├── README.md ├── Robotic_Localization_and_Dynamic_Navigation.pdf ├── catkin_ws ├── .catkin_workspace ├── build │ ├── .built_by │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── 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 │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── 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 │ │ │ ├── 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 │ └── udacity_bot │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── _catkin_empty_exported_target.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── move_base_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── move_base_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── move_base_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── move_base_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── move_base_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── navigation_goal.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── navigation_goal.cpp.o │ │ ├── progress.marks │ │ ├── roscpp_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_gencpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ └── progress.make │ │ ├── udacity_bot_geneus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── udacity_bot_genlisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── udacity_bot_gennodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ └── udacity_bot_genpy.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── catkin_generated │ │ ├── installspace │ │ │ ├── udacity_bot-msg-extras.cmake │ │ │ ├── udacity_bot-msg-paths.cmake │ │ │ ├── udacity_bot.pc │ │ │ ├── udacity_botConfig-version.cmake │ │ │ └── udacity_botConfig.cmake │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ ├── stamps │ │ │ └── udacity_bot │ │ │ │ ├── package.xml.stamp │ │ │ │ ├── pkg-genmsg.cmake.em.stamp │ │ │ │ └── pkg.pc.em.stamp │ │ ├── udacity_bot-msg-extras.cmake.develspace.in │ │ └── udacity_bot-msg-extras.cmake.installspace.in │ │ ├── cmake │ │ ├── udacity_bot-genmsg-context.py │ │ └── udacity_bot-genmsg.cmake │ │ └── cmake_install.cmake ├── devel │ ├── .built_by │ ├── .catkin │ ├── .rosinstall │ ├── _setup_util.py │ ├── env.sh │ ├── lib │ │ ├── pkgconfig │ │ │ └── udacity_bot.pc │ │ ├── python2.7 │ │ │ └── dist-packages │ │ │ │ └── udacity_bot │ │ │ │ └── __init__.py │ │ └── udacity_bot │ │ │ └── navigation_goal │ ├── setup.bash │ ├── setup.sh │ ├── setup.zsh │ └── share │ │ ├── roseus │ │ └── ros │ │ │ └── udacity_bot │ │ │ └── manifest.l │ │ └── udacity_bot │ │ └── cmake │ │ ├── udacity_bot-msg-extras.cmake │ │ ├── udacity_bot-msg-paths.cmake │ │ ├── udacity_botConfig-version.cmake │ │ └── udacity_botConfig.cmake └── src │ ├── CMakeLists.txt │ └── udacity_bot │ ├── CMakeLists.txt │ ├── config │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ └── local_costmap_params.yaml │ ├── launch │ ├── Rvizconfig.rviz │ ├── amcl.launch │ ├── robot_description.launch │ ├── udacity_world.launch │ └── udacity_world.launch.save │ ├── maps │ ├── jackal_race.pgm │ └── jackal_race.yaml │ ├── meshes │ └── hokuyo.dae │ ├── package.xml │ ├── src │ └── navigation_goal.cpp │ ├── urdf │ ├── udacity_bot.gazebo │ └── udacity_bot.xacro │ └── worlds │ ├── jackal_race.world │ └── udacity.world └── images ├── 68747470733a2f2f71696974612d696d6167652d73746f72652e73332e616d617a6f6e6177732e636f6d2f302f3235343434322f35343138643133352d333833652d306135662d663731312d3735353064383139653234392e676966.gif ├── Gazebo_mobileBot.png ├── Gazebo_mobileBot_LaserCamera.png ├── RViz_mobileBot_CameraCourse.png ├── RViz_mobileBot_LaserCamera.png ├── RViz_mobileBot_map.png ├── RViz_particlecloud.png ├── YouTube-ROS-AMCL.png ├── amcl_costmap.png ├── amclcostmap_running.png ├── blueCylinderBot.png ├── customBot-map.png ├── customBot_reachedgoalRviz.png ├── customBot_reachedgoal_log.png ├── gazebo_course.png ├── mobileBot.png ├── reachGoalPositionZoom.png ├── reachGoal_standardBot.png ├── reachedGoal_customBot_watermark.png ├── reachedGoal_supplied_watermark.png └── reachedgoalrviz_.png /README.md: -------------------------------------------------------------------------------- 1 | # ROS-Localization-Dynamic-Navigation-AMCL 2 | Robotic simulation project using ROS (Robot Operating System), Gazebo, RViz simulation environment using AMCL. 3 | 4 | 5 | ## Project Description 6 | 7 | Amcl (Adaptive Monte Carlo Localization) is a Robot Operating System (ROS) navigation package which utilizes particle filters to track the pose of a moving robot with a known 2D map. To test amcl's localization algorithm capabilities multiple robots were simulated using Gazebo and RViz where their movements were tracked and their ability to move toward a goal position was evaluated. 