├── First_Robo ├── CMakeLists.txt ├── config │ ├── diffdrive.yaml │ ├── hands.yaml │ ├── head.yaml │ └── joints.yaml ├── launch │ ├── gazebo.launch │ └── pro_move.launch ├── package.xml ├── rviz │ ├── urdf.rviz │ └── urdf.vcg └── urdf │ └── probot.urdf ├── PULL_REQUEST_TEMPLATE.md ├── README.md ├── Theory ├── Books │ └── Programming.Robots.with.ROS.A.Practical.Introduction.to.the.Robot.Operating.System.pdf ├── Creating a Workspace ├── Important Links.odt ├── Installation └── Understanding ROS nodes.odt ├── catkin_ws ├── .catkin_workspace ├── build │ ├── .built_by │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.10.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── CMakeRuleHashes.txt │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── clean_test_results.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── cmake.check_cache │ │ ├── download_extra_data.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── doxygen.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── progress.marks │ │ ├── run_tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ └── tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ ├── CTestConfiguration.ini │ ├── CTestCustom.cmake │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── atomic_configure │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── order_packages.cmake │ │ ├── order_packages.py │ │ ├── setup_cached.sh │ │ └── stamps │ │ │ └── Project │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ ├── order_packages.cmake.em.stamp │ │ │ └── package.xml.stamp │ ├── catkin_make.cache │ ├── cmake_install.cmake │ └── gtest │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── googlemock │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gmock.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gmock_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── gtest │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gtest.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gtest_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ └── cmake_install.cmake ├── devel │ ├── .built_by │ ├── .catkin │ ├── .rosinstall │ ├── _setup_util.py │ ├── cmake.lock │ ├── env.sh │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ └── setup.zsh └── src │ └── CMakeLists.txt ├── navigation ├── necessary_pkgs ├── turtlebot3_amcl │ ├── CMakeLists.txt │ ├── launch │ │ └── amcl.launch │ ├── package.xml │ ├── params │ │ └── amcl_params.yaml │ └── rviz │ │ └── amcl.rviz ├── turtlebot3_mapping │ ├── CMakeLists.txt │ ├── launch │ │ └── turtlebot3_mapping.launch │ ├── maps │ │ ├── new_map.pgm │ │ └── new_map.yaml │ ├── package.xml │ ├── params │ │ └── mapping_params.yaml │ └── rviz │ │ └── mapping.rviz └── turtlebot3_nav │ ├── CMakeLists.txt │ ├── launch │ ├── include │ │ ├── amcl.launch │ │ └── move_base.launch │ ├── rviz.launch │ ├── turtlebot3_mapping.launch │ └── turtlebot3_nav.launch │ ├── maps │ ├── new_map.pgm │ └── new_map.yaml │ ├── package.xml │ ├── params │ ├── amcl_params.yaml │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── map_nav_params │ │ ├── global_costmap_params.yaml │ │ └── local_costmap_params.yaml │ ├── mapping_params.yaml │ ├── move_base_params.yaml │ └── odom_nav_params │ │ ├── global_costmap_params.yaml │ │ └── local_costmap_params.yaml │ └── rviz │ └── nav.rviz ├── octomap ├── octomap_mapping │ ├── .gitignore │ ├── .travis.yml │ ├── README.md │ ├── octomap_mapping │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ └── octomap_server │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── color_nodelet_plugins.xml │ │ ├── include │ │ └── octomap_server │ │ │ ├── OctomapServer.h │ │ │ ├── OctomapServerMultilayer.h │ │ │ └── TrackingOctomapServer.h │ │ ├── launch │ │ ├── octomap_mapping.launch │ │ ├── octomap_mapping_nodelet.launch │ │ ├── octomap_tracking_client.launch │ │ └── octomap_tracking_server.launch │ │ ├── mainpage.dox │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── params │ │ └── default.yaml │ │ ├── scripts │ │ └── octomap_eraser_cli.py │ │ └── src │ │ ├── OctomapServer.cpp │ │ ├── OctomapServerMultilayer.cpp │ │ ├── TrackingOctomapServer.cpp │ │ ├── octomap_saver.cpp │ │ ├── octomap_server_multilayer.cpp │ │ ├── octomap_server_node.cpp │ │ ├── octomap_server_nodelet.cpp │ │ ├── octomap_server_static.cpp │ │ └── octomap_tracking_server_node.cpp └── octomap_ros │ ├── .travis.yml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── octomap_ros │ │ └── conversions.h │ ├── mainpage.dox │ ├── package.xml │ └── src │ ├── conversions.cpp │ └── test_octomap_ros.cpp ├── p3dx ├── control_p3dx │ ├── CMakeLists.txt │ ├── launch │ │ └── control_p3dx.launch │ ├── package.xml │ └── src │ │ └── overall_control.py ├── move_p3dx │ ├── CMakeLists.txt │ ├── launch │ │ └── move_p3dx.launch │ ├── package.xml │ └── src │ │ └── move_p3dx.py ├── p3dx_laserscan │ ├── CMakeLists.txt │ ├── launch │ │ └── p3dx_laserscan.launch │ ├── package.xml │ └── src │ │ └── laser.py ├── p3dx_obstacle_stop │ ├── CMakeLists.txt │ ├── launch │ │ └── obstacle_stop.launch │ ├── package.xml │ └── src │ │ └── obstacle_stop.py └── p3dx_odom │ ├── CMakeLists.txt │ ├── launch │ └── p3dx_odom.launch │ ├── package.xml │ └── src │ └── odom.py └── project_turtlesim ├── readme └── src ├── capture_turtle ├── capture_turtle │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── turtle_controller.cpython-38.pyc │ │ └── turtle_spawner.cpython-38.pyc │ ├── turtle_controller.py │ └── turtle_spawner.py ├── package.xml ├── resource │ └── capture_turtle ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── turtle_bringup ├── CMakeLists.txt ├── launch │ └── my_launcher.launch.py └── package.xml └── turtle_interfaces ├── CMakeLists.txt ├── msg └── TurtleID.msg └── package.xml /First_Robo/config/diffdrive.yaml: -------------------------------------------------------------------------------- 1 | type: "diff_drive_controller/DiffDriveController" 2 | publish_rate: 50 3 | 4 | left_wheel: ['base_to_lf', 'base_to_lb'] 5 | right_wheel: ['base_to_rf', 'base_to_rb'] 6 | 7 | wheel_separation: 0.44 8 | 9 | # Odometry covariances for the encoder output of the robot. These values should 10 | # be tuned to your robot's sample odometry data, but these values are a good place 11 | # to start 12 | pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] 13 | twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] 14 | 15 | # Top level frame (link) of the robot description 16 | base_frame_id: base_link 17 | 18 | # Velocity and acceleration limits for the robot 19 | linear: 20 | x: 21 | has_velocity_limits : true 22 | max_velocity : 0.2 # m/s 23 | has_acceleration_limits: true 24 | max_acceleration : 0.6 # m/s^2 25 | angular: 26 | z: 27 | has_velocity_limits : true 28 | max_velocity : 2.0 # rad/s 29 | has_acceleration_limits: true 30 | max_acceleration : 6.0 # rad/s^2 31 | -------------------------------------------------------------------------------- /First_Robo/config/hands.yaml: -------------------------------------------------------------------------------- 1 | type: "position_controllers/JointGroupPositionController" 2 | joints: 3 | - base_to_left_hand 4 | - base_to_right_hand 5 | -------------------------------------------------------------------------------- /First_Robo/config/head.yaml: -------------------------------------------------------------------------------- 1 | type: "position_controllers/JointPositionController" 2 | joint: base_to_neck 3 | -------------------------------------------------------------------------------- /First_Robo/config/joints.yaml: -------------------------------------------------------------------------------- 1 | # The joint state controller handles publishing transforms for any moving joints 2 | type: "joint_state_controller/JointStateController" 3 | publish_rate: 50 4 | -------------------------------------------------------------------------------- /First_Robo/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /First_Robo/launch/pro_move.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 14 | 17 | 20 | 23 | 24 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /First_Robo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | First_Robo 4 | 0.0.0 5 | The First_Robo package 6 | 7 | 8 | 9 | 10 | suyash 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | roscpp 56 | rospy 57 | std_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | controller_manager 62 | diff_drive_controller 63 | gazebo_ros 64 | gazebo_ros_control 65 | joint_state_controller 66 | position_controllers 67 | robot_state_publisher 68 | rqt_robot_steering 69 | rviz 70 | urdf_tutorial 71 | xacro 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | -------------------------------------------------------------------------------- /First_Robo/rviz/urdf.vcg: -------------------------------------------------------------------------------- 1 | Background\ ColorR=0.0941176 2 | Background\ ColorG=0 3 | Background\ ColorB=0.466667 4 | Fixed\ Frame=/base_link 5 | Target\ Frame= 6 | Grid.Alpha=0.5 7 | Grid.Cell\ Size=0.5 8 | Grid.ColorR=0.898039 9 | Grid.ColorG=0.898039 10 | Grid.ColorB=0.898039 11 | Grid.Enabled=1 12 | Grid.Line\ Style=0 13 | Grid.Line\ Width=0.03 14 | Grid.Normal\ Cell\ Count=0 15 | Grid.OffsetX=0 16 | Grid.OffsetY=0 17 | Grid.OffsetZ=0 18 | Grid.Plane=0 19 | Grid.Plane\ Cell\ Count=10 20 | Grid.Reference\ Frame= 21 | Robot\ Model.Alpha=1 22 | Robot\ Model.Collision\ Enabled=0 23 | Robot\ Model.Enabled=1 24 | Robot\ Model.Robot\ Description=robot_description 25 | Robot\ Model.TF\ Prefix= 26 | Robot\ Model.Update\ Interval=0 27 | Robot\ Model.Visual\ Enabled=1 28 | Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0 29 | Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0 30 | Robot\:\ Robot\ Model\ Link\ legShow\ Axes=0 31 | Robot\:\ Robot\ Model\ Link\ legShow\ Trail=0 32 | Tool\ 2D\ Nav\ GoalTopic=goal 33 | Tool\ 2D\ Pose\ EstimateTopic=initialpose 34 | Camera\ Type=rviz::OrbitViewController 35 | Camera\ Config=1.15779 3.76081 2.16475 0 0 0 36 | Property\ Grid\ State=selection=.Global StatusTopStatus;expanded=.Global Options,Grid.Enabled,Robot Model.Enabled;scrollpos=0,0;splitterpos=150,285;ispageselected=1 37 | [Display0] 38 | Name=Grid 39 | Package=rviz 40 | ClassName=rviz::GridDisplay 41 | [Display1] 42 | Name=Robot Model 43 | Package=rviz 44 | ClassName=rviz::RobotModelDisplay 45 | -------------------------------------------------------------------------------- /PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | ### Description 2 | Include a summary of the change and relevant motivation/context. 3 | List any dependencies that are required for this change. 4 | 5 | Fixes # [ISSUE NUMBER HERE] 6 | 7 | ### Type of Change: 8 | **Delete irrelevant options.** 9 | 10 | - Code 11 | - Documentation 12 | 13 | **Code/Quality Assurance Only** 14 | - Bug fix (non-breaking change which fixes an issue) 15 | - This change requires a documentation update (software upgrade on readme file) 16 | - New feature (non-breaking change which adds functionality pre-approved by maintainers) 17 | 18 | ### Checklist: 19 | **Delete irrelevant options.** 20 | 21 | - [ ] My PR follows the style guidelines of this project 22 | - [ ] I have commented my code or provided relevant documentation 23 | - [ ] I have made corresponding changes to the documentation 24 | - [ ] Any dependent changes have been merged 25 | 26 | **Code/Quality Assurance Only** 27 | - [ ] My changes generate no new warnings 28 | - [ ] My PR currently breaks something (fix or feature that would cause existing functionality to not work as expected) 29 | - [ ] I have added tests that prove my fix is effective 30 | - [ ] New and existing unit tests pass locally with my changes 31 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Getting Started with ROS and Gazebo 2 | 3 | Q. What is ROS? 4 | A. ROS is an open-source software. ROS in complete terms is Robots Operating System. Though in full terms it is not a complete Operating System but it acts similar to an operating system. There are several nodes which control several commands and process and fially outputs a result which is directly sent to the Robot. ROS acts a CPU for several applications related to robots like MOVEit, Gazebo to work. 5 | 6 | Q. What is Gazebo? 7 | A. Many times we cannot use a real robot for testing purposes as there may be some damage to the robot while testing and also loss of time and hardwork. Therefore we use a simulated world where we use a simulated Robot and try our code on such a robot. Such a simulated environment is called Gazebo. 8 | 9 | Installation of ROS: 10 | 11 | At the time of writing there qare two versions of ROS available 12 | 13 | 1) ROS Melodic 14 | 2) ROS Noetic 15 | 16 | Installation of ROS Melodic: 17 | 18 | ROS Melodic needs to installed on Ubuntu 18.04 19 | The instructions for it are: http://wiki.ros.org/melodic/Installation/Ubuntu 20 | 21 | similarly 22 | 23 | ROS Noetic needs to be installed on Ubunuu 20 24 | The instructions for it are: http://wiki.ros.org/noetic/Installation/Ubuntu 25 | 26 | Installation of Ubuntu Software: 27 | 28 | There are two ways to do so: 29 | 30 | 1) Using VM: https://www.youtube.com/watch?v=QbmRXJJKsvs 31 | 2) Dual booting your Pc: https://www.youtube.com/watch?v=u5QyjHIYwTQ 32 | 33 | These methods are for Ubuntu 18.04 similarly you can do for 20.04 by downloading corresponding zip file for 20.04 34 | 35 | I would prefer to follow the second method as we can use our own GPU in it but since many laptops don't have enough RAM for dual booting you can go for the first method. 