray.h"
 11 | 
 12 | #include "centralised_auction/sequential_auction.h"
 13 | 
 14 | using std::vector;
 15 | using std::cout;
 16 | using std::endl;
 17 | using std::string;
 18 | using task_msgs::Task;
 19 | using task_msgs::TaskArray;
 20 | using geometry_msgs::Pose;
 21 | using geometry_msgs::PoseArray;
 22 | using geometry_msgs::PoseStamped;
 23 | using waypoint_follower_msgs::WaypointArray;
 24 | 
 25 | 
 26 | vector<Task> unallocated_tasks;
 27 | vector<Pose> robot_poses;
 28 | 
 29 | vector<TaskArray> allocated_tasks;
 30 | 
 31 | vector<ros::Publisher> pubs;
 32 | int num_robots;
 33 | int seq = 0;
 34 | string prefix;
 35 | bool return_home;
 36 | 
 37 | /**************************************************
 38 |  * Helper functions
 39 |  **************************************************/
 40 |  
 41 | // Converts from TaskArray format to PoseArray format.
 42 | PoseArray taskArrayToPoseArray( TaskArray ta ){
 43 |   PoseArray pa;
 44 |   pa.header.seq      = seq++;
 45 |   pa.header.stamp    = ros::Time::now();
 46 |   pa.header.frame_id = "map";
 47 |   for( int i=0; i<ta.array.size(); i++ ){
 48 |     pa.poses.push_back( ta.array[i].pose );
 49 |   }
 50 |   return pa;
 51 | }
 52 | 
 53 | // Converts from TaskArray format to WaypointArray format.
 54 | WaypointArray taskArrayToWaypointArray( TaskArray ta ){
 55 |   WaypointArray wa;
 56 |   PoseStamped ps;
 57 |   ps.header.seq      = seq++;
 58 |   ps.header.stamp    = ros::Time::now();
 59 |   ps.header.frame_id = "map";
 60 |   for( int i=0; i<ta.array.size(); i++ ){
 61 |     ps.pose = ta.array[i].pose;
 62 |     wa.waypoints.push_back(ps);
 63 |   }
 64 |   return wa;
 65 | }
 66 | 
 67 | 
 68 | /**************************************************
 69 |  * Publisher functions
 70 |  **************************************************/
 71 |  
 72 | // Publishes the allocations.
 73 | void publishAllocations(){
 74 |   for( int i=0; i<num_robots; i++ ){
 75 |     TaskArray ta = allocated_tasks[i];
 76 |     //PoseArray pa = taskArrayToPoseArray(ta);
 77 |     //pubs[i].publish( pa );
 78 |     WaypointArray wa = taskArrayToWaypointArray(ta);
 79 |     if( return_home ){
 80 |       PoseStamped ws;
 81 |       ws.header.seq         = seq++;
 82 |       ws.header.stamp       = ros::Time::now();
 83 |       ws.header.frame_id    = "map";
 84 |       ws.pose      = robot_poses[i];
 85 |       wa.waypoints.push_back(ws);
 86 |     }
 87 |     pubs[i].publish( wa );
 88 |   }
 89 | }
 90 | 
 91 | /**************************************************
 92 |  * 
 93 |  **************************************************/
 94 |  
 95 | void allocateTasks(){
 96 |   if( num_robots <= 0 ){
 97 |     cout << "No robots specified." << endl;
 98 |     return;
 99 |   }
100 |   if( unallocated_tasks.size() <= 0 ){
101 |     cout << "No tasks specified." << endl;
102 |     return;
103 |   }
104 | 
105 |   // Allocate them all to the first robot.