8 | 9 | ## Running the Project 10 | 11 | After completing the project, you can launch it by running the following commands first - 12 | 13 | ```bash 14 | $ cd ~/catkin_ws 15 | $ catkin_make 16 | $ source devel/setup.bash 17 | ``` 18 | 19 | And then run the following in *separate* terminals - 20 | 21 | ``` bash 22 | $ roslaunch udacity_bot udacity_bot 23 | $ roslaunch udacity_bot amcl 24 | $ rosrun udacity_bot navigation goal 25 | ``` 26 | 27 | [ROS Guide to Building/Customizing your Robot Model](http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) 28 | 29 | Mobile Robot in Gazebo World with Environment Obstacles 30 | 31 |

32 | 33 | ClearPath Robotics Jackal Course to Test Localization and Navigation 34 | 35 |

36 | 37 | Custom Mobile Robot Successfully Reaches Navigation Goal 38 | 39 |

40 | 41 | 42 | I posted a successful navigation from origin to goal on youtube here: 43 | 44 | [![IMAGE ALT TEXT HERE](https://github.com/WolfeTyler/ROS-Localization-Navigation-AMCL/blob/master/images/YouTube-ROS-AMCL.png)](https://www.youtube.com/watch?v=0Nag4b2GV2o) 45 | 46 | ## Future Work 47 | 48 | While the amcl-powered localization is efficient, there is opportunity to improve the robot's navigation and movement toward the goal position as demonstrated by frequent observations during test runs of inefficient path planning, frequent delays, and wide circling maneuvers when correcting for movement errors during the approach. With that said, the current setup of multiple robot models with their supporting costmap parameters are able to predictably reach the goal position as supplied in the navigation goal executable. 49 | 50 | Helpful resource for better understanding AMCL [here]( 51 | http://roboticsknowledgebase.com/wiki/state-estimation/adaptive-monte-carlo-localization/) 52 | 53 | -------------------------------------------------------------------------------- /Robotic_Localization_and_Dynamic_Navigation.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WolfeTyler/ROS-Localization-Navigation-AMCL/afd9a3a472715611d795faba0147176725341dc9/Robotic_Localization_and_Dynamic_Navigation.pdf -------------------------------------------------------------------------------- /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/WolfeTyler/ROS-Localization-Navigation-AMCL/afd9a3a472715611d795faba0147176725341dc9/catkin_ws/build/CATKIN_IGNORE -------------------------------------------------------------------------------- /catkin_ws/build/CMakeFiles/3.5.1/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 "5.4.0") 5 | set(CMAKE_C_COMPILER_WRAPPER "") 6 | set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11") 7 | set(CMAKE_C_COMPILE_FEATURES "c_function_prototypes;c_restrict;c_variadic_macros;c_static_assert") 8 | set(CMAKE_C90_COMPILE_FEATURES "c_function_prototypes") 9 | set(CMAKE_C99_COMPILE_FEATURES "c_restrict;c_variadic_macros") 10 | set(CMAKE_C11_COMPILE_FEATURES "c_static_assert") 11 | 12 | set(CMAKE_C_PLATFORM_ID "Linux") 13 | set(CMAKE_C_SIMULATE_ID "") 14 | set(CMAKE_C_SIMULATE_VERSION "") 15 | 16 | set(CMAKE_AR "/usr/bin/ar") 17 | set(CMAKE_RANLIB "/usr/bin/ranlib") 18 | set(CMAKE_LINKER "/usr/bin/ld") 19 | set(CMAKE_COMPILER_IS_GNUCC 1) 20 | set(CMAKE_C_COMPILER_LOADED 1) 21 | set(CMAKE_C_COMPILER_WORKS TRUE) 22 | set(CMAKE_C_ABI_COMPILED TRUE) 23 | set(CMAKE_COMPILER_IS_MINGW ) 24 | set(CMAKE_COMPILER_IS_CYGWIN ) 25 | if(CMAKE_COMPILER_IS_CYGWIN) 26 | set(CYGWIN 1) 27 | set(UNIX 1) 28 | endif() 29 | 30 | set(CMAKE_C_COMPILER_ENV_VAR "CC") 31 | 32 | if(CMAKE_COMPILER_IS_MINGW) 33 | set(MINGW 1) 34 | endif() 35 | set(CMAKE_C_COMPILER_ID_RUN 1) 36 | set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m) 37 | set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC) 38 | set(CMAKE_C_LINKER_PREFERENCE 10) 39 | 40 | # 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Rule to build all files generated by this target. 