36 | 37 | Q. What are the sources from studying ROS 38 | A. The official ROS site is where you get everything but the problem is that as a beginner you are not able to understand it clearly therefore I prefer you to visit (The Construct)[https://www.youtube.com/channel/UCt6Lag-vv25fTX3e11mVY1Q] youtube channel. They have amazing videos. See their playlists thouroughly. 39 | 40 | Other instructions are present in the theory folder of this Repo. 41 | 42 | Q. Why study ROS? 43 | A. It's completely a personal decision to study ROS but ROS is nothing but a new skill to learn and in situations like that of COVID-19 people, doctors and companies are more relying towards a more human-free environment i.e. we are preferring robots also the amount of ROS developers in the world are very less compared to other fields like that of WebD,AppD, ML/DL. Further it is predicted that there will be a huge demand for Robots in the nearing future. 44 | 45 | Q. Do I have any jobs related to ROS? 46 | A. I have researched a lot while learning ROS and found out that most of the world's top companies have their own Robots development sector. For example Amazon and Google spend a lot of their money on research in Robotics and all these companies use ROS as their software. Of course 2-3 months course on ROS won't make you eligible in these companies, you need to have a good specialization in this course also a MS degree from foreign universites is always a preffered option. 47 | 48 | Q. Whom should I contact for doubts? 49 | A. You can contact me for ROS related doubts or even having some light talks on any topic. 50 | My email id:- thakur.6@iitj.ac.in 51 | phone no. 9769252333 52 | 53 | -------------------------------------------------------------------------------- /Theory/Books/Programming.Robots.with.ROS.A.Practical.Introduction.to.the.Robot.Operating.System.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/Theory/Books/Programming.Robots.with.ROS.A.Practical.Introduction.to.the.Robot.Operating.System.pdf -------------------------------------------------------------------------------- /Theory/Creating a Workspace: -------------------------------------------------------------------------------- 1 | Creating a Catkin Workspace: 2 | This is necessary as this is the folder where all the packages in Ros will reside. 3 | All the work done by you in Ros will reside in this catkin workspace. 4 | 5 | Steps to create: 6 | source /opt/ros/noetic/setup.bash 7 | mkdir -p ~/catkin_ws/src 8 | cd ~/catkin_ws/ 9 | catkin_make 10 | source devel/setup.bash 11 | 12 | Things to Remember: 13 | 1) After any change in the catkin workspace(e.g. after cloning a ROS package remember to catkin_make) 14 | 2) Remember to source devel/setup.bash after every catkin_make 15 | 16 | After opening a new terminal remember to enter: source ~/catkin_ws/devel/setup.bash 17 | You can also add this line to your .bashrc this will save you from entering this line in a new terminal 18 | But I highly recommend to add this line in every new termnal you open. 19 | -------------------------------------------------------------------------------- /Theory/Important Links.odt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/Theory/Important Links.odt -------------------------------------------------------------------------------- /Theory/Installation: -------------------------------------------------------------------------------- 1 | For Ubuntu 18.04 install Ros Melodic 2 | For Ubuntu 20 install Ros Noetic 3 | 4 | Installation Guide for Ros Melodic: 5 | http://wiki.ros.org/melodic/Installation/Ubuntu 6 | 7 | Installation Guide for Ros Noetic: 8 | http://wiki.ros.org/noetic/Installation/Ubuntu 9 | 10 | Check Your installation: 11 | By Typing Roscore in terminal 12 | 13 | Install Catkin Tools: 14 | https://catkin-tools.readthedocs.io/en/latest/installing.html 15 | -------------------------------------------------------------------------------- /Theory/Understanding ROS nodes.odt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/Theory/Understanding ROS nodes.odt -------------------------------------------------------------------------------- /catkin_ws/.catkin_workspace: -------------------------------------------------------------------------------- 1 | # This file currently only serves to mark the location of a catkin workspace for tool integration 2 | -------------------------------------------------------------------------------- /catkin_ws/build/.built_by: -------------------------------------------------------------------------------- 1 | catkin_make -------------------------------------------------------------------------------- /catkin_ws/build/CATKIN_IGNORE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/catkin_ws/build/CATKIN_IGNORE -------------------------------------------------------------------------------- /catkin_ws/build/CMakeFiles/3.10.2/CMakeCCompiler.cmake: -------------------------------------------------------------------------------- 1 | set(CMAKE_C_COMPILER "/usr/bin/cc") 2 | set(CMAKE_C_COMPILER_ARG1 "") 3 | set(CMAKE_C_COMPILER_ID "GNU") 4 | set(CMAKE_C_COMPILER_VERSION "7.5.0") 5 | set(CMAKE_C_COMPILER_VERSION_INTERNAL "") 6 | set(CMAKE_C_COMPILER_WRAPPER "") 7 | set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11") 8 | set(CMAKE_C_COMPILE_FEATURES "c_std_90;c_function_prototypes;c_std_99;c_restrict;c_variadic_macros;c_std_11;c_static_assert") 9 | set(CMAKE_C90_COMPILE_FEATURES "c_std_90;c_function_prototypes") 10 | set(CMAKE_C99_COMPILE_FEATURES "c_std_99;c_restrict;c_variadic_macros") 11 | set(CMAKE_C11_COMPILE_FEATURES "c_std_11;c_static_assert") 12 | 13 | set(CMAKE_C_PLATFORM_ID "Linux") 14 | set(CMAKE_C_SIMULATE_ID "") 15 | set(CMAKE_C_SIMULATE_VERSION "") 16 | 17 | 18 | 19 | set(CMAKE_AR "/usr/bin/ar") 20 | set(CMAKE_C_COMPILER_AR "/usr/bin/gcc-ar-7") 21 | set(CMAKE_RANLIB "/usr/bin/ranlib") 22 | set(CMAKE_C_COMPILER_RANLIB "/usr/bin/gcc-ranlib-7") 23 | set(CMAKE_LINKER "/usr/bin/ld") 24 | set(CMAKE_COMPILER_IS_GNUCC 1) 25 | set(CMAKE_C_COMPILER_LOADED 1) 26 | set(CMAKE_C_COMPILER_WORKS TRUE) 27 | set(CMAKE_C_ABI_COMPILED TRUE) 28 | set(CMAKE_COMPILER_IS_MINGW ) 29 | set(CMAKE_COMPILER_IS_CYGWIN ) 30 | if(CMAKE_COMPILER_IS_CYGWIN) 31 | set(CYGWIN 1) 32 | set(UNIX 1) 33 | endif() 34 | 35 | set(CMAKE_C_COMPILER_ENV_VAR "CC") 36 | 37 | if(CMAKE_COMPILER_IS_MINGW) 38 | set(MINGW 1) 39 | endif() 40 | set(CMAKE_C_COMPILER_ID_RUN 1) 41 | set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m) 42 | set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC) 43 | set(CMAKE_C_LINKER_PREFERENCE 10) 44 | 45 | # 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This file is configured by CMake automatically as DartConfiguration.tcl 2 | # If you choose not to use CMake, this file may be hand configured, by 3 | # filling in the required variables. 4 | 5 | 6 | # Configuration directories and files 7 | SourceDirectory: /home/vedthakur/catkin_ws/src 8 | BuildDirectory: /home/vedthakur/catkin_ws/build 9 | 10 | # Where to place the cost data store 11 | CostDataFile: 12 | 13 | # Site is something like machine.domain, i.e. pragmatic.crd 14 | Site: vedthakur 15 | 16 | # Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++ 17 | BuildName: 18 | 19 | # Subprojects 20 | LabelsForSubprojects: 21 | 22 | # Submission information 23 | IsCDash: 24 | CDashVersion: 25 | QueryCDashVersion: 26 | DropSite: 27 | DropLocation: 28 | DropSiteUser: 29 | DropSitePassword: 30 | DropSiteMode: 31 | DropMethod: 32 | TriggerSite: 33 | ScpCommand: 34 | 35 | # Dashboard start time 36 | NightlyStartTime: 37 | 38 | # Commands for the build/test/submit cycle 39 | ConfigureCommand: "/usr/bin/cmake" "/home/vedthakur/catkin_ws/src" 40 | MakeCommand: 41 | DefaultCTestConfigurationType: 42 | 43 | # version control 44 | UpdateVersionOnly: 45 | 46 | # CVS options 47 | # Default is "-d -P -A" 48 | CVSCommand: 49 | CVSUpdateOptions: 50 | 51 | # Subversion options 52 | SVNCommand: 53 | SVNOptions: 54 | SVNUpdateOptions: 55 | 56 | # Git options 57 | GITCommand: 58 | GITInitSubmodules: 59 | GITUpdateOptions: 60 | GITUpdateCustom: 61 | 62 | # Perforce options 63 | P4Command: 64 | P4Client: 65 | P4Options: 66 | P4UpdateOptions: 67 | P4UpdateCustom: 68 | 69 | # Generic update command 70 | UpdateCommand: 71 | UpdateOptions: 72 | UpdateType: 73 | 74 | # Compiler info 75 | Compiler: /usr/bin/c++ 76 | CompilerVersion: 7.5.0 77 | 78 | # Dynamic analysis (MemCheck) 79 | PurifyCommand: 80 | ValgrindCommand: 81 | ValgrindCommandOptions: 82 | MemoryCheckType: 83 | MemoryCheckSanitizerOptions: 84 | MemoryCheckCommand: 85 | MemoryCheckCommandOptions: 86 | MemoryCheckSuppressionFile: 87 | 88 | # Coverage 89 | CoverageCommand: 90 | CoverageExtraFlags: 91 | 92 | # Cluster commands 93 | SlurmBatchCommand: 94 | SlurmRunCommand: 95 | 96 | # Testing options 97 | # TimeOut is the amount of time in seconds to wait for processes 98 | # to complete during testing. After TimeOut seconds, the 99 | # process will be summarily terminated. 100 | # Currently set to 25 minutes 101 | TimeOut: 102 | 103 | # During parallel testing CTest will not start a new test if doing 104 | # so would cause the system load to exceed this value. 105 | TestLoad: 106 | 107 | UseLaunchers: 108 | CurlOptions: 109 | # warning, if you add new options here that have to do with submit, 110 | # you have to update cmCTestSubmitCommand.cxx 111 | 112 | # For CTest submissions that timeout, these options 113 | # specify behavior for retrying the submission 114 | CTestSubmitRetryDelay: 115 | CTestSubmitRetryCount: 116 | -------------------------------------------------------------------------------- /catkin_ws/build/CTestCustom.cmake: -------------------------------------------------------------------------------- 1 | set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) 2 | set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) 3 | -------------------------------------------------------------------------------- /catkin_ws/build/CTestTestfile.cmake: -------------------------------------------------------------------------------- 1 | # CMake generated Testfile for 2 | # Source directory: /home/vedthakur/catkin_ws/src 3 | # Build directory: /home/vedthakur/catkin_ws/build 4 | # 5 | # This file includes the relevant testing commands required for 6 | # testing this directory and lists subdirectories to be tested as well. 7 | subdirs("gtest") 8 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/vedthakur/catkin_ws/devel/setup.sh 3 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/vedthakur/catkin_ws/devel} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/setup.sh.in 3 | 4 | # Sets various environment variables and sources additional environment hooks. 5 | # It tries it's best to undo changes from a previously sourced setup file before. 6 | # Supported command line options: 7 | # --extend: skips the undoing of changes from a previously sourced setup file 8 | # --local: only considers this workspace but not the chained ones 9 | # In plain sh shell which doesn't support arguments for sourced scripts you can 10 | # set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. 11 | 12 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 13 | # or fall back to the destination set at configure time 14 | : ${_CATKIN_SETUP_DIR:=/home/vedthakur/catkin_ws/devel} 15 | _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" 16 | unset _CATKIN_SETUP_DIR 17 | 18 | if [ ! -f "$_SETUP_UTIL" ]; then 19 | echo "Missing Python script: $_SETUP_UTIL" 20 | return 22 21 | fi 22 | 23 | # detect if running on Darwin platform 24 | _UNAME=`uname -s` 25 | _IS_DARWIN=0 26 | if [ "$_UNAME" = "Darwin" ]; then 27 | _IS_DARWIN=1 28 | fi 29 | unset _UNAME 30 | 31 | # make sure to export all environment variables 32 | export CMAKE_PREFIX_PATH 33 | if [ $_IS_DARWIN -eq 0 ]; then 34 | export LD_LIBRARY_PATH 35 | else 36 | export DYLD_LIBRARY_PATH 37 | fi 38 | unset _IS_DARWIN 39 | export PATH 40 | export PKG_CONFIG_PATH 41 | export PYTHONPATH 42 | 43 | # remember type of shell if not already set 44 | if [ -z "$CATKIN_SHELL" ]; then 45 | CATKIN_SHELL=sh 46 | fi 47 | 48 | # invoke Python script to generate necessary exports of environment variables 49 | # use TMPDIR if it exists, otherwise fall back to /tmp 50 | if [ -d "${TMPDIR:-}" ]; then 51 | _TMPDIR="${TMPDIR}" 52 | else 53 | _TMPDIR=/tmp 54 | fi 55 | _SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` 56 | unset _TMPDIR 57 | if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then 58 | echo "Could not create temporary file: $_SETUP_TMP" 59 | return 1 60 | fi 61 | CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" 62 | _RC=$? 