106 |   //for( int i=0; i<unallocated_tasks.size(); i++ ){
107 |   //  Task t = unallocated_tasks[i];
108 |   //  int r = i % num_robots;
109 |   //  allocated_tasks[r].array.push_back(t);
110 |   //}
111 |   cout << "Prepping task allocation. " << endl;
112 |   SequentialAuction solver(unallocated_tasks, robot_poses);
113 |   solver.use_least_contested_bid = false;   
114 |   if( return_home ) solver.return_home             = true;
115 |   cout << "Allocating tasks." << endl;
116 |   allocated_tasks = solver.allocateTasks();
117 |   cout << "Finished allocating." << endl;
118 |   
119 |   ros::Duration(2).sleep();
120 | }
121 | 
122 | 
123 | /**************************************************
124 |  * Initialising functions
125 |  **************************************************/
126 |  
127 | //void loadSubs(ros::NodeHandle n){                                 
128 | //}
129 | 
130 | void loadPubs(ros::NodeHandle n){
131 |   for( int i=0; i<num_robots; i++ ){
132 |     std::ostringstream strs;
133 |     strs << prefix;   
134 |     strs << i;
135 |     strs << "/tasks";
136 |     //pubs.push_back( n.advertise<PoseArray>(strs.str(), 100) );
137 |     pubs.push_back( n.advertise<WaypointArray>(strs.str(), 100) );
138 |   }
139 | }
140 | 
141 | // Loads parameters from the launch file. Uses default values if any values are
142 | // missing.
143 | void loadParams(ros::NodeHandle n_priv){
144 |   vector<double> waypoint_values;    //position (x,y,z) and orientation (x,y,z,w)
145 |   vector<double> robot_values;       //position (x,y,z)
146 |   
147 |   // Set default parameters.
148 |   double default_waypoint_values[] = {};
149 |   double default_robot_values[] = {};
150 |   string default_prefix = "robot";
151 |   bool default_return_home = true;
152 |   
153 |   n_priv.param("return_home", return_home, default_return_home);
154 |   n_priv.param("prefix", prefix, default_prefix);
155 |   
156 |   // Check parameter server to override defaults.
157 |   XmlRpc::XmlRpcValue v;
158 |   if( n_priv.getParam("tasks", v) ){
159 |     ROS_ASSERT(v.getType() == XmlRpc::XmlRpcValue::TypeArray);
160 |     for(int i=0; i < v.size(); i++)  {
161 |       if( v[i].getType() == XmlRpc::XmlRpcValue::TypeDouble ) {
162 |         waypoint_values.push_back(v[i]);
163 |       }
164 |       if( v[i].getType() == XmlRpc::XmlRpcValue::TypeInt ) {
165 |         int d = v[i];
166 |         waypoint_values.push_back(d);
167 |       }
168 |     }
169 |   } else {
170 |     waypoint_values.assign(default_waypoint_values, default_waypoint_values + 
171 |                       sizeof(default_waypoint_values) / sizeof(default_waypoint_values[0]) );
172 |   }
173 |   // Convert waypoint values into waypoints.
174 |   if( waypoint_values.size() % 7 != 0 ){
175 |     cout << "INCORRECT NUMBER OF WAYPOINT VALUES" << endl;
176 |     return;
177 |   }
178 |   for( int i=0; i<waypoint_values.size(); i+=7 ) {
179 |     Task t;
180 |     t.pose.position.x = waypoint_values[i];
181 |     t.pose.position.y = waypoint_values[i+1];
182 |     t.pose.position.z = waypoint_values[i+2];
183 |     t.pose.orientation.x = waypoint_values[i+3];
184 |     t.pose.orientation.y = waypoint_values[i+4];
185 |     t.pose.orientation.z = waypoint_values[i+5];
186 |     t.pose.orientation.w = waypoint_values[i+6];
187 |     unallocated_tasks.push_back(t);
188 |   }
189 |   
190 |   // Check parameter server to override defaults.
191 |   //XmlRpc::XmlRpcValue v;
192 |   if( n_priv.getParam("robots", v) ){
193 |     ROS_ASSERT(v.getType() == XmlRpc::XmlRpcValue::TypeArray);
194 |     for(int i=0; i < v.size(); i++)  {
195 |       if( v[i].getType() == XmlRpc::XmlRpcValue::TypeDouble ) {
196 |         robot_values.push_back(v[i]);
197 |       }
198 |       if( v[i].getType() == XmlRpc::XmlRpcValue::TypeInt ) {
199 |         int d = v[i];
200 |         robot_values.push_back(d);
201 |       }
202 |     }
203 |   } else {
204 |     robot_values.assign(default_robot_values, default_robot_values + 
205 |                       sizeof(default_robot_values) / sizeof(default_robot_values[0]) );
206 |   }
207 |   // Convert waypoint values into waypoints.