61 | CMakeFiles/tests.dir/build: tests 62 | 63 | .PHONY : CMakeFiles/tests.dir/build 64 | 65 | CMakeFiles/tests.dir/clean: 66 | $(CMAKE_COMMAND) -P CMakeFiles/tests.dir/cmake_clean.cmake 67 | .PHONY : CMakeFiles/tests.dir/clean 68 | 69 | CMakeFiles/tests.dir/depend: 70 | cd /home/workspace/catkin_ws/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/workspace/catkin_ws/src /home/workspace/catkin_ws/src /home/workspace/catkin_ws/build /home/workspace/catkin_ws/build /home/workspace/catkin_ws/build/CMakeFiles/tests.dir/DependInfo.cmake --color=$(COLOR) 71 | .PHONY : CMakeFiles/tests.dir/depend 72 | 73 | -------------------------------------------------------------------------------- /catkin_ws/build/CMakeFiles/tests.dir/cmake_clean.cmake: -------------------------------------------------------------------------------- 1 | 2 | # Per-language clean rules from dependency scanning. 3 | foreach(lang ) 4 | include(CMakeFiles/tests.dir/cmake_clean_${lang}.cmake OPTIONAL) 5 | endforeach() 6 | -------------------------------------------------------------------------------- /catkin_ws/build/CMakeFiles/tests.dir/progress.make: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /catkin_ws/build/CTestTestfile.cmake: -------------------------------------------------------------------------------- 1 | # CMake generated Testfile for 2 | # Source directory: /home/workspace/catkin_ws/src 3 | # Build directory: /home/workspace/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 | subdirs(udacity_bot) 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin/catkin_generated/version/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "catkin") 2 | set(catkin_VERSION "0.7.14") 3 | set(catkin_MAINTAINER "Dirk Thomas ") 4 | set(catkin_PACKAGE_FORMAT "2") 5 | set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg") 6 | set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 7 | set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-empy" "python-nose" "python-argparse" "python-catkin-pkg") 8 | set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 9 | set(catkin_BUILDTOOL_DEPENDS "cmake") 10 | set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake") 11 | set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg") 12 | set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 13 | set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "google-mock" "gtest" "python-empy" "python-nose") 14 | set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 15 | set(catkin_TEST_DEPENDS "python-mock" "python-nose") 16 | set(catkin_DOC_DEPENDS ) 17 | set(catkin_URL_WEBSITE "http://www.ros.org/wiki/catkin") 18 | set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") 19 | set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") 20 | 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 | import argparse 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/kinetic/share/catkin/cmake', 'catkinConfig.cmake.in')): 10 | sys.path.insert(0, os.path.join('/opt/ros/kinetic/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/kinetic".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/workspace/catkin_ws/devel/env.sh') 23 | 24 | output_filename = '/home/workspace/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/workspace/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 "$@" 17 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/installspace/setup.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 | list(APPEND CATKIN_ORDERED_PACKAGES "udacity_bot") 8 | list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "udacity_bot") 9 | list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") 10 | list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") 11 | 12 | set(CATKIN_MESSAGE_GENERATORS ) 13 | 14 | set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") 15 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/order_packages.