63 | if [ $_RC -ne 0 ]; then 64 | if [ $_RC -eq 2 ]; then 65 | echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" 66 | else 67 | echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" 68 | fi 69 | unset _RC 70 | unset _SETUP_UTIL 71 | rm -f "$_SETUP_TMP" 72 | unset _SETUP_TMP 73 | return 1 74 | fi 75 | unset _RC 76 | unset _SETUP_UTIL 77 | . "$_SETUP_TMP" 78 | rm -f "$_SETUP_TMP" 79 | unset _SETUP_TMP 80 | 81 | # source all environment hooks 82 | _i=0 83 | while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do 84 | eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i 85 | unset _CATKIN_ENVIRONMENT_HOOKS_$_i 86 | eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 87 | unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 88 | # set workspace for environment hook 89 | CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace 90 | . "$_envfile" 91 | unset CATKIN_ENV_HOOK_WORKSPACE 92 | _i=$((_i + 1)) 93 | done 94 | unset _i 95 | 96 | unset _CATKIN_ENVIRONMENT_HOOKS_COUNT 97 | -------------------------------------------------------------------------------- /catkin_ws/build/atomic_configure/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin/catkin_generated/version/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "catkin") 2 | set(catkin_VERSION "0.7.26") 3 | set(catkin_MAINTAINER "Dirk Thomas ") 4 | set(catkin_PACKAGE_FORMAT "3") 5 | set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") 6 | set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 7 | set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") 8 | set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") 9 | set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 10 | set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") 11 | set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") 12 | set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") 13 | set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") 14 | set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 15 | set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") 16 | set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") 17 | set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 18 | set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") 19 | set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") 20 | set(catkin_DOC_DEPENDS ) 21 | set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") 22 | set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") 23 | set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") 24 | set(catkin_DEPRECATED "") -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/env_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/generate_cached_setup.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | from __future__ import print_function 3 | 4 | import os 5 | import stat 6 | import sys 7 | 8 | # find the import for catkin's python package - either from source space or from an installed underlay 9 | if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): 10 | sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) 11 | try: 12 | from catkin.environment_cache import generate_environment_script 13 | except ImportError: 14 | # search for catkin package in all workspaces and prepend to path 15 | for workspace in '/opt/ros/melodic'.split(';'): 16 | python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') 17 | if os.path.isdir(os.path.join(python_path, 'catkin')): 18 | sys.path.insert(0, python_path) 19 | break 20 | from catkin.environment_cache import generate_environment_script 21 | 22 | code = generate_environment_script('/home/vedthakur/catkin_ws/devel/env.sh') 23 | 24 | output_filename = '/home/vedthakur/catkin_ws/build/catkin_generated/setup_cached.sh' 25 | with open(output_filename, 'w') as f: 26 | # print('Generate script for cached setup "%s"' % output_filename) 27 | f.write('\n'.join(code)) 28 | 29 | mode = os.stat(output_filename).st_mode 30 | os.chmod(output_filename, mode | stat.S_IXUSR) 31 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/vedthakur/catkin_ws/install/setup.sh 3 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/vedthakur/catkin_ws/install} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/setup.sh.in 3 | 4 | # Sets various environment variables and sources additional environment hooks. 5 | # It tries it's best to undo changes from a previously sourced setup file before. 6 | # Supported command line options: 7 | # --extend: skips the undoing of changes from a previously sourced setup file 8 | # --local: only considers this workspace but not the chained ones 9 | # In plain sh shell which doesn't support arguments for sourced scripts you can 10 | # set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. 11 | 12 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 13 | # or fall back to the destination set at configure time 14 | : ${_CATKIN_SETUP_DIR:=/home/vedthakur/catkin_ws/install} 15 | _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" 16 | unset _CATKIN_SETUP_DIR 17 | 18 | if [ ! -f "$_SETUP_UTIL" ]; then 19 | echo "Missing Python script: $_SETUP_UTIL" 20 | return 22 21 | fi 22 | 23 | # detect if running on Darwin platform 24 | _UNAME=`uname -s` 25 | _IS_DARWIN=0 26 | if [ "$_UNAME" = "Darwin" ]; then 27 | _IS_DARWIN=1 28 | fi 29 | unset _UNAME 30 | 31 | # make sure to export all environment variables 32 | export CMAKE_PREFIX_PATH 33 | if [ $_IS_DARWIN -eq 0 ]; then 34 | export LD_LIBRARY_PATH 35 | else 36 | export DYLD_LIBRARY_PATH 37 | fi 38 | unset _IS_DARWIN 39 | export PATH 40 | export PKG_CONFIG_PATH 41 | export PYTHONPATH 42 | 43 | # remember type of shell if not already set 44 | if [ -z "$CATKIN_SHELL" ]; then 45 | CATKIN_SHELL=sh 46 | fi 47 | 48 | # invoke Python script to generate necessary exports of environment variables 49 | # use TMPDIR if it exists, otherwise fall back to /tmp 50 | if [ -d "${TMPDIR:-}" ]; then 51 | _TMPDIR="${TMPDIR}" 52 | else 53 | _TMPDIR=/tmp 54 | fi 55 | _SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` 56 | unset _TMPDIR 57 | if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then 58 | echo "Could not create temporary file: $_SETUP_TMP" 59 | return 1 60 | fi 61 | CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" 62 | _RC=$? 63 | if [ $_RC -ne 0 ]; then 64 | if [ $_RC -eq 2 ]; then 65 | echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" 66 | else 67 | echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" 68 | fi 69 | unset _RC 70 | unset _SETUP_UTIL 71 | rm -f "$_SETUP_TMP" 72 | unset _SETUP_TMP 73 | return 1 74 | fi 75 | unset _RC 76 | unset _SETUP_UTIL 77 | . "$_SETUP_TMP" 78 | rm -f "$_SETUP_TMP" 79 | unset _SETUP_TMP 80 | 81 | # source all environment hooks 82 | _i=0 83 | while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do 84 | eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i 85 | unset _CATKIN_ENVIRONMENT_HOOKS_$_i 86 | eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 87 | unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 88 | # set workspace for environment hook 89 | CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace 90 | . "$_envfile" 91 | unset CATKIN_ENV_HOOK_WORKSPACE 92 | _i=$((_i + 1)) 93 | done 94 | unset _i 95 | 96 | unset _CATKIN_ENVIRONMENT_HOOKS_COUNT 97 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/order_packages.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/em/order_packages.cmake.em 2 | 3 | set(CATKIN_ORDERED_PACKAGES "") 4 | set(CATKIN_ORDERED_PACKAGE_PATHS "") 5 | set(CATKIN_ORDERED_PACKAGES_IS_META "") 6 | set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") 7 | 8 | set(CATKIN_MESSAGE_GENERATORS ) 9 | 10 | set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") 11 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/order_packages.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/order_packages.context.py.in 2 | source_root_dir = '/home/vedthakur/catkin_ws/src' 3 | whitelisted_packages = ''.split(';') if '' != '' else [] 4 | blacklisted_packages = ''.split(';') if '' != '' else [] 5 | underlay_workspaces = '/opt/ros/melodic'.split(';') if '/opt/ros/melodic' != '' else [] 6 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/setup_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/python/catkin/environment_cache.py 3 | 4 | # based on a snapshot of the environment before and after calling the setup script 5 | # it emulates the modifications of the setup script without recurring computations 6 | 7 | # new environment variables 8 | 9 | # modified environment variables 10 | export CMAKE_PREFIX_PATH="/home/vedthakur/catkin_ws/devel:$CMAKE_PREFIX_PATH" 11 | export PWD="/home/vedthakur/catkin_ws/build" 12 | export ROSLISP_PACKAGE_DIRECTORIES="/home/vedthakur/catkin_ws/devel/share/common-lisp" 13 | export ROS_PACKAGE_PATH="/home/vedthakur/catkin_ws/src:$ROS_PACKAGE_PATH" -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/em/order_packages.cmake.em 2 | @{ 3 | import os 4 | try: 5 | from catkin_pkg.cmake import get_metapackage_cmake_template_path 6 | except ImportError as e: 7 | raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 8 | try: 9 | from catkin_pkg.topological_order import topological_order 10 | except ImportError as e: 11 | raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 12 | try: 13 | from catkin_pkg.package import InvalidPackage 14 | except ImportError as e: 15 | raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 16 | # vars defined in order_packages.context.py.in 17 | try: 18 | ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) 19 | except InvalidPackage as e: 20 | print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) 21 | ordered_packages = [] 22 | fatal_error = False 23 | }@ 24 | 25 | set(CATKIN_ORDERED_PACKAGES "") 26 | set(CATKIN_ORDERED_PACKAGE_PATHS "") 27 | set(CATKIN_ORDERED_PACKAGES_IS_META "") 28 | set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") 29 | @[for path, package in ordered_packages]@ 30 | @[if path is None]@ 31 | message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") 32 | @{ 33 | fatal_error = True 34 | }@ 35 | @[elif package.name != 'catkin']@ 36 | list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") 37 | list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") 38 | list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") 39 | @{ 40 | package.evaluate_conditions(os.environ) 41 | try: 42 | build_type = package.get_build_type() 43 | except InvalidPackage: 44 | build_type = None 45 | }@ 46 | @[if build_type is None]@ 47 | message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") 48 | @{ 49 | fatal_error = True 50 | }@ 51 | @[else]@ 52 | list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") 53 | @[end if]@ 54 | @{ 55 | deprecated = [e for e in package.exports if e.tagname == 'deprecated'] 56 | }@ 57 | @[if deprecated]@ 58 | message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") 59 | @[end if]@ 60 | @[end if]@ 61 | @[end for]@ 62 | 63 | @[if not fatal_error]@ 64 | @{ 65 | message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] 66 | }@ 67 | set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) 68 | @[end if]@ 69 | 70 | set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") 71 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/stamps/Project/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | catkin 7 | 0.7.26 8 | Low-level build system macros and infrastructure for ROS. 9 | Dirk Thomas 10 | BSD 11 | 12 | http://wiki.ros.org/catkin 13 | https://github.com/ros/catkin/issues 14 | https://github.com/ros/catkin 15 | 16 | Troy Straszheim 17 | Morten Kjaergaard 18 | Brian Gerkey 19 | Dirk Thomas 20 | 21 | python-argparse 22 | python-catkin-pkg 23 | python3-catkin-pkg 24 | python-empy 25 | python3-empy 26 | 27 | cmake 28 | python-setuptools 29 | python3-setuptools 30 | 31 | cmake 32 | python3-setuptools 33 | 34 | google-mock 35 | gtest 36 | python-nose 37 | python3-nose 38 | 39 | python-mock 40 | python3-mock 41 | python-nose 42 | python3-nose 43 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_make.cache: -------------------------------------------------------------------------------- 1 | 2 | -DCATKIN_DEVEL_PREFIX=/home/vedthakur/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/vedthakur/catkin_ws/install -G Unix Makefiles -------------------------------------------------------------------------------- /catkin_ws/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake: -------------------------------------------------------------------------------- 1 | # 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"$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /catkin_ws/devel/setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/setup.sh.in 3 | 4 | # Sets various environment variables and sources additional environment hooks. 5 | # It tries it's best to undo changes from a previously sourced setup file before. 6 | # Supported command line options: 7 | # --extend: skips the undoing of changes from a previously sourced setup file 8 | # --local: only considers this workspace but not the chained ones 9 | # In plain sh shell which doesn't support arguments for sourced scripts you can 10 | # set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. 