208 |   if( robot_values.size() % 3 != 0 ){
209 |     cout << "INCORRECT NUMBER OF ROBOT VALUES" << endl;
210 |     return;
211 |   }
212 |   for( int i=0; i<robot_values.size(); i+=3 ) {
213 |     Pose p;
214 |     p.position.x = robot_values[i];
215 |     p.position.y = robot_values[i+1];
216 |     p.position.z = robot_values[i+2];
217 |     robot_poses.push_back(p);
218 |   }
219 |   num_robots = robot_poses.size();
220 |   for( int i=0; i<num_robots; i++ ){
221 |     TaskArray ta;
222 |     allocated_tasks.push_back( ta );
223 |   }
224 |   
225 | }
226 | 
227 | 
228 | /**************************************************
229 |  * Main
230 |  **************************************************/
231 | int main(int argc, char** argv){
232 |   ros::init(argc, argv, "centralised_auction");
233 |   ros::NodeHandle n;
234 |   ros::NodeHandle n_priv("~");
235 |   
236 |   cout << "IT HAS BEGUN" << endl;
237 |   
238 |   loadParams(n_priv);
239 |   //loadSubs(n);
240 |   loadPubs(n);
241 |   
242 |   allocateTasks();
243 |   publishAllocations();
244 |     
245 |   ros::Rate r(1);
246 |   while( ros::ok() ){
247 |     publishAllocations();
248 |     ros::spinOnce();
249 |     r.sleep();
250 |   }
251 |   
252 |   return 0;
253 | };
254 | 


--------------------------------------------------------------------------------
/centralised_auction/config/rviz3.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |       Splitter Ratio: 0.613888979
  9 |     Tree Height: 775
 10 |   - Class: rviz/Selection
 11 |     Name: Selection
 12 |   - Class: rviz/Tool Properties
 13 |     Expanded:
 14 |       - /2D Pose Estimate1
 15 |       - /2D Nav Goal1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.588679016
 19 |   - Class: rviz/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: ""
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.0299999993
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Alpha: 1
 51 |       Class: rviz/RobotModel
 52 |       Collision Enabled: false
 53 |       Enabled: true
 54 |       Links:
 55 |         All Links Enabled: true
 56 |         Expand Joint Details: false
 57 |         Expand Link Details: false
 58 |         Expand Tree: false
 59 |         Link Tree Style: Links in Alphabetic Order
 60 |         base_link:
 61 |           Alpha: 1
 62 |           Show Axes: false
 63 |           Show Trail: false
 64 |         chassis_link:
 65 |           Alpha: 1
 66 |           Show Axes: false
 67 |           Show Trail: false
 68 |           Value: true
 69 |         fenders_link:
 70 |           Alpha: 1
 71 |           Show Axes: false
 72 |           Show Trail: false
 73 |           Value: true
 74 |         front_camera:
 75 |           Alpha: 1
 76 |           Show Axes: false
 77 |           Show Trail: false
 78 |           Value: true
 79 |         front_camera_mount:
 80 |           Alpha: 1
 81 |           Show Axes: false
 82 |           Show Trail: false
 83 |         front_camera_optical:
 84 |           Alpha: 1
 85 |           Show Axes: false
 86 |           Show Trail: false
 87 |         front_camera_pivot:
 88 |           Alpha: 1
 89 |           Show Axes: false
 90 |           Show Trail: false
 91 |         front_left_wheel_link:
 92 |           Alpha: 1
 93 |           Show Axes: false
 94 |           Show Trail: false
 95 |           Value: true
 96 |         front_mount:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |         front_right_wheel_link:
101 |           Alpha: 1
102 |           Show Axes: false
103 |           Show Trail: false
104 |           Value: true
105 |         imu_link:
106 |           Alpha: 1
107 |           Show Axes: false
108 |           Show Trail: false
109 |         mid_mount:
110 |           Alpha: 1
111 |           Show Axes: false
112 |           Show Trail: false
113 |         navsat_link:
114 |           Alpha: 1
115 |           Show Axes: false
116 |           Show Trail: false
117 |           Value: true