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/order_packages.context.py.in 2 | source_root_dir = "/home/workspace/catkin_ws/src" 3 | whitelisted_packages = "".split(';') if "" != "" else [] 4 | blacklisted_packages = "".split(';') if "" != "" else [] 5 | underlay_workspaces = "/opt/ros/kinetic".split(';') if "/opt/ros/kinetic" != "" 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/workspace/catkin_ws/devel:$CMAKE_PREFIX_PATH" 11 | export LD_LIBRARY_PATH="/home/workspace/catkin_ws/devel/lib:$LD_LIBRARY_PATH" 12 | export PATH="/opt/ros/kinetic/bin:/usr/bin:/usr/local/cuda-9.0/bin:/root/miniconda3/bin:/opt/pytorch/bin:/opt/utils/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/VirtualGL/bin:/opt/TurboVNC/bin:/opt/swift/swift-4.0.3-RELEASE-ubuntu16.04/usr/bin" 13 | export PKG_CONFIG_PATH="/home/workspace/catkin_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH" 14 | export PWD="/home/workspace/catkin_ws/build" 15 | export PYTHONPATH="/home/workspace/catkin_ws/devel/lib/python2.7/dist-packages:$PYTHONPATH" 16 | export ROSLISP_PACKAGE_DIRECTORIES="/home/workspace/catkin_ws/devel/share/common-lisp" 17 | export ROS_PACKAGE_PATH="/home/workspace/catkin_ws/src://home/workspace/catkin_ws/src:$ROS_PACKAGE_PATH" -------------------------------------------------------------------------------- /catkin_ws/build/catkin_generated/stamps/Project/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | catkin 4 | 0.7.14 5 | Low-level build system macros and infrastructure for ROS. 6 | Dirk Thomas 7 | BSD 8 | 9 | http://www.ros.org/wiki/catkin 10 | https://github.com/ros/catkin/issues 11 | https://github.com/ros/catkin 12 | 13 | Troy Straszheim 14 | Morten Kjaergaard 15 | Brian Gerkey 16 | Dirk Thomas 17 | 18 | cmake 19 | cmake 20 | 21 | python-argparse 22 | python-catkin-pkg 23 | 24 | python-empy 25 | 26 | google-mock 27 | gtest 28 | python-empy 29 | python-nose 30 | 31 | python-mock 32 | python-nose 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /catkin_ws/build/catkin_make.cache: -------------------------------------------------------------------------------- 1 | udacity_bot 2 | -DCATKIN_DEVEL_PREFIX=/home/workspace/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/workspace/catkin_ws/install -G Unix Makefiles -------------------------------------------------------------------------------- /catkin_ws/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake: -------------------------------------------------------------------------------- 1 | # 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The command to remove a file. 40 | RM = /usr/bin/cmake -E remove -f 41 | 42 | # Escaping for special characters. 43 | EQUALS = = 44 | 45 | # The top-level source directory on which CMake was run. 46 | CMAKE_SOURCE_DIR = /home/workspace/catkin_ws/src 47 | 48 | # The top-level build directory on which CMake was run. 49 | CMAKE_BINARY_DIR = /home/workspace/catkin_ws/build 50 | 51 | # Utility rule file for udacity_bot_genpy. 52 | 53 | # Include the progress variables for this target. 54 | include udacity_bot/CMakeFiles/udacity_bot_genpy.dir/progress.make 55 | 56 | udacity_bot_genpy: udacity_bot/CMakeFiles/udacity_bot_genpy.dir/build.make 57 | 58 | .PHONY : udacity_bot_genpy 59 | 60 | # Rule to build all files generated by this target. 61 | udacity_bot/CMakeFiles/udacity_bot_genpy.dir/build: udacity_bot_genpy 62 | 63 | .PHONY : udacity_bot/CMakeFiles/udacity_bot_genpy.dir/build 64 | 65 | udacity_bot/CMakeFiles/udacity_bot_genpy.dir/clean: 66 | cd /home/workspace/catkin_ws/build/udacity_bot && $(CMAKE_COMMAND) -P CMakeFiles/udacity_bot_genpy.dir/cmake_clean.cmake 67 | .PHONY : udacity_bot/CMakeFiles/udacity_bot_genpy.dir/clean 68 | 69 | udacity_bot/CMakeFiles/udacity_bot_genpy.dir/depend: 70 | cd /home/workspace/catkin_ws/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/workspace/catkin_ws/src /home/workspace/catkin_ws/src/udacity_bot /home/workspace/catkin_ws/build /home/workspace/catkin_ws/build/udacity_bot /home/workspace/catkin_ws/build/udacity_bot/CMakeFiles/udacity_bot_genpy.dir/DependInfo.cmake --color=$(COLOR) 71 | .PHONY : udacity_bot/CMakeFiles/udacity_bot_genpy.dir/depend 72 | 73 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/CMakeFiles/udacity_bot_genpy.dir/cmake_clean.cmake: -------------------------------------------------------------------------------- 1 | 2 | # Per-language clean rules from dependency scanning. 