11 | 12 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 13 | # or fall back to the destination set at configure time 14 | : ${_CATKIN_SETUP_DIR:=/home/vedthakur/catkin_ws/devel} 15 | _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" 16 | unset _CATKIN_SETUP_DIR 17 | 18 | if [ ! -f "$_SETUP_UTIL" ]; then 19 | echo "Missing Python script: $_SETUP_UTIL" 20 | return 22 21 | fi 22 | 23 | # detect if running on Darwin platform 24 | _UNAME=`uname -s` 25 | _IS_DARWIN=0 26 | if [ "$_UNAME" = "Darwin" ]; then 27 | _IS_DARWIN=1 28 | fi 29 | unset _UNAME 30 | 31 | # make sure to export all environment variables 32 | export CMAKE_PREFIX_PATH 33 | if [ $_IS_DARWIN -eq 0 ]; then 34 | export LD_LIBRARY_PATH 35 | else 36 | export DYLD_LIBRARY_PATH 37 | fi 38 | unset _IS_DARWIN 39 | export PATH 40 | export PKG_CONFIG_PATH 41 | export PYTHONPATH 42 | 43 | # remember type of shell if not already set 44 | if [ -z "$CATKIN_SHELL" ]; then 45 | CATKIN_SHELL=sh 46 | fi 47 | 48 | # invoke Python script to generate necessary exports of environment variables 49 | # use TMPDIR if it exists, otherwise fall back to /tmp 50 | if [ -d "${TMPDIR:-}" ]; then 51 | _TMPDIR="${TMPDIR}" 52 | else 53 | _TMPDIR=/tmp 54 | fi 55 | _SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` 56 | unset _TMPDIR 57 | if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then 58 | echo "Could not create temporary file: $_SETUP_TMP" 59 | return 1 60 | fi 61 | CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" 62 | _RC=$? 63 | if [ $_RC -ne 0 ]; then 64 | if [ $_RC -eq 2 ]; then 65 | echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" 66 | else 67 | echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" 68 | fi 69 | unset _RC 70 | unset _SETUP_UTIL 71 | rm -f "$_SETUP_TMP" 72 | unset _SETUP_TMP 73 | return 1 74 | fi 75 | unset _RC 76 | unset _SETUP_UTIL 77 | . "$_SETUP_TMP" 78 | rm -f "$_SETUP_TMP" 79 | unset _SETUP_TMP 80 | 81 | # source all environment hooks 82 | _i=0 83 | while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do 84 | eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i 85 | unset _CATKIN_ENVIRONMENT_HOOKS_$_i 86 | eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 87 | unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE 88 | # set workspace for environment hook 89 | CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace 90 | . "$_envfile" 91 | unset CATKIN_ENV_HOOK_WORKSPACE 92 | _i=$((_i + 1)) 93 | done 94 | unset _i 95 | 96 | unset _CATKIN_ENVIRONMENT_HOOKS_COUNT 97 | -------------------------------------------------------------------------------- /catkin_ws/devel/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /catkin_ws/src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/melodic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /navigation/necessary_pkgs: -------------------------------------------------------------------------------- 1 | To successfully install mapping: 2 | 1)clone gmapping pkg 3 | 2)clone openslam_gmapping pkg 4 | 5 | for navigation: 6 | 1)clone navigation pkg 7 | 2)clone navigation_msgs pkg 8 | 3)clone tf2_sensror_msgs pkg 9 | 10 | for octomap: 11 | 1)clone octomap_mapping pkg 12 | 2)clone octomap_ros pkg 13 | -------------------------------------------------------------------------------- /navigation/turtlebot3_amcl/launch/amcl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /navigation/turtlebot3_amcl/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot3_amcl 4 | 0.0.0 5 | The turtlebot3_amcl package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /navigation/turtlebot3_amcl/params/amcl_params.yaml: -------------------------------------------------------------------------------- 1 | odom_model_type: diff 2 | odom_alpha5: 0.1 3 | transform_tolerance: 0.2 4 | gui_publish_rate: 10.0 5 | laser_max_beams: 30 6 | min_particles: 500 7 | max_particles: 5000 8 | kld_err: 0.05 9 | kld_z: 0.99 10 | odom_alpha1: 0.2 11 | odom_alpha2: 0.2 12 | odom_alpha3: 0.8 13 | odom_alpha4: 0.2 14 | lazer_z_hit: 0.5 15 | laser_z_max: 0.05 16 | lazer_z_short: 0.05 17 | lazer_z_rand: 0.5 18 | laser_sigma_hit: 0.2 19 | laser_lambda_short: 0.1 20 | laser_model_type: "likelihood_field" 21 | laser_likelihood_max_dist: 2.0 22 | update_min_d: 0.2 23 | update_min_a: 0.5 24 | odom_frame_id: odom 25 | resample_interval: 1 26 | transform_tolerance: 0.1 27 | recovery_alpha_slow: 0.0 28 | recovery_alpha_fast: 0.0 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /navigation/turtlebot3_mapping/launch/turtlebot3_mapping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /navigation/turtlebot3_mapping/maps/new_map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/navigation/turtlebot3_mapping/maps/new_map.pgm -------------------------------------------------------------------------------- /navigation/turtlebot3_mapping/maps/new_map.yaml: -------------------------------------------------------------------------------- 1 | image: new_map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /navigation/turtlebot3_mapping/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot3_mapping 4 | 0.0.0 5 | The turtlebot3_mapping package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /navigation/turtlebot3_mapping/params/mapping_params.yaml: -------------------------------------------------------------------------------- 1 | base_frame: base_link 2 | odom_frame: odom 3 | map_update_interval: 5.0 4 | maxUrange: 16.0 5 | sigma: 0.05 6 | kernelSize: 1 7 | lstep: 0.05 8 | astep: 0.05 9 | iterations: 5 10 | lsigma: 0.075 11 | oagain: 3.0 12 | lskip: 0 13 | srr: 0.1 14 | srt: 0.2 15 | str: o.1 16 | stt: 0.2 17 | linearUpdate: 1.0 18 | angularUpdate: 0.5 19 | temporalUpdate: 3.0 20 | resampleThreshold: 0.5 21 | particles: 30 22 | xmin: -50.0 23 | ymin: -50.0 24 | xmax: 50.0 25 | ymax: 50.0 26 | delta: 0.05 27 | llsamplerange: 0.01 28 | llsamplestep: 0.01 29 | lasamplerange: 0.005 30 | lasamplestep: 0.05 31 | 32 | 33 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/launch/include/amcl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/launch/include/move_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/launch/turtlebot3_mapping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/launch/turtlebot3_nav.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/maps/new_map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/navigation/turtlebot3_nav/maps/new_map.pgm -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/maps/new_map.yaml: -------------------------------------------------------------------------------- 1 | image: new_map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot3_nav 4 | 0.0.0 5 | The turtlebot3_nav package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/amcl_params.yaml: -------------------------------------------------------------------------------- 1 | odom_model_type: diff 2 | odom_alpha5: 0.1 3 | transform_tolerance: 0.2 4 | gui_publish_rate: 10.0 5 | laser_max_beams: 30 6 | min_particles: 500 7 | max_particles: 5000 8 | kld_err: 0.05 9 | kld_z: 0.99 10 | odom_alpha1: 0.2 11 | odom_alpha2: 0.2 12 | odom_alpha3: 0.8 13 | odom_alpha4: 0.2 14 | lazer_z_hit: 0.5 15 | laser_z_max: 0.05 16 | lazer_z_short: 0.05 17 | lazer_z_rand: 0.5 18 | laser_sigma_hit: 0.2 19 | laser_lambda_short: 0.1 20 | laser_model_type: "likelihood_field" 21 | laser_likelihood_max_dist: 2.0 22 | update_min_d: 0.2 23 | update_min_a: 0.5 24 | odom_frame_id: odom 25 | resample_interval: 1 26 | transform_tolerance: 0.1 27 | recovery_alpha_slow: 0.0 28 | recovery_alpha_fast: 0.0 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/base_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | TrajectoryPlannerROS: 2 | 3 | # Robot Configuration Parameters 4 | acc_lim_x: 10.0 5 | acc_lim_theta: 20.0 6 | 7 | max_vel_x: 0.5 8 | min_vel_x: 0.1 9 | 10 | max_vel_theta: 1.57 11 | min_vel_theta: -1.57 12 | min_in_place_vel_theta: 0.314 13 | 14 | holonomic_robot: false 15 | escape_vel: -0.5 16 | 17 | # Goal Tolerance Parameters 18 | yaw_goal_tolerance: 0.157 19 | xy_goal_tolerance: 0.25 20 | latch_xy_goal_tolerance: false 21 | 22 | # Forward Simulation Parameters 23 | sim_time: 2.0 24 | sim_granularity: 0.02 25 | angular_sim_granularity: 0.02 26 | vx_samples: 6 27 | vtheta_samples: 20 28 | controller_frequency: 20.0 29 | 30 | # Trajectory scoring parameters 31 | meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false). 32 | occdist_scale: 0.1 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01 33 | pdist_scale: 0.75 # The weighting for how much the controller should stay close to the path it was given . default 0.6 34 | gdist_scale: 1.0 # The weighting for how much the controller should attempt to reach its local goal, also controls speed default 0.8 35 | 36 | heading_lookahead: 0.325 #How far to look ahead in meters when scoring different in-place-rotation trajectories 37 | heading_scoring: false #Whether to score based on the robot's heading to the path or its distance from the path. default false 38 | heading_scoring_timestep: 0.8 #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8) 39 | dwa: true #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout 40 | simple_attractor: false 41 | publish_cost_grid_pc: true 42 | 43 | #Oscillation Prevention Parameters 44 | oscillation_reset_dist: 0.05 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05) 45 | escape_reset_dist: 0.1 46 | escape_reset_theta: 0.1 47 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | map_type: costmap 2 | origin_z: 0.0 3 | z_resolution: 1 4 | z_voxels: 2 5 | 6 | obstacle_range: 50.0 7 | raytrace_range: 15.0 8 | 9 | publish_voxel_map: false 10 | transform_tolerance: 0.5 11 | meter_scoring: true 12 | 13 | footprint: [[-0.21, -0.165], [-0.21, 0.165], [0.21, 0.165], [0.21, -0.165]] 14 | footprint_padding: 0.05 15 | 16 | plugins: 17 | - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} 18 | - {name: inflater_layer, type: "costmap_2d::InflationLayer"} 19 | 20 | obstacles_layer: 21 | observation_sources: scan 22 | scan: {sensor_frame: base_scan, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: -2.0, max_obstacle_height: 50.0, obstacle_range: 15.0, raytrace_range: 15.0} 23 | 24 | inflater_layer: 25 | inflation_radius: 0.05 26 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/map_nav_params/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_link 4 | update_frequency: 20.0 5 | publish_frequency: 5.0 6 | width: 40.0 7 | height: 40.0 8 | resolution: 0.05 9 | origin_x: -20.0 10 | origin_y: -20.0 11 | static_map: true 12 | rolling_window: false 13 | 14 | plugins: 15 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 16 | - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} 17 | - {name: inflater_layer, type: "costmap_2d::InflationLayer"} 18 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/map_nav_params/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: map 3 | robot_base_frame: base_link 4 | update_frequency: 20.0 5 | publish_frequency: 5.0 6 | width: 10.0 7 | height: 10.0 8 | resolution: 0.05 9 | static_map: false 10 | rolling_window: true 11 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/mapping_params.yaml: -------------------------------------------------------------------------------- 1 | base_frame: base_link 2 | odom_frame: odom 3 | map_update_interval: 5.0 4 | maxUrange: 16.0 5 | sigma: 0.05 6 | kernelSize: 1 7 | lstep: 0.05 8 | astep: 0.05 9 | iterations: 5 10 | lsigma: 0.075 11 | oagain: 3.0 12 | lskip: 0 13 | srr: 0.1 14 | srt: 0.2 15 | str: o.1 16 | stt: 0.2 17 | linearUpdate: 1.0 18 | angularUpdate: 0.5 19 | temporalUpdate: 3.0 20 | resampleThreshold: 0.5 21 | particles: 30 22 | xmin: -50.0 23 | ymin: -50.0 24 | xmax: 50.0 25 | ymax: 50.0 26 | delta: 0.05 27 | llsamplerange: 0.01 28 | llsamplestep: 0.01 29 | lasamplerange: 0.005 30 | lasamplestep: 0.05 31 | 32 | 33 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | shutdown_costmaps: false 2 | 3 | controller_frequency: 20.0 4 | controller_patience: 15.0 5 | 6 | planner_frequency: 20.0 7 | planner_patience: 5.0 8 | 9 | oscillation_timeout: 0.0 10 | oscillation_distance: 0.5 11 | 12 | recovery_behavior_enabled: true 13 | clearing_rotation_allowed: true -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/odom_nav_params/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_link 4 | update_frequency: 20 5 | publish_frequency: 5 6 | width: 40.0 7 | height: 40.0 8 | resolution: 0.05 9 | origin_x: -20.0 10 | origin_y: -20.0 11 | static_map: true 12 | rolling_window: false 13 | 14 | -------------------------------------------------------------------------------- /navigation/turtlebot3_nav/params/odom_nav_params/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_link 4 | update_frequency: 20.0 5 | publish_frequency: 5.0 6 | width: 10.0 7 | height: 10.0 8 | resolution: 0.05 9 | static_map: false 10 | rolling_window: true 11 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | 6 | # Compiled Dynamic libraries 7 | *.so 8 | *.dylib 9 | 10 | # Compiled Static libraries 11 | *.lai 12 | *.la 13 | *.a 14 | 15 | octomap_server/docs 16 | octomap_server/cfg 17 | octomap_server/src/octomap_server 18 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/.travis.yml: -------------------------------------------------------------------------------- 1 | # This config file for Travis CI utilizes ros-industrial/industrial_ci package. 2 | # For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst 3 | sudo: required 4 | language: generic 5 | env: 6 | global: 7 | - ROS_PARALLEL_JOBS=-j4 # Don't exhaust virtual memory 8 | matrix: 9 | - ROS_DISTRO="kinetic" 10 | - ROS_DISTRO="kinetic" PRERELEASE=true 11 | - ROS_DISTRO="melodic" 12 | - ROS_DISTRO="melodic" PRERELEASE=true 13 | - ROS_DISTRO="noetic" 14 | - ROS_DISTRO="noetic" PRERELEASE=true 15 | #- ROS_DISTRO="melodic" OS_NAME="debian" OS_CODE_NAME="stretch" 16 | matrix: 17 | allow_failures: 18 | - env: ROS_DISTRO="kinetic" PRERELEASE=true 19 | - env: ROS_DISTRO="melodic" PRERELEASE=true 20 | - env: ROS_DISTRO="noetic" PRERELEASE=true 21 | install: 22 | - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b master 23 | script: 24 | - source .ci_config/travis.sh 25 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/README.md: -------------------------------------------------------------------------------- 1 | octomap_mapping [![Build Status](https://travis-ci.org/OctoMap/octomap_mapping.svg?branch=kinetic-devel)](https://travis-ci.org/OctoMap/octomap_mapping) 2 | =============== 3 | 4 | ROS stack for mapping with OctoMap, contains the `octomap_server` package. 