118 |         rear_camera:
119 |           Alpha: 1
120 |           Show Axes: false
121 |           Show Trail: false
122 |           Value: true
123 |         rear_left_wheel_link:
124 |           Alpha: 1
125 |           Show Axes: false
126 |           Show Trail: false
127 |           Value: true
128 |         rear_mount:
129 |           Alpha: 1
130 |           Show Axes: false
131 |           Show Trail: false
132 |         rear_right_wheel_link:
133 |           Alpha: 1
134 |           Show Axes: false
135 |           Show Trail: false
136 |           Value: true
137 |       Name: Jackal0-RobotModel
138 |       Robot Description: jackal0/robot_description
139 |       TF Prefix: jackal0
140 |       Update Interval: 0
141 |       Value: true
142 |       Visual Enabled: true
143 |     - Alpha: 1
144 |       Buffer Length: 1
145 |       Class: rviz/Path
146 |       Color: 25; 255; 0
147 |       Enabled: false
148 |       Head Diameter: 0.300000012
149 |       Head Length: 0.200000003
150 |       Length: 0.300000012
151 |       Line Style: Lines
152 |       Line Width: 0.0299999993
153 |       Name: Jackal0-GoalPath
154 |       Offset:
155 |         X: 0
156 |         Y: 0
157 |         Z: 0
158 |       Pose Color: 255; 85; 255
159 |       Pose Style: None
160 |       Radius: 0.0299999993
161 |       Shaft Diameter: 0.100000001
162 |       Shaft Length: 0.100000001
163 |       Topic: /jackal0/move_base/NavfnROS/plan
164 |       Unreliable: false
165 |       Value: false
166 |     - Alpha: 1
167 |       Buffer Length: 1
168 |       Class: rviz/Path
169 |       Color: 25; 255; 0
170 |       Enabled: true
171 |       Head Diameter: 0.100000001
172 |       Head Length: 0.100000001
173 |       Length: 0.300000012
174 |       Line Style: Lines
175 |       Line Width: 0.0299999993
176 |       Name: Jackal0-WaypointPath
177 |       Offset:
178 |         X: 0
179 |         Y: 0
180 |         Z: 0
181 |       Pose Color: 0; 255; 0
182 |       Pose Style: Arrows
183 |       Radius: 0.0299999993
184 |       Shaft Diameter: 0.0500000007
185 |       Shaft Length: 0.150000006
186 |       Topic: /jackal0/waypoint_paths
187 |       Unreliable: false
188 |       Value: true
189 |     - Alpha: 1
190 |       Class: rviz/RobotModel
191 |       Collision Enabled: false
192 |       Enabled: true
193 |       Links:
194 |         All Links Enabled: true
195 |         Expand Joint Details: false
196 |         Expand Link Details: false
197 |         Expand Tree: false
198 |         Link Tree Style: Links in Alphabetic Order
199 |         base_link:
200 |           Alpha: 1
201 |           Show Axes: false
202 |           Show Trail: false
203 |         chassis_link:
204 |           Alpha: 1
205 |           Show Axes: false
206 |           Show Trail: false
207 |           Value: true
208 |         fenders_link:
209 |           Alpha: 1
210 |           Show Axes: false
211 |           Show Trail: false
212 |           Value: true
213 |         front_camera:
214 |           Alpha: 1
215 |           Show Axes: false
216 |           Show Trail: false
217 |           Value: true
218 |         front_camera_mount:
219 |           Alpha: 1
220 |           Show Axes: false
221 |           Show Trail: false
222 |         front_camera_optical:
223 |           Alpha: 1
224 |           Show Axes: false
225 |           Show Trail: false
226 |         front_camera_pivot:
227 |           Alpha: 1
228 |           Show Axes: false
229 |           Show Trail: false
230 |         front_left_wheel_link:
231 |           Alpha: 1
232 |           Show Axes: false
233 |           Show Trail: false
234 |           Value: true
235 |         front_mount:
236 |           Alpha: 1
237 |           Show Axes: false
238 |           Show Trail: false
239 |         front_right_wheel_link:
240 |           Alpha: 1
241 |           Show Axes: false
242 |           Show Trail: false
243 |           Value: true
244 |         imu_link:
245 |           Alpha: 1