3 | foreach(lang ) 4 | include(CMakeFiles/udacity_bot_genpy.dir/cmake_clean_${lang}.cmake OPTIONAL) 5 | endforeach() 6 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/CMakeFiles/udacity_bot_genpy.dir/progress.make: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/CTestTestfile.cmake: -------------------------------------------------------------------------------- 1 | # CMake generated Testfile for 2 | # Source directory: /home/workspace/catkin_ws/src/udacity_bot 3 | # Build directory: /home/workspace/catkin_ws/build/udacity_bot 4 | # 5 | # This file includes the relevant testing commands required for 6 | # testing this directory and lists subdirectories to be tested as well. 7 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/installspace/udacity_bot-msg-extras.cmake: -------------------------------------------------------------------------------- 1 | set(udacity_bot_MESSAGE_FILES "") 2 | set(udacity_bot_SERVICE_FILES "") 3 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/installspace/udacity_bot-msg-paths.cmake: -------------------------------------------------------------------------------- 1 | # generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in 2 | 3 | _prepend_path("${udacity_bot_DIR}/.." "" udacity_bot_MSG_INCLUDE_DIRS UNIQUE) 4 | set(udacity_bot_MSG_DEPENDENCIES std_msgs;geometry_msgs;move_base_msgs) 5 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/installspace/udacity_bot.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/workspace/catkin_ws/install 2 | 3 | Name: udacity_bot 4 | Description: Description of udacity_bot 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L/home/workspace/catkin_ws/install/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/installspace/udacity_botConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/kinetic/lib") -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "udacity_bot") 2 | set(udacity_bot_VERSION "0.0.0") 3 | set(udacity_bot_MAINTAINER "robond ") 4 | set(udacity_bot_PACKAGE_FORMAT "1") 5 | set(udacity_bot_BUILD_DEPENDS ) 6 | set(udacity_bot_BUILD_EXPORT_DEPENDS ) 7 | set(udacity_bot_BUILDTOOL_DEPENDS "catkin") 8 | set(udacity_bot_BUILDTOOL_EXPORT_DEPENDS ) 9 | set(udacity_bot_EXEC_DEPENDS ) 10 | set(udacity_bot_RUN_DEPENDS ) 11 | set(udacity_bot_TEST_DEPENDS ) 12 | set(udacity_bot_DOC_DEPENDS ) 13 | set(udacity_bot_URL_WEBSITE "") 14 | set(udacity_bot_URL_BUGTRACKER "") 15 | set(udacity_bot_URL_REPOSITORY "") 16 | set(udacity_bot_DEPRECATED "") -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/pkg.develspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "udacity_bot" 7 | PROJECT_SPACE_DIR = "/home/workspace/catkin_ws/devel" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/pkg.installspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "udacity_bot" 7 | PROJECT_SPACE_DIR = "/home/workspace/catkin_ws/install" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/stamps/udacity_bot/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | udacity_bot 4 | 0.0.0 5 | The udacity_bot package 6 | 7 | 8 | 9 | 10 | robond 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 | catkin 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/stamps/udacity_bot/pkg.pc.em.stamp: -------------------------------------------------------------------------------- 1 | prefix=@PROJECT_SPACE_DIR 2 | 3 | Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) 4 | Description: Description of @PROJECT_NAME 5 | Version: @PROJECT_VERSION 6 | Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) 7 | Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) 8 | Requires: @(PROJECT_CATKIN_DEPENDS) 9 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/udacity_bot-msg-extras.cmake.develspace.in: -------------------------------------------------------------------------------- 1 | set(udacity_bot_MESSAGE_FILES "") 2 | set(udacity_bot_SERVICE_FILES "") 3 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/catkin_generated/udacity_bot-msg-extras.cmake.installspace.in: -------------------------------------------------------------------------------- 1 | set(udacity_bot_MESSAGE_FILES "") 2 | set(udacity_bot_SERVICE_FILES "") 3 | -------------------------------------------------------------------------------- /catkin_ws/build/udacity_bot/cmake/udacity_bot-genmsg-context.py: -------------------------------------------------------------------------------- 1 | # generated from genmsg/cmake/pkg-genmsg.context.in 2 | 3 | messages_str = "" 4 | services_str