5 | 6 | The main branch for Kinetic, Melodic, and Noetic is `kinetic-devel`. 7 | 8 | Indigo: [![Build Status](https://travis-ci.org/OctoMap/octomap_mapping.svg?branch=indigo-devel)](https://travis-ci.org/OctoMap/octomap_mapping) 9 | 10 | Imported from SVN, see https://code.google.com/p/alufr-ros-pkg/ for the previous versions. 11 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_mapping/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package octomap_mapping 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.6.5 (2020-04-23) 6 | ------------------ 7 | * Update maintainer email 8 | * Contributors: Wolfgang Merkt 9 | 10 | 0.6.4 (2020-01-08) 11 | ------------------ 12 | 13 | 0.6.3 (2019-01-28) 14 | ------------------ 15 | 16 | 0.6.2 (2019-01-27) 17 | ------------------ 18 | * Update maintainer email (Wolfgang Merkt) 19 | * Contributors: Wolfgang Merkt 20 | 21 | 0.6.1 (2016-10-19) 22 | ------------------ 23 | * Adjust maintainer email 24 | * Contributors: Armin Hornung 25 | 26 | 0.6.0 (2016-03-25) 27 | ------------------ 28 | 29 | 0.5.3 (2014-01-09) 30 | ------------------ 31 | 32 | 0.5.2 (2014-01-09) 33 | ------------------ 34 | 35 | 0.5.1 (2013-11-25) 36 | ------------------ 37 | 38 | 0.5.0 (2013-10-24) 39 | ------------------ 40 | * URLs in package.xml 41 | * Catkinization, remove support for arm_navigation 42 | 43 | 0.4.9 (2013-06-27) 44 | ------------------ 45 | 46 | 0.4.8 (2013-01-08) 47 | ------------------ 48 | 49 | 0.4.6 (2013-01-28) 50 | ------------------ 51 | 52 | 0.4.5 (2012-06-18) 53 | ------------------ 54 | 55 | 0.4.4 (2012-04-20) 56 | ------------------ 57 | 58 | 0.4.3 (2012-04-17) 59 | ------------------ 60 | 61 | 0.4.2 (2012-03-16) 62 | ------------------ 63 | 64 | 0.4.1 (2012-02-21 16:50) 65 | ------------------------ 66 | 67 | 0.4.0 (2012-02-21 15:37) 68 | ------------------------ 69 | 70 | 0.3.8 (2012-04-26) 71 | ------------------ 72 | 73 | 0.3.7 (2012-02-22) 74 | ------------------ 75 | 76 | 0.3.6 (2012-01-09) 77 | ------------------ 78 | 79 | 0.3.5 (2011-10-30) 80 | ------------------ 81 | 82 | 0.3.4 (2011-10-12) 83 | ------------------ 84 | 85 | 0.3.3 (2011-08-17 07:41) 86 | ------------------------ 87 | 88 | 0.3.2 (2011-08-09) 89 | ------------------ 90 | 91 | 0.3.1 (2011-07-15) 92 | ------------------ 93 | 94 | 0.3.0 (2011-06-28) 95 | ------------------ 96 | 97 | 0.2.0 (2011-03-16) 98 | ------------------ 99 | 100 | 0.1.2 (2010-11-23) 101 | ------------------ 102 | 103 | 0.1.1 (2010-11-17) 104 | ------------------ 105 | 106 | 0.1.0 (2010-11-16) 107 | ------------------ 108 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_mapping/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(octomap_mapping) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_mapping/package.xml: -------------------------------------------------------------------------------- 1 | 2 | octomap_mapping 3 | 0.6.5 4 | 5 | Mapping tools to be used with the OctoMap library, implementing a 3D occupancy grid mapping. 6 | 7 | Armin Hornung 8 | Wolfgang Merkt 9 | BSD 10 | 11 | http://ros.org/wiki/octomap_mapping 12 | https://github.com/OctoMap/octomap_mapping/issues 13 | https://github.com/OctoMap/octomap_mapping 14 | 15 | catkin 16 | octomap_server 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | project(octomap_server) 3 | 4 | set(PACKAGE_DEPENDENCIES 5 | roscpp 6 | visualization_msgs 7 | sensor_msgs 8 | pcl_ros 9 | pcl_conversions 10 | nav_msgs 11 | std_msgs 12 | std_srvs 13 | octomap_ros 14 | octomap_msgs 15 | dynamic_reconfigure 16 | nodelet 17 | ) 18 | 19 | 20 | find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) 21 | 22 | find_package(octomap REQUIRED) 23 | add_definitions(-DOCTOMAP_NODEBUGOUT) 24 | 25 | include_directories( 26 | include 27 | ${catkin_INCLUDE_DIRS} 28 | ${OCTOMAP_INCLUDE_DIRS} 29 | ) 30 | 31 | generate_dynamic_reconfigure_options(cfg/OctomapServer.cfg) 32 | 33 | catkin_package( 34 | INCLUDE_DIRS include 35 | LIBRARIES ${PROJECT_NAME} 36 | CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES} 37 | DEPENDS OCTOMAP 38 | ) 39 | 40 | set(LINK_LIBS 41 | ${OCTOMAP_LIBRARIES} 42 | ${catkin_LIBRARIES} 43 | ) 44 | 45 | add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) 46 | target_link_libraries(${PROJECT_NAME} ${LINK_LIBS}) 47 | add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg) 48 | 49 | add_library(${PROJECT_NAME}_color src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) 50 | target_link_libraries(${PROJECT_NAME}_color ${LINK_LIBS}) 51 | add_dependencies(${PROJECT_NAME}_color ${PROJECT_NAME}_gencfg) 52 | target_compile_definitions(${PROJECT_NAME}_color PUBLIC COLOR_OCTOMAP_SERVER) 53 | 54 | add_executable(octomap_server_node src/octomap_server_node.cpp) 55 | target_link_libraries(octomap_server_node ${PROJECT_NAME} ${LINK_LIBS}) 56 | 57 | add_executable(octomap_color_server_node src/octomap_server_node.cpp) 58 | target_link_libraries(octomap_color_server_node ${PROJECT_NAME}_color ${LINK_LIBS}) 59 | 60 | add_executable(octomap_server_static src/octomap_server_static.cpp) 61 | target_link_libraries(octomap_server_static ${PROJECT_NAME} ${LINK_LIBS}) 62 | 63 | add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp) 64 | target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${LINK_LIBS}) 65 | 66 | add_executable(octomap_saver src/octomap_saver.cpp) 67 | target_link_libraries(octomap_saver ${PROJECT_NAME} ${LINK_LIBS}) 68 | 69 | add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp) 70 | target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${LINK_LIBS}) 71 | 72 | # Nodelet 73 | add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp) 74 | target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${LINK_LIBS}) 75 | 76 | add_library(octomap_color_server_nodelet src/octomap_server_nodelet.cpp) 77 | target_link_libraries(octomap_color_server_nodelet ${PROJECT_NAME}_color ${LINK_LIBS}) 78 | 79 | # install targets: 80 | install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color 81 | octomap_server_node 82 | octomap_color_server_node 83 | octomap_server_static 84 | octomap_server_multilayer 85 | octomap_saver 86 | octomap_tracking_server_node 87 | octomap_server_nodelet 88 | octomap_color_server_nodelet 89 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 90 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 91 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 92 | ) 93 | 94 | install(DIRECTORY include/${PROJECT_NAME}/ 95 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 96 | FILES_MATCHING PATTERN "*.h" 97 | PATTERN ".svn" EXCLUDE 98 | ) 99 | 100 | install(DIRECTORY launch/ 101 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch 102 | PATTERN ".svn" EXCLUDE 103 | ) 104 | 105 | install(FILES 106 | nodelet_plugins.xml 107 | color_nodelet_plugins.xml 108 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 109 | ) 110 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/color_nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Nodelet for running the color Octomap server 5 | 6 | 7 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/include/octomap_server/OctomapServerMultilayer.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2010-2013, A. Hornung, M. Philips 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions are met: 7 | * 8 | * * Redistributions of source code must retain the above copyright 9 | * notice, this list of conditions and the following disclaimer. 10 | * * Redistributions in binary form must reproduce the above copyright 11 | * notice, this list of conditions and the following disclaimer in the 12 | * documentation and/or other materials provided with the distribution. 13 | * * Neither the name of the University of Freiburg nor the names of its 14 | * contributors may be used to endorse or promote products derived from 15 | * this software without specific prior written permission. 16 | * 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | * POSSIBILITY OF SUCH DAMAGE. 28 | */ 29 | #ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H 30 | #define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H 31 | 32 | #include 33 | 34 | namespace octomap_server { 35 | class OctomapServerMultilayer : public OctomapServer{ 36 | 37 | public: 38 | OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~")); 39 | virtual ~OctomapServerMultilayer(); 40 | 41 | protected: 42 | struct ProjectedMap{ 43 | double minZ; 44 | double maxZ; 45 | double z; // for visualization 46 | std::string name; 47 | nav_msgs::OccupancyGrid map; 48 | }; 49 | typedef std::vector MultilevelGrid; 50 | 51 | /// hook that is called after traversing all nodes 52 | virtual void handlePreNodeTraversal(const ros::Time& rostime); 53 | 54 | /// updates the downprojected 2D map as either occupied or free 55 | virtual void update2DMap(const OcTreeT::iterator& it, bool occupied); 56 | 57 | /// hook that is called after traversing all nodes 58 | virtual void handlePostNodeTraversal(const ros::Time& rostime); 59 | 60 | std::vector m_multiMapPub; 61 | ros::Subscriber m_attachedObjectsSub; 62 | 63 | std::vector m_armLinks; 64 | std::vector m_armLinkOffsets; 65 | 66 | MultilevelGrid m_multiGridmap; 67 | 68 | 69 | }; 70 | } 71 | 72 | #endif 73 | 74 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/include/octomap_server/TrackingOctomapServer.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions are met: 7 | * 8 | * * Redistributions of source code must retain the above copyright 9 | * notice, this list of conditions and the following disclaimer. 10 | * * Redistributions in binary form must reproduce the above copyright 11 | * notice, this list of conditions and the following disclaimer in the 12 | * documentation and/or other materials provided with the distribution. 13 | * * Neither the name of the University of Freiburg nor the names of its 14 | * contributors may be used to endorse or promote products derived from 15 | * this software without specific prior written permission. 16 | * 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | * POSSIBILITY OF SUCH DAMAGE. 28 | */ 29 | 30 | #ifndef OCTOMAP_SERVER_TRACKINGOCTOMAPSERVER_H_ 31 | #define OCTOMAP_SERVER_TRACKINGOCTOMAPSERVER_H_ 32 | 33 | #include "octomap_server/OctomapServer.h" 34 | 35 | namespace octomap_server { 36 | 37 | class TrackingOctomapServer: public OctomapServer { 38 | public: 39 | TrackingOctomapServer(const std::string& filename = ""); 40 | virtual ~TrackingOctomapServer(); 41 | 42 | void trackCallback(sensor_msgs::PointCloud2Ptr cloud); 43 | void insertScan(const tf::Point& sensorOrigin, const PCLPointCloud& ground, const PCLPointCloud& nonground); 44 | 45 | protected: 46 | void trackChanges(); 47 | 48 | bool listen_changes; 49 | bool track_changes; 50 | int min_change_pub; 51 | std::string change_id_frame; 52 | ros::Publisher pubFreeChangeSet; 53 | ros::Publisher pubChangeSet; 54 | ros::Subscriber subChangeSet; 55 | ros::Subscriber subFreeChanges; 56 | }; 57 | 58 | } /* namespace octomap */ 59 | #endif /* TRACKINGOCTOMAPSERVER_H_ */ 60 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/launch/octomap_mapping.launch: -------------------------------------------------------------------------------- 1 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/launch/octomap_mapping_nodelet.launch: -------------------------------------------------------------------------------- 1 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/launch/octomap_tracking_client.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/launch/octomap_tracking_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b octomap_server is ... 6 | 7 | 14 | 15 | 16 | \section codeapi Code API 17 | 18 | 28 | 29 | 30 | */ -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Nodelet for running the Octomap server 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/package.xml: -------------------------------------------------------------------------------- 1 | 2 | octomap_server 3 | 0.6.5 4 | 5 | octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver. 6 | 7 | Armin Hornung 8 | Wolfgang Merkt 9 | BSD 10 | http://www.ros.org/wiki/octomap_server 11 | https://github.com/OctoMap/octomap_mapping/issues 12 | https://github.com/OctoMap/octomap_mapping 13 | 14 | 15 | 16 | 17 | 18 | 19 | catkin 20 | 21 | roscpp 22 | visualization_msgs 23 | sensor_msgs 24 | pcl_ros 25 | pcl_conversions 26 | nav_msgs 27 | std_msgs 28 | std_srvs 29 | octomap 30 | octomap_msgs 31 | octomap_ros 32 | dynamic_reconfigure 33 | nodelet 34 | libpcl-all-dev 35 | 36 | roscpp 37 | visualization_msgs 38 | sensor_msgs 39 | pcl_ros 40 | pcl_conversions 41 | nav_msgs 42 | std_msgs 43 | std_srvs 44 | octomap 45 | octomap_msgs 46 | octomap_ros 47 | dynamic_reconfigure 48 | nodelet 49 | libpcl-all 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/params/default.yaml: -------------------------------------------------------------------------------- 1 | # Empty file to load default parameters. 