246 |           Show Axes: false
247 |           Show Trail: false
248 |         mid_mount:
249 |           Alpha: 1
250 |           Show Axes: false
251 |           Show Trail: false
252 |         navsat_link:
253 |           Alpha: 1
254 |           Show Axes: false
255 |           Show Trail: false
256 |           Value: true
257 |         rear_camera:
258 |           Alpha: 1
259 |           Show Axes: false
260 |           Show Trail: false
261 |           Value: true
262 |         rear_left_wheel_link:
263 |           Alpha: 1
264 |           Show Axes: false
265 |           Show Trail: false
266 |           Value: true
267 |         rear_mount:
268 |           Alpha: 1
269 |           Show Axes: false
270 |           Show Trail: false
271 |         rear_right_wheel_link:
272 |           Alpha: 1
273 |           Show Axes: false
274 |           Show Trail: false
275 |           Value: true
276 |       Name: Jackal1-RobotModel
277 |       Robot Description: jackal1/robot_description
278 |       TF Prefix: jackal1
279 |       Update Interval: 0
280 |       Value: true
281 |       Visual Enabled: true
282 |     - Alpha: 1
283 |       Buffer Length: 1
284 |       Class: rviz/Path
285 |       Color: 255; 0; 0
286 |       Enabled: true
287 |       Head Diameter: 0.100000001
288 |       Head Length: 0.100000001
289 |       Length: 0.300000012
290 |       Line Style: Lines
291 |       Line Width: 0.0299999993
292 |       Name: Jackal1-WaypointPath
293 |       Offset:
294 |         X: 0
295 |         Y: 0
296 |         Z: 0
297 |       Pose Color: 255; 0; 0
298 |       Pose Style: Arrows
299 |       Radius: 0.0299999993
300 |       Shaft Diameter: 0.0500000007
301 |       Shaft Length: 0.150000006
302 |       Topic: /jackal1/waypoint_paths
303 |       Unreliable: false
304 |       Value: true
305 |     - Alpha: 1
306 |       Buffer Length: 1
307 |       Class: rviz/Path
308 |       Color: 255; 0; 0
309 |       Enabled: false
310 |       Head Diameter: 0.300000012
311 |       Head Length: 0.200000003
312 |       Length: 0.300000012
313 |       Line Style: Lines
314 |       Line Width: 0.0299999993
315 |       Name: Jackal1-GoalPath
316 |       Offset:
317 |         X: 0
318 |         Y: 0
319 |         Z: 0
320 |       Pose Color: 255; 85; 255
321 |       Pose Style: None
322 |       Radius: 0.0299999993
323 |       Shaft Diameter: 0.100000001
324 |       Shaft Length: 0.100000001
325 |       Topic: /jackal1/move_base/NavfnROS/plan
326 |       Unreliable: false
327 |       Value: false
328 |   Enabled: true
329 |   Global Options:
330 |     Background Color: 48; 48; 48
331 |     Default Light: true
332 |     Fixed Frame: map
333 |     Frame Rate: 30
334 |   Name: root
335 |   Tools:
336 |     - Class: rviz/Interact
337 |       Hide Inactive Objects: true
338 |     - Class: rviz/MoveCamera
339 |     - Class: rviz/Select
340 |     - Class: rviz/FocusCamera
341 |     - Class: rviz/Measure
342 |     - Class: rviz/SetInitialPose
343 |       Topic: /initialpose
344 |     - Class: rviz/SetGoal
345 |       Topic: /move_base_simple/goal
346 |     - Class: rviz/PublishPoint
347 |       Single click: true
348 |       Topic: /clicked_point
349 |   Value: true
350 |   Views:
351 |     Current:
352 |       Class: rviz/Orbit
353 |       Distance: 10.1151791
354 |       Enable Stereo Rendering:
355 |         Stereo Eye Separation: 0.0599999987
356 |         Stereo Focal Distance: 1
357 |         Swap Stereo Eyes: false
358 |         Value: false
359 |       Focal Point:
360 |         X: -0.801429391
361 |         Y: 0.163161471
362 |         Z: -1.11489451
363 |       Focal Shape Fixed Size: true
364 |       Focal Shape Size: 0.0500000007
365 |       Invert Z Axis: false
366 |       Name: Current View
367 |       Near Clip Distance: 0.00999999978
368 |       Pitch: 0.820400476
369 |       Target Frame: <Fixed Frame>
370 |       Value: Orbit (rviz)
371 |       Yaw: 3.13859034
372 |     Saved: ~
373 | Window Geometry:
374 |   Displays:
375 |     collapsed: false
376 |   Height: 1056
377 |   Hide Left Dock: false
378 |   Hide Right Dock: true
379 |   QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000336fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000336000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
380 |   Selection:
381 |     collapsed: false
382 |   Time:
383 |     collapsed: false
384 |   Tool Properties:
385 |     collapsed: false
386 |   Views:
387 |     collapsed: true
388 |   Width: 1855
389 |   X: 65
390 |   Y: 24
391 | 


--------------------------------------------------------------------------------
/centralised_auction/config/rviz4.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |       Splitter Ratio: 0.613888979
  9 |     Tree Height: 775
 10 |   - Class: rviz/Selection
 11 |     Name: Selection
 12 |   - Class: rviz/Tool Properties
 13 |     Expanded:
 14 |       - /2D Pose Estimate1
 15 |       - /2D Nav Goal1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.588679016
 19 |   - Class: rviz/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: ""
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.0299999993
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 50
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Alpha: 1
 51 |       Class: rviz/RobotModel
 52 |       Collision Enabled: false
 53 |       Enabled: true
 54 |       Links:
 55 |         All Links Enabled: true
 56 |         Expand Joint Details: false
 57 |         Expand Link Details: false
 58 |         Expand Tree: false
 59 |         Link Tree Style: Links in Alphabetic Order
 60 |         base_link:
 61 |           Alpha: 1
 62 |           Show Axes: false
 63 |           Show Trail: false
 64 |         chassis_link:
 65 |           Alpha: 1
 66 |           Show Axes: false
 67 |           Show Trail: false
 68 |           Value: true
 69 |         fenders_link:
 70 |           Alpha: 1
 71 |           Show Axes: false
 72 |           Show Trail: false
 73 |           Value: true
 74 |         front_camera:
 75 |           Alpha: 1
 76 |           Show Axes: false
 77 |           Show Trail: false
 78 |           Value: true
 79 |         front_camera_mount:
 80 |           Alpha: 1
 81 |           Show Axes: false
 82 |           Show Trail: false
 83 |         front_camera_optical:
 84 |           Alpha: 1
 85 |           Show Axes: false
 86 |           Show Trail: false
 87 |         front_camera_pivot:
 88 |           Alpha: 1
 89 |           Show Axes: false
 90 |           Show Trail: false
 91 |         front_left_wheel_link:
 92 |           Alpha: 1
 93 |           Show Axes: false
 94 |           Show Trail: false
 95 |           Value: true
 96 |         front_mount:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |         front_right_wheel_link:
101 |           Alpha: 1
102 |           Show Axes: false
103 |           Show Trail: false
104 |           Value: true
105 |         imu_link:
106 |           Alpha: 1
107 |           Show Axes: false
108 |           Show Trail: false
109 |         mid_mount:
110 |           Alpha: 1
111 |           Show Axes: false
112 |           Show Trail: false
113 |         navsat_link:
114 |           Alpha: 1
115 |           Show Axes: false
116 |           Show Trail: false
117 |           Value: true
118 |         rear_camera:
119 |           Alpha: 1
120 |           Show Axes: false
121 |           Show Trail: false
122 |           Value: true
123 |         rear_left_wheel_link:
124 |           Alpha: 1
125 |           Show Axes: false
126 |           Show Trail: false
127 |           Value: true
128 |         rear_mount:
129 |           Alpha: 1
130 |           Show Axes: false
131 |           Show Trail: false
132 |         rear_right_wheel_link:
133 |           Alpha: 1
134 |           Show Axes: false
135 |           Show Trail: false
136 |           Value: true
137 |       Name: Jackal0-RobotModel
138 |       Robot Description: jackal0/robot_description
139 |       TF Prefix: jackal0
140 |       Update Interval: 0
141 |       Value: true
142 |       Visual Enabled: true
143 |     - Alpha: 1
144 |       Buffer Length: 1
145 |       Class: rviz/Path
146 |       Color: 25; 255; 0
147 |       Enabled: true
148 |       Head Diameter: 0.300000012
149 |       Head Length: 0.200000003
150 |       Length: 0.300000012
151 |       Line Style: Lines
152 |       Line Width: 0.0299999993
153 |       Name: Jackal0-CompletedPath
154 |       Offset:
155 |         X: 0
156 |         Y: 0
157 |         Z: 0
158 |       Pose Color: 255; 85; 255
159 |       Pose Style: None
160 |       Radius: 0.0299999993
161 |       Shaft Diameter: 0.100000001
162 |       Shaft Length: 0.100000001
163 |       Topic: /jackal0/completed_paths
164 |       Unreliable: false
165 |       Value: true
166 |     - Alpha: 1
167 |       Buffer Length: 1
168 |       Class: rviz/Path
169 |       Color: 25; 255; 0
170 |       Enabled: true
171 |       Head Diameter: 0.100000001
172 |       Head Length: 0.100000001
173 |       Length: 0.300000012
174 |       Line Style: Lines
175 |       Line Width: 0.0299999993
176 |       Name: Jackal0-WaypointPath
177 |       Offset:
178 |         X: 0
179 |         Y: 0
180 |         Z: 0
181 |       Pose Color: 0; 255; 0
182 |       Pose Style: Arrows
183 |       Radius: 0.0299999993
184 |       Shaft Diameter: 0.0500000007
185 |       Shaft Length: 0.150000006
186 |       Topic: /jackal0/waypoint_paths
187 |       Unreliable: false
188 |       Value: true
189 |     - Alpha: 1
190 |       Class: rviz/RobotModel
191 |       Collision Enabled: false
192 |       Enabled: true
193 |       Links:
194 |         All Links Enabled: true
195 |         Expand Joint Details: false
196 |         Expand Link Details: false
197 |         Expand Tree: false
198 |         Link Tree Style: Links in Alphabetic Order
199 |         base_link:
200 |           Alpha: 1
201 |           Show Axes: false
202 |           Show Trail: false
203 |         chassis_link:
204 |           Alpha: 1
205 |           Show Axes: false
206 |           Show Trail: false
207 |           Value: true
208 |         fenders_link:
209 |           Alpha: 1
210 |           Show Axes: false
211 |           Show Trail: false
212 |           Value: true
213 |         front_camera:
214 |           Alpha: 1
215 |           Show Axes: false
216 |           Show Trail: false
217 |           Value: true
218 |         front_camera_mount:
219 |           Alpha: 1
220 |           Show Axes: false
221 |           Show Trail: false
222 |         front_camera_optical:
223 |           Alpha: 1
224 |           Show Axes: false
225 |           Show Trail: false
226 |         front_camera_pivot:
227 |           Alpha: 1
228 |           Show Axes: false
229 |           Show Trail: false
230 |         front_left_wheel_link:
231 |           Alpha: 1
232 |           Show Axes: false
233 |           Show Trail: false
234 |           Value: true
235 |         front_mount:
236 |           Alpha: 1
237 |           Show Axes: false
238 |           Show Trail: false
239 |         front_right_wheel_link:
240 |           Alpha: 1
241 |           Show Axes: false
242 |           Show Trail: false
243 |           Value: true
244 |         imu_link:
245 |           Alpha: 1
246 |           Show Axes: false
247 |           Show Trail: false
248 |         mid_mount:
249 |           Alpha: 1
250 |           Show Axes: false
251 |           Show Trail: false
252 |         navsat_link:
253 |           Alpha: 1
254 |           Show Axes: false
255 |           Show Trail: false
256 |           Value: true
257 |         rear_camera:
258 |           Alpha: 1
259 |           Show Axes: false
260 |           Show Trail: false
261 |           Value: true
262 |         rear_left_wheel_link:
263 |           Alpha: 1
264 |           Show Axes: false
265 |           Show Trail: false
266 |           Value: true
267 |         rear_mount:
268 |           Alpha: 1