2 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/scripts/octomap_eraser_cli.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | """Clear a region specified by a global axis-aligned bounding box in stored 4 | OctoMap. 5 | 6 | """ 7 | 8 | import sys 9 | from time import sleep 10 | 11 | import roslib 12 | roslib.load_manifest('octomap_server') 13 | from geometry_msgs.msg import Point 14 | import octomap_msgs.srv 15 | import rospy 16 | 17 | 18 | SRV_NAME = '/octomap_server/clear_bbx' 19 | SRV_INTERFACE = octomap_msgs.srv.BoundingBoxQuery 20 | 21 | 22 | if __name__ == '__main__': 23 | min = Point(*[float(x) for x in sys.argv[1:4]]) 24 | max = Point(*[float(x) for x in sys.argv[4:7]]) 25 | 26 | rospy.init_node('octomap_eraser_cli', anonymous=True) 27 | sleep(1) 28 | service = rospy.ServiceProxy(SRV_NAME, SRV_INTERFACE) 29 | rospy.loginfo("Connected to %s service." % SRV_NAME) 30 | 31 | service(min, max) 32 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/src/octomap_server_multilayer.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2009-2013, A. Hornung, University of Freiburg 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions are met: 7 | * 8 | * * Redistributions of source code must retain the above copyright 9 | * notice, this list of conditions and the following disclaimer. 10 | * * Redistributions in binary form must reproduce the above copyright 11 | * notice, this list of conditions and the following disclaimer in the 12 | * documentation and/or other materials provided with the distribution. 13 | * * Neither the name of the University of Freiburg nor the names of its 14 | * contributors may be used to endorse or promote products derived from 15 | * this software without specific prior written permission. 16 | * 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | * POSSIBILITY OF SUCH DAMAGE. 28 | */ 29 | 30 | 31 | #include 32 | #include 33 | 34 | #define USAGE "\nUSAGE: octomap_server_multilayer \n" \ 35 | " map.bt: inital octomap 3D map file to read\n" 36 | 37 | using namespace octomap_server; 38 | 39 | int main(int argc, char** argv){ 40 | ros::init(argc, argv, "octomap_server_multilayer"); 41 | std::string mapFilename(""); 42 | 43 | if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ 44 | ROS_ERROR("%s", USAGE); 45 | exit(-1); 46 | } 47 | 48 | 49 | OctomapServerMultilayer server; 50 | ros::spinOnce(); 51 | 52 | if (argc == 2){ 53 | mapFilename = std::string(argv[1]); 54 | if (!server.openFile(mapFilename)){ 55 | ROS_ERROR("Could not open file %s", mapFilename.c_str()); 56 | exit(1); 57 | } 58 | } 59 | 60 | 61 | 62 | 63 | try{ 64 | ros::spin(); 65 | }catch(std::runtime_error& e){ 66 | ROS_ERROR("octomap_server_multilayer exception: %s", e.what()); 67 | return -1; 68 | } 69 | 70 | return 0; 71 | } 72 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/src/octomap_server_node.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * octomap_server: A Tool to serve 3D OctoMaps in ROS (binary and as visualization) 3 | * (inspired by the ROS map_saver) 4 | * @author A. Hornung, University of Freiburg, Copyright (C) 2009 - 2012. 5 | * @see http://octomap.sourceforge.net/ 6 | * License: BSD 7 | */ 8 | 9 | /* 10 | * Copyright (c) 2009-2012, A. Hornung, University of Freiburg 11 | * All rights reserved. 12 | * 13 | * Redistribution and use in source and binary forms, with or without 14 | * modification, are permitted provided that the following conditions are met: 15 | * 16 | * * Redistributions of source code must retain the above copyright 17 | * notice, this list of conditions and the following disclaimer. 18 | * * Redistributions in binary form must reproduce the above copyright 19 | * notice, this list of conditions and the following disclaimer in the 20 | * documentation and/or other materials provided with the distribution. 21 | * * Neither the name of the University of Freiburg nor the names of its 22 | * contributors may be used to endorse or promote products derived from 23 | * this software without specific prior written permission. 24 | * 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 28 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 29 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 30 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 31 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 32 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 33 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 34 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | * POSSIBILITY OF SUCH DAMAGE. 36 | */ 37 | 38 | 39 | #include 40 | #include 41 | 42 | #define USAGE "\nUSAGE: octomap_server \n" \ 43 | " map.bt: inital octomap 3D map file to read\n" 44 | 45 | using namespace octomap_server; 46 | 47 | int main(int argc, char** argv){ 48 | ros::init(argc, argv, "octomap_server"); 49 | const ros::NodeHandle nh; 50 | const ros::NodeHandle private_nh("~"); 51 | std::string mapFilename(""), mapFilenameParam(""); 52 | 53 | if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ 54 | ROS_ERROR("%s", USAGE); 55 | exit(-1); 56 | } 57 | 58 | OctomapServer server(private_nh, nh); 59 | ros::spinOnce(); 60 | 61 | if (argc == 2){ 62 | mapFilename = std::string(argv[1]); 63 | } 64 | 65 | if (private_nh.getParam("map_file", mapFilenameParam)) { 66 | if (mapFilename != "") { 67 | ROS_WARN("map_file is specified by the argument '%s' and rosparam '%s'. now loads '%s'", mapFilename.c_str(), mapFilenameParam.c_str(), mapFilename.c_str()); 68 | } else { 69 | mapFilename = mapFilenameParam; 70 | } 71 | } 72 | 73 | if (mapFilename != "") { 74 | if (!server.openFile(mapFilename)){ 75 | ROS_ERROR("Could not open file %s", mapFilename.c_str()); 76 | exit(1); 77 | } 78 | } 79 | 80 | try{ 81 | ros::spin(); 82 | }catch(std::runtime_error& e){ 83 | ROS_ERROR("octomap_server exception: %s", e.what()); 84 | return -1; 85 | } 86 | 87 | return 0; 88 | } 89 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/src/octomap_server_nodelet.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * octomap_server_nodelet: A nodelet version of A. Hornung's octomap server 3 | * @author Marcus Liebhardt 4 | * License: BSD 5 | */ 6 | 7 | /* 8 | * Copyright (c) 2012, Marcus Liebhardt, Yujin Robot 9 | * All rights reserved. 10 | * 11 | * Redistribution and use in source and binary forms, with or without 12 | * modification, are permitted provided that the following conditions are met: 13 | * 14 | * * Redistributions of source code must retain the above copyright 15 | * notice, this list of conditions and the following disclaimer. 16 | * * Redistributions in binary form must reproduce the above copyright 17 | * notice, this list of conditions and the following disclaimer in the 18 | * documentation and/or other materials provided with the distribution. 19 | * * Neither the name of Yujin Robot nor the names of its 20 | * contributors may be used to endorse or promote products derived from 21 | * this software without specific prior written permission. 22 | * 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 24 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 25 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 26 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 27 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 28 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 29 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 30 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 31 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 32 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 33 | * POSSIBILITY OF SUCH DAMAGE. 34 | */ 35 | 36 | 37 | #include 38 | #include 39 | #include 40 | #include 41 | 42 | 43 | namespace octomap_server 44 | { 45 | 46 | class OctomapServerNodelet : public nodelet::Nodelet 47 | { 48 | public: 49 | virtual void onInit() 50 | { 51 | NODELET_DEBUG("Initializing octomap server nodelet ..."); 52 | ros::NodeHandle& nh = this->getNodeHandle(); 53 | ros::NodeHandle& private_nh = this->getPrivateNodeHandle(); 54 | server_.reset(new OctomapServer(private_nh, nh)); 55 | 56 | std::string mapFilename(""); 57 | if (private_nh.getParam("map_file", mapFilename)) { 58 | if (!server_->openFile(mapFilename)){ 59 | NODELET_WARN("Could not open file %s", mapFilename.c_str()); 60 | } 61 | } 62 | } 63 | private: 64 | boost::shared_ptr server_; 65 | }; 66 | 67 | } // namespace 68 | 69 | PLUGINLIB_EXPORT_CLASS(octomap_server::OctomapServerNodelet, nodelet::Nodelet) 70 | -------------------------------------------------------------------------------- /octomap/octomap_mapping/octomap_server/src/octomap_tracking_server_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions are met: 7 | * 8 | * * Redistributions of source code must retain the above copyright 9 | * notice, this list of conditions and the following disclaimer. 10 | * * Redistributions in binary form must reproduce the above copyright 11 | * notice, this list of conditions and the following disclaimer in the 12 | * documentation and/or other materials provided with the distribution. 13 | * * Neither the name of the University of Freiburg nor the names of its 14 | * contributors may be used to endorse or promote products derived from 15 | * this software without specific prior written permission. 16 | * 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 | * POSSIBILITY OF SUCH DAMAGE. 28 | */ 29 | 30 | #include 31 | #include 32 | 33 | #define USAGE "\nUSAGE: octomap_tracking_server \n" \ 34 | " map.bt: octomap 3D map file to read\n" 35 | 36 | using namespace octomap_server; 37 | 38 | int main(int argc, char** argv){ 39 | ros::init(argc, argv, "octomap_tracking_server"); 40 | std::string mapFilename(""); 41 | 42 | if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ 43 | ROS_ERROR("%s", USAGE); 44 | exit(-1); 45 | } 46 | 47 | if (argc == 2) 48 | mapFilename = std::string(argv[1]); 49 | 50 | try{ 51 | TrackingOctomapServer ms(mapFilename); 52 | ros::spin(); 53 | }catch(std::runtime_error& e){ 54 | ROS_ERROR("octomap_server exception: %s", e.what()); 55 | return -1; 56 | } 57 | 58 | return 0; 59 | } 60 | -------------------------------------------------------------------------------- /octomap/octomap_ros/.travis.yml: -------------------------------------------------------------------------------- 1 | # This config file for Travis CI utilizes ros-industrial/industrial_ci package. 2 | # For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst 3 | language: generic 4 | dist: bionic 5 | services: 6 | - docker 7 | 8 | # include the following block if the C/C++ build artifacts should get cached by Travis, 9 | # CCACHE_DIR needs to get set as well to actually fill the cache 10 | cache: 11 | directories: 12 | - $HOME/.ccache 13 | 14 | git: 15 | quiet: true # optional, silences the cloning of the target repository 16 | 17 | # configure the build environment(s) 18 | # https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#variables-you-can-configure 19 | env: 20 | global: # global settings for all jobs 21 | - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci 22 | - ROS_REPO=ros-testing # ros 23 | matrix: 24 | - ROS_DISTRO="kinetic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Debug' 25 | - ROS_DISTRO="kinetic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Release' 26 | - ROS_DISTRO="kinetic" PRERELEASE=true 27 | - ROS_DISTRO="melodic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Debug' 28 | - ROS_DISTRO="melodic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Release' 29 | - ROS_DISTRO="melodic" PRERELEASE=true 30 | - ROS_DISTRO="noetic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Debug' 31 | - ROS_DISTRO="noetic" CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Release' 32 | - ROS_DISTRO="noetic" PRERELEASE=true 33 | matrix: 34 | allow_failures: 35 | - env: ROS_DISTRO="kinetic" PRERELEASE=true 36 | - env: ROS_DISTRO="melodic" PRERELEASE=true 37 | - env: ROS_DISTRO="noetic" PRERELEASE=true 38 | install: 39 | - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b master 40 | script: 41 | - source .ci_config/travis.sh 42 | -------------------------------------------------------------------------------- /octomap/octomap_ros/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package octomap_ros 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.4.1 (2020-04-23) 6 | ------------------ 7 | * Added archive destination for static libraries (`#10 `_) 8 | * Fix catkin_lint issues and cmake policy CMP0038 (`#9 `_) 9 | * Update maintainer emails 10 | * Contributors: Andrea Ponza, Armin Hornung, Sebastian Kasperski, Wolfgang Merkt 11 | 12 | 0.4.0 (2014-04-17) 13 | ------------------ 14 | * Dropped PCL support in favor of sensor_msgs::PointCloud2. 