269 |           Show Axes: false
270 |           Show Trail: false
271 |         rear_right_wheel_link:
272 |           Alpha: 1
273 |           Show Axes: false
274 |           Show Trail: false
275 |           Value: true
276 |       Name: Jackal1-RobotModel
277 |       Robot Description: jackal1/robot_description
278 |       TF Prefix: jackal1
279 |       Update Interval: 0
280 |       Value: true
281 |       Visual Enabled: true
282 |     - Alpha: 1
283 |       Buffer Length: 1
284 |       Class: rviz/Path
285 |       Color: 255; 0; 0
286 |       Enabled: true
287 |       Head Diameter: 0.100000001
288 |       Head Length: 0.100000001
289 |       Length: 0.300000012
290 |       Line Style: Lines
291 |       Line Width: 0.0299999993
292 |       Name: Jackal1-WaypointPath
293 |       Offset:
294 |         X: 0
295 |         Y: 0
296 |         Z: 0
297 |       Pose Color: 255; 0; 0
298 |       Pose Style: Arrows
299 |       Radius: 0.0299999993
300 |       Shaft Diameter: 0.0500000007
301 |       Shaft Length: 0.150000006
302 |       Topic: /jackal1/waypoint_paths
303 |       Unreliable: false
304 |       Value: true
305 |     - Alpha: 1
306 |       Buffer Length: 1
307 |       Class: rviz/Path
308 |       Color: 255; 0; 0
309 |       Enabled: true
310 |       Head Diameter: 0.300000012
311 |       Head Length: 0.200000003
312 |       Length: 0.300000012
313 |       Line Style: Lines
314 |       Line Width: 0.0299999993
315 |       Name: Jackal1-CompletedPath
316 |       Offset:
317 |         X: 0
318 |         Y: 0
319 |         Z: 0
320 |       Pose Color: 255; 85; 255
321 |       Pose Style: None
322 |       Radius: 0.0299999993
323 |       Shaft Diameter: 0.100000001
324 |       Shaft Length: 0.100000001
325 |       Topic: /jackal1/completed_paths
326 |       Unreliable: false
327 |       Value: true
328 |     - Class: rviz/Axes
329 |       Enabled: true
330 |       Length: 1
331 |       Name: Axes
332 |       Radius: 0.100000001
333 |       Reference Frame: <Fixed Frame>
334 |       Value: true
335 |   Enabled: true
336 |   Global Options:
337 |     Background Color: 48; 48; 48
338 |     Default Light: true
339 |     Fixed Frame: map
340 |     Frame Rate: 30
341 |   Name: root
342 |   Tools:
343 |     - Class: rviz/Interact
344 |       Hide Inactive Objects: true
345 |     - Class: rviz/MoveCamera
346 |     - Class: rviz/Select
347 |     - Class: rviz/FocusCamera
348 |     - Class: rviz/Measure
349 |     - Class: rviz/SetInitialPose
350 |       Topic: /initialpose
351 |     - Class: rviz/SetGoal
352 |       Topic: /move_base_simple/goal
353 |     - Class: rviz/PublishPoint
354 |       Single click: true
355 |       Topic: /clicked_point
356 |   Value: true
357 |   Views:
358 |     Current:
359 |       Class: rviz/Orbit
360 |       Distance: 9.33142185
361 |       Enable Stereo Rendering:
362 |         Stereo Eye Separation: 0.0599999987
363 |         Stereo Focal Distance: 1
364 |         Swap Stereo Eyes: false
365 |         Value: false
366 |       Focal Point:
367 |         X: 7.35214615
368 |         Y: 4.49784231
369 |         Z: 3.07835579
370 |       Focal Shape Fixed Size: true
371 |       Focal Shape Size: 0.0500000007
372 |       Invert Z Axis: false
373 |       Name: Current View
374 |       Near Clip Distance: 0.00999999978
375 |       Pitch: 1.56979632
376 |       Target Frame: <Fixed Frame>
377 |       Value: Orbit (rviz)
378 |       Yaw: 4.70859766
379 |     Saved: ~
380 | Window Geometry:
381 |   Displays:
382 |     collapsed: false
383 |   Height: 1056
384 |   Hide Left Dock: false
385 |   Hide Right Dock: true
386 |   QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
387 |   Selection:
388 |     collapsed: false
389 |   Time:
390 |     collapsed: false
391 |   Tool Properties:
392 |     collapsed: false
393 |   Views:
394 |     collapsed: true
395 |   Width: 1855
396 |   X: 65
397 |   Y: 24
398 | 


--------------------------------------------------------------------------------