15 | 16 | 0.3.1 (2014-04-16) 17 | ------------------ 18 | * Fixing `#3 `_ (explicit instantiation in conversions.cpp) 19 | 20 | 0.3.0 (2013-05-03) 21 | ------------------ 22 | * Removed deprecated OctomapROS class 23 | 24 | 0.2.6 (2013-01-05) 25 | ------------------ 26 | * fixes for cmake / catkin 27 | 28 | 0.2.5 (2012-12-08) 29 | ------------------ 30 | * catkin fixes 31 | 32 | 0.2.4 (2012-11-11) 33 | ------------------ 34 | * adding include installs 35 | * catkin fixes 36 | * fixing octomap_msgs dependency 37 | 38 | 0.2.3 (2012-10-29) 39 | ------------------ 40 | * catkinizing octomap_ros 41 | 42 | 0.2.2 (2012-10-01) 43 | ------------------ 44 | * catkinizing octomap_ros 45 | 46 | 0.2.1 (2012-09-04) 47 | ------------------ 48 | 49 | 0.2.0 (2012-08-24) 50 | ------------------ 51 | * Further renaming, improved compat. with groovy (server won't compile yet though) 52 | * Updated octomap_ros to new-style stack.xml 53 | * manifest / doxygen for octomap_ros & octomap_msgs 54 | * deprecated OctomapROS in octomap_ros => directly use octomap lib and conversions.h 55 | 56 | -------------------------------------------------------------------------------- /octomap/octomap_ros/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | project(octomap_ros) 3 | 4 | find_package(catkin REQUIRED COMPONENTS octomap_msgs sensor_msgs tf) 5 | find_package(OCTOMAP REQUIRED) 6 | 7 | catkin_package( 8 | INCLUDE_DIRS include 9 | LIBRARIES ${PROJECT_NAME} 10 | CATKIN_DEPENDS octomap_msgs sensor_msgs tf 11 | DEPENDS OCTOMAP) 12 | 13 | include_directories(include ${catkin_INCLUDE_DIRS}) 14 | 15 | add_library(${PROJECT_NAME} src/conversions.cpp) 16 | add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 17 | target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES}) 18 | target_include_directories(${PROJECT_NAME} 19 | SYSTEM PUBLIC ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} 20 | PUBLIC include) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 24 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) 25 | 26 | install(DIRECTORY include/${PROJECT_NAME}/ 27 | DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}/ 28 | FILES_MATCHING PATTERN "*.h" 29 | PATTERN ".svn" EXCLUDE) 30 | -------------------------------------------------------------------------------- /octomap/octomap_ros/README.md: -------------------------------------------------------------------------------- 1 | octomap_ros 2 | =========== 3 | 4 | ROS package to provide conversion functions between ROS and OctoMap's native types. 5 | 6 | This repository continues from the groovy branch imported from SVN: 7 | http://alufr-ros-pkg.googlecode.com/svn/branches/octomap_stacks-groovy-devel/octomap_ros/ 8 | See https://code.google.com/p/alufr-ros-pkg/ for the previous versions. 9 | -------------------------------------------------------------------------------- /octomap/octomap_ros/include/octomap_ros/conversions.h: -------------------------------------------------------------------------------- 1 | /** 2 | * OctoMap ROS integration 3 | * 4 | * @author A. Hornung, University of Freiburg, Copyright (C) 2011-2012. 5 | * @see http://www.ros.org/wiki/octomap_ros 6 | * License: BSD 7 | */ 8 | 9 | /* 10 | * Copyright (c) 2011, A. Hornung, University of Freiburg 11 | * All rights reserved. 12 | * 13 | * Redistribution and use in source and binary forms, with or without 14 | * modification, are permitted provided that the following conditions are met: 15 | * 16 | * * Redistributions of source code must retain the above copyright 17 | * notice, this list of conditions and the following disclaimer. 18 | * * Redistributions in binary form must reproduce the above copyright 19 | * notice, this list of conditions and the following disclaimer in the 20 | * documentation and/or other materials provided with the distribution. 21 | * * Neither the name of the University of Freiburg nor the names of its 22 | * contributors may be used to endorse or promote products derived from 23 | * this software without specific prior written permission. 24 | * 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 28 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 29 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 30 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 31 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 32 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 33 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 34 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | * POSSIBILITY OF SUCH DAMAGE. 36 | */ 37 | 38 | #ifndef OCTOMAP_ROS_CONVERSIONS_H 39 | #define OCTOMAP_ROS_CONVERSIONS_H 40 | 41 | #include 42 | 43 | #include 44 | #include 45 | #include 46 | 47 | namespace octomap { 48 | /** 49 | * @brief Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to 50 | * sensor_msgs::PointCloud2 51 | * 52 | * @param points 53 | * @param cloud 54 | */ 55 | void pointsOctomapToPointCloud2(const point3d_list& points, sensor_msgs::PointCloud2& cloud); 56 | 57 | /** 58 | * @brief Conversion from a sensor_msgs::PointCLoud2 to octomap::Pointcloud, used internally in OctoMap 59 | * 60 | * @param cloud 61 | * @param octomapCloud 62 | */ 63 | void pointCloud2ToOctomap(const sensor_msgs::PointCloud2& cloud, Pointcloud& octomapCloud); 64 | 65 | /// Conversion from octomap::point3d to geometry_msgs::Point 66 | static inline geometry_msgs::Point pointOctomapToMsg(const point3d& octomapPt){ 67 | geometry_msgs::Point pt; 68 | pt.x = octomapPt.x(); 69 | pt.y = octomapPt.y(); 70 | pt.z = octomapPt.z(); 71 | 72 | return pt; 73 | } 74 | 75 | /// Conversion from geometry_msgs::Point to octomap::point3d 76 | static inline octomap::point3d pointMsgToOctomap(const geometry_msgs::Point& ptMsg){ 77 | return octomap::point3d(ptMsg.x, ptMsg.y, ptMsg.z); 78 | } 79 | 80 | /// Conversion from octomap::point3d to tf::Point 81 | static inline tf::Point pointOctomapToTf(const point3d& octomapPt){ 82 | return tf::Point(octomapPt.x(), octomapPt.y(), octomapPt.z()); 83 | } 84 | 85 | /// Conversion from tf::Point to octomap::point3d 86 | static inline octomap::point3d pointTfToOctomap(const tf::Point& ptTf){ 87 | return point3d(ptTf.x(), ptTf.y(), ptTf.z()); 88 | } 89 | 90 | /// Conversion from octomap Quaternion to tf::Quaternion 91 | static inline tf::Quaternion quaternionOctomapToTf(const octomath::Quaternion& octomapQ){ 92 | return tf::Quaternion(octomapQ.x(), octomapQ.y(), octomapQ.z(), octomapQ.u()); 93 | } 94 | 95 | /// Conversion from tf::Quaternion to octomap Quaternion 96 | static inline octomath::Quaternion quaternionTfToOctomap(const tf::Quaternion& qTf){ 97 | return octomath::Quaternion(qTf.w(), qTf.x(), qTf.y(), qTf.z()); 98 | } 99 | 100 | /// Conversion from octomap::pose6f to tf::Pose 101 | static inline tf::Pose poseOctomapToTf(const octomap::pose6d& octomapPose){ 102 | return tf::Pose(quaternionOctomapToTf(octomapPose.rot()), pointOctomapToTf(octomapPose.trans())); 103 | } 104 | 105 | /// Conversion from tf::Pose to octomap::pose6d 106 | static inline octomap::pose6d poseTfToOctomap(const tf::Pose& poseTf){ 107 | return octomap::pose6d(pointTfToOctomap(poseTf.getOrigin()), quaternionTfToOctomap(poseTf.getRotation())); 108 | } 109 | 110 | 111 | 112 | 113 | 114 | } 115 | 116 | 117 | #endif 118 | 119 | -------------------------------------------------------------------------------- /octomap/octomap_ros/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b octomap_ros provides conversion functions between ROS and OctoMap in conversions.h. 6 | With these conversions and the message conversions in the octomap_msgs package, you can 7 | conveniently use OctoMap in ROS. 8 | 9 | 10 | 11 | */ 12 | -------------------------------------------------------------------------------- /octomap/octomap_ros/package.xml: -------------------------------------------------------------------------------- 1 | 2 | octomap_ros 3 | 0.4.1 4 | 5 | octomap_ros provides conversion functions between ROS and OctoMap's native types. 6 | This enables a convenvient use of the octomap package in ROS. 7 | 8 | 9 | Armin Hornung 10 | Wolfgang Merkt 11 | Armin Hornung 12 | BSD 13 | http://ros.org/wiki/octomap_ros 14 | https://github.com/OctoMap/octomap_ros/issues 15 | 16 | catkin 17 | 18 | octomap_msgs 19 | octomap 20 | sensor_msgs 21 | tf 22 | 23 | octomap_msgs 24 | octomap 25 | sensor_msgs 26 | tf 27 | 28 | -------------------------------------------------------------------------------- /octomap/octomap_ros/src/conversions.cpp: -------------------------------------------------------------------------------- 1 | // $Id: $ 2 | 3 | /** 4 | * OctoMap ROS integration 5 | * 6 | * @author A. Hornung, University of Freiburg, Copyright (C) 2011. 7 | * @see http://www.ros.org/wiki/octomap_ros 8 | * License: BSD 9 | */ 10 | 11 | /* 12 | * Copyright (c) 2010, A. Hornung, University of Freiburg 13 | * All rights reserved. 14 | * 15 | * Redistribution and use in source and binary forms, with or without 16 | * modification, are permitted provided that the following conditions are met: 17 | * 18 | * * Redistributions of source code must retain the above copyright 19 | * notice, this list of conditions and the following disclaimer. 20 | * * Redistributions in binary form must reproduce the above copyright 21 | * notice, this list of conditions and the following disclaimer in the 22 | * documentation and/or other materials provided with the distribution. 23 | * * Neither the name of the University of Freiburg nor the names of its 24 | * contributors may be used to endorse or promote products derived from 25 | * this software without specific prior written permission. 26 | * 27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 30 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 31 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 32 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 33 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 34 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 35 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 36 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 37 | * POSSIBILITY OF SUCH DAMAGE. 38 | */ 39 | 40 | #include 41 | #include 42 | 43 | namespace octomap { 44 | 45 | /** 46 | * @brief Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to 47 | * sensor_msgs::PointCloud2 48 | * 49 | * @param points 50 | * @param cloud 51 | */ 52 | void pointsOctomapToPointCloud2(const point3d_list& points, sensor_msgs::PointCloud2& cloud){ 53 | // make sure the channel is valid 54 | std::vector::const_iterator field_iter = cloud.fields.begin(), field_end = 55 | cloud.fields.end(); 56 | bool has_x, has_y, has_z; 57 | has_x = has_y = has_z = false; 58 | while (field_iter != field_end) { 59 | if ((field_iter->name == "x") || (field_iter->name == "X")) 60 | has_x = true; 61 | if ((field_iter->name == "y") || (field_iter->name == "Y")) 62 | has_y = true; 63 | if ((field_iter->name == "z") || (field_iter->name == "Z")) 64 | has_z = true; 65 | ++field_iter; 66 | } 67 | 68 | if ((!has_x) || (!has_y) || (!has_z)) 69 | throw std::runtime_error("One of the fields xyz does not exist"); 70 | 71 | sensor_msgs::PointCloud2Modifier pcd_modifier(cloud); 72 | pcd_modifier.resize(points.size()); 73 | 74 | sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); 75 | sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); 76 | sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); 77 | 78 | for (point3d_list::const_iterator it = points.begin(); it != points.end(); ++it, ++iter_x, ++iter_y, ++iter_z) { 79 | *iter_x = it->x(); 80 | *iter_y = it->y(); 81 | *iter_z = it->z(); 82 | } 83 | } 84 | 85 | 86 | /** 87 | * @brief Conversion from a sensor_msgs::PointCLoud2 to octomap::Pointcloud, used internally in OctoMap 88 | * 89 | * @param cloud 90 | * @param octomapCloud 91 | */ 92 | void pointCloud2ToOctomap(const sensor_msgs::PointCloud2& cloud, Pointcloud& octomapCloud){ 93 | octomapCloud.reserve(cloud.data.size() / cloud.point_step); 94 | 95 | sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); 96 | sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); 97 | sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); 98 | 99 | for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ 100 | // Check if the point is invalid 101 | if (!std::isnan (*iter_x) && !std::isnan (*iter_y) && !std::isnan (*iter_z)) 102 | octomapCloud.push_back(*iter_x, *iter_y, *iter_z); 103 | } 104 | } 105 | 106 | 107 | } 108 | 109 | 110 | -------------------------------------------------------------------------------- /octomap/octomap_ros/src/test_octomap_ros.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | #include 4 | #include 5 | #include 6 | 7 | using namespace octomap; 8 | using namespace std; 9 | 10 | #define _1DEG 0.01745329251994329577 11 | 12 | int main(int argc, char** argv) { 13 | 14 | 15 | //############################################################## 16 | 17 | OcTreeROS tree (0.05); 18 | 19 | // point3d origin (10.01, 10.01, 10.02); 20 | point3d origin (0.01, 0.01, 0.02); 21 | geometry_msgs::Point originPt = pointOctomapToMsg(origin); 22 | 23 | point3d point_on_surface (2.01,0.01,0.01); 24 | 25 | cout << "generating sphere at " << origin << " ..." << endl; 26 | 27 | for (int i=0; i<360; i++) { 28 | for (int j=0; j<360; j++) { 29 | geometry_msgs::Point endPt = pointOctomapToMsg(origin+point_on_surface); 30 | if (!tree.insertRay(originPt, endPt)) { 31 | cout << "ERROR while inserting ray from " << origin << " to " << point_on_surface << endl; 32 | } 33 | point_on_surface.rotate_IP (0,0,_1DEG); 34 | } 35 | point_on_surface.rotate_IP (0,_1DEG,0); 36 | } 37 | 38 | 39 | cout << "done.\n\n"; 40 | tf::Point pointTf(0.0, 0.0, 0.0); 41 | OcTreeROS::NodeType* treeNode = tree.search(pointTf); 42 | if (treeNode) 43 | cout << "Occupancy of node at (0, 0, 0) = " << treeNode->getOccupancy() << " (should be free)\n"; 44 | else 45 | cerr << "ERROR: OcTreeNode not found (NULL)\n"; 46 | 47 | treeNode = tree.search(tf::Point(10.01, 2.01, 0.01)); 48 | if (treeNode) 49 | cout << "Occupancy of node at (0.01, 2.01, 0.01) = " << treeNode->getOccupancy() << " (should be occupied)\n"; 50 | else 51 | cerr << "ERROR: OcTreeNode not found (NULL)\n"; 52 | 53 | cout << "writing to sphere.bt..." << endl; 54 | tree.octree.writeBinary("sphere.bt"); 55 | 56 | // ----------------------------------------------- 57 | 58 | cout << "\ncasting rays ..." << endl; 59 | 60 | OcTreeROS sampled_surface(0.05); 61 | 62 | point3d direction = point3d (1.0,0.0,0.0); 63 | point3d obstacle(0,0,0); 64 | 65 | unsigned int hit (0); 66 | unsigned int miss (0); 67 | double mean_dist(0); 68 | 69 | for (int i=0; i<360; i++) { 70 | for (int j=0; j<360; j++) { 71 | geometry_msgs::Point directionPt = pointOctomapToMsg(direction); 72 | geometry_msgs::Point obstaclePt; 73 | if (!tree.castRay(originPt, directionPt, obstaclePt, true, 3.)) { 74 | miss++; 75 | } 76 | else { 77 | hit++; 78 | point3d obstacle = pointMsgToOctomap(obstaclePt); 79 | mean_dist += (obstacle - origin).norm(); 80 | sampled_surface.octree.updateNode(obstacle, true); 81 | } 82 | direction.rotate_IP (0,0,_1DEG); 83 | } 84 | direction.rotate_IP (0,_1DEG,0); 85 | } 86 | cout << "done." << endl; 87 | 88 | mean_dist /= (double) hit; 89 | std::cout << " hits / misses: " << hit << " / " << miss << std::endl; 90 | std::cout << " mean obstacle dist: " << mean_dist << std::endl; 91 | 92 | cout << "writing sampled_surface.bt" << endl; 93 | sampled_surface.octree.writeBinary("sampled_surface.bt"); 94 | 95 | 96 | // ----------------------------------------------- 97 | cout << "\ngenerating single rays..." << endl; 98 | OcTreeROS single_beams(0.03333); 99 | int num_beams = 17; 100 | double beamLength = 10.0; 101 | point3d single_origin (1.0, 0.45, 0.45); 102 | geometry_msgs::Point single_originPt = pointOctomapToMsg(single_origin); 103 | point3d single_end(beamLength, 0.0, 0.0); 104 | 105 | 106 | for (int i=0; i 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /p3dx/control_p3dx/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | control_p3dx 4 | 0.0.0 5 | The control_p3dx package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /p3dx/control_p3dx/src/overall_control.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | import rospy 3 | from geometry_msgs.msg import Twist 4 | from nav_msgs.msg import Odometry 5 | 6 | def callback(msg): 7 | print(msg.pose.pose.position) 8 | twist.linear.x=0.5 9 | twist.angular.z=0.5 10 | pub.publish(twist) 11 | 12 | rospy.init_node('topic_publisher') 13 | pub=rospy.Publisher('/pioneer/cmd_vel',Twist,queue_size=1) 14 | twist=Twist() 15 | sub=rospy.Subscriber('/odom',Odometry,callback) 16 | 17 | rospy.spin() 18 | -------------------------------------------------------------------------------- /p3dx/move_p3dx/launch/move_p3dx.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /p3dx/move_p3dx/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | move_p3dx 4 | 0.0.0 5 | The move_p3dx package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /p3dx/move_p3dx/src/move_p3dx.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | import rospy 3 | from geometry_msgs.msg import Twist 4 | 5 | rospy.init_node('topic_publisher') 6 | pub=rospy.Publisher('/pioneer/cmd_vel',Twist,queue_size=1) 7 | rate=rospy.Rate(2) 8 | twist=Twist() 9 | twist.linear.x=0.5 10 | twist.angular.z=0.5 11 | 12 | while not rospy.is_shutdown(): 13 | pub.publish(twist) 14 | rate.sleep() 15 | -------------------------------------------------------------------------------- /p3dx/p3dx_laserscan/launch/p3dx_laserscan.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /p3dx/p3dx_laserscan/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_laserscan 4 | 0.0.0 5 | The p3dx_laserscan package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /p3dx/p3dx_laserscan/src/laser.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | from sensor_msgs.msg import LaserScan 5 | 6 | def callback(msg): 7 | print(msg.ranges) 8 | 9 | rospy.init_node('topic_subscriber') 10 | syb=rospy.Subscriber('/base_scan',LaserScan,callback) 11 | rospy.spin() 12 | -------------------------------------------------------------------------------- /p3dx/p3dx_obstacle_stop/launch/obstacle_stop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /p3dx/p3dx_obstacle_stop/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_obstacle_stop 4 | 0.0.0 5 | The p3dx_obstacle_stop package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /p3dx/p3dx_obstacle_stop/src/obstacle_stop.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | from geometry_msgs.msg import Twist 5 | from sensor_msgs.msg import LaserScan 6 | 7 | 8 | def callback(msg): 9 | a=msg.ranges[360] 10 | if a>1: 11 | twist.linear.x=0.3 12 | else: 13 | twist.linear.x=0.0 14 | pub.publish(twist) 15 | 16 | 17 | rospy.init_node('obstacle') 18 | pub=rospy.Publisher('/pioneer/cmd_vel',Twist,queue_size=1) 19 | twist=Twist() 20 | sub=rospy.Subscriber('/base_scan',LaserScan,callback) 21 | 22 | rospy.spin() 23 | -------------------------------------------------------------------------------- /p3dx/p3dx_odom/launch/p3dx_odom.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /p3dx/p3dx_odom/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_odom 4 | 0.0.0 5 | The p3dx_odom package 6 | 7 | 8 | 9 | 10 | vedthakur 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | rospy 54 | rospy 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /p3dx/p3dx_odom/src/odom.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | from nav_msgs.msg import Odometry 5 | 6 | def callback(msg): 7 | print(msg) 8 | 9 | rospy.init_node('topic_subscriber') 10 | sub=rospy.Subscriber('/odom',Odometry,callback) 11 | rospy.spin() 12 | -------------------------------------------------------------------------------- /project_turtlesim/readme: -------------------------------------------------------------------------------- 1 | ROS2 Project on Turtlesim to automate the control of Turtle1 (main Turtle) to capture all other turtles spawned on screen. 2 | 3 | ROS2 Foxy has been used with colcon builder to design this project. 4 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/capture_turtle/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/project_turtlesim/src/capture_turtle/capture_turtle/__init__.py -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/__init__.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/__init__.cpython-38.pyc -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/turtle_controller.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/turtle_controller.cpython-38.pyc -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/turtle_spawner.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/project_turtlesim/src/capture_turtle/capture_turtle/__pycache__/turtle_spawner.cpython-38.pyc -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/capture_turtle/turtle_spawner.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import rclpy 3 | import math 4 | import random 5 | from rclpy.node import Node 6 | from turtlesim.srv import Spawn 7 | from functools import partial 8 | from turtle_interfaces.msg import TurtleID 9 | 10 | class nodeMaker(Node): 11 | def __init__(self): 12 | super().__init__("turtle_spawner") 13 | self.create_timer(2,self.makeClientSpawner) 14 | # self.makeClientSpawner() 15 | 16 | def makeClientSpawner(self): 17 | client=self.create_client(Spawn,"spawn") 18 | while not client.wait_for_service(1.0): 19 | self.get_logger().warn("waiting for spawn...") 20 | request = Spawn.Request() 21 | new_x=random.random()*11 22 | new_y=random.random()*11 23 | new_theta=random.random()*2*math.pi 24 | # new_x=1.0 25 | # new_y=4.0 26 | # new_theta=0.0 27 | request.x=new_x 28 | request.y=new_y 29 | request.theta=new_theta 30 | future=client.call_async(request) 31 | future.add_done_callback(partial(self.callback_future,x=new_x,y=new_y,theta=new_theta)) 32 | 33 | def callback_future(self,future,x,y,theta): 34 | try: 35 | turtle=TurtleID() 36 | turtle.name=future.result().name 37 | turtle.x=x 38 | turtle.y=y 39 | turtle.theta=theta 40 | pub=self.create_publisher(TurtleID,"turtleID",10) 41 | pub.publish(turtle) 42 | except Exception as e: 43 | self.get_logger().error("Unexpected Error... {}".format(e)) 44 | 45 | 46 | def main(args=None): 47 | rclpy.init() 48 | node = nodeMaker() 49 | rclpy.spin(node) 50 | rclpy.shutdown() 51 | 52 | if __name__=="__main__": 53 | main() -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | capture_turtle 5 | 0.0.0 6 | TODO: Package description 7 | pangea 8 | TODO: License declaration 9 | 10 | rclpy 11 | geometry_msgs 12 | turtlesim 13 | 14 | ament_copyright 15 | ament_flake8 16 | ament_pep257 17 | python3-pytest 18 | 19 | 20 | ament_python 21 | 22 | 23 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/resource/capture_turtle: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsClubIITJ/learning-ros/6786b5b5911a18c76284c474eb423e98e13e75d8/project_turtlesim/src/capture_turtle/resource/capture_turtle -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script-dir=$base/lib/capture_turtle 3 | [install] 4 | install-scripts=$base/lib/capture_turtle 5 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | 3 | package_name = 'capture_turtle' 4 | 5 | setup( 6 | name=package_name, 7 | version='0.0.0', 8 | packages=[package_name], 9 | data_files=[ 10 | ('share/ament_index/resource_index/packages', 11 | ['resource/' + package_name]), 12 | ('share/' + package_name, ['package.xml']), 13 | ], 14 | install_requires=['setuptools'], 15 | zip_safe=True, 16 | maintainer='pangea', 17 | maintainer_email='quadri.2@iitj.ac.in', 18 | description='TODO: Package description', 19 | license='TODO: License declaration', 20 | tests_require=['pytest'], 21 | entry_points={ 22 | 'console_scripts': [ 23 | "turtle_controller=capture_turtle.turtle_controller:main", 24 | "turtle_spawner=capture_turtle.turtle_spawner:main" 25 | ], 26 | }, 27 | ) 28 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.copyright 20 | @pytest.mark.linter 21 | def test_copyright(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /project_turtlesim/src/capture_turtle/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(turtle_bringup) 3 | 4 | # Default to C++14 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 14) 7 | endif() 8 | 9 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 10 | add_compile_options(-Wall -Wextra -Wpedantic) 11 | endif() 12 | 13 | # find dependencies 14 | find_package(ament_cmake REQUIRED) 15 | # uncomment the following section in order to fill in 16 | # further dependencies manually. 17 | # find_package( REQUIRED) 18 | 19 | install(DIRECTORY 20 | launch 21 | DESTINATION share/${PROJECT_NAME} 22 | ) 23 | 24 | ament_package() 25 | -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_bringup/launch/my_launcher.launch.py: -------------------------------------------------------------------------------- 1 | from launch import LaunchDescription 2 | from launch_ros.actions import Node 3 | 4 | def generate_launch_description(): 5 | ld=LaunchDescription() 6 | 7 | turtlesim_node=Node( 8 | package="turtlesim", 9 | executable="turtlesim_node" 10 | ) 11 | 12 | turtle_control=Node( 13 | package="capture_turtle", 14 | executable="turtle_controller" 15 | ) 16 | 17 | turtle_spawn=Node( 18 | package="capture_turtle", 19 | executable="turtle_spawner" 20 | ) 21 | 22 | ld.add_action(turtlesim_node) 23 | ld.add_action(turtle_control) 24 | ld.add_action(turtle_spawn) 25 | return ld -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtle_bringup 5 | 0.0.0 6 | TODO: Package description 7 | pangea 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | capture_turtle 13 | 14 | ament_lint_auto 15 | ament_lint_common 16 | 17 | 18 | ament_cmake 19 | 20 | 21 | -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_interfaces/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(turtle_interfaces) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | find_package(rosidl_default_generators REQUIRED) 21 | rosidl_generate_interfaces(${PROJECT_NAME} 22 | "msg/TurtleID.msg" 23 | ) 24 | # uncomment the following section in order to fill in 25 | # further dependencies manually. 26 | # find_package( REQUIRED) 27 | 28 | if(BUILD_TESTING) 29 | find_package(ament_lint_auto REQUIRED) 30 | # the following line skips the linter which checks for copyrights 31 | # uncomment the line when a copyright and license is not present in all source files 32 | #set(ament_cmake_copyright_FOUND TRUE) 33 | # the following line skips cpplint (only works in a git repo) 34 | # uncomment the line when this package is not in a git repo 35 | #set(ament_cmake_cpplint_FOUND TRUE) 36 | ament_lint_auto_find_test_dependencies() 37 | endif() 38 | 39 | ament_package() 40 | -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_interfaces/msg/TurtleID.msg: -------------------------------------------------------------------------------- 1 | float32 x 2 | float32 y 3 | float32 theta 4 | string name -------------------------------------------------------------------------------- /project_turtlesim/src/turtle_interfaces/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtle_interfaces 5 | 0.0.0 6 | TODO: Package description 7 | pangea 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | rosidl_default_generators 13 | rosidl_default_runtime 14 | rosidl_interface_packages 15 | 16 | ament_lint_auto 17 | ament_lint_common 18 | 19 | 20 | ament_cmake 21 | 22 | 23 | --------------------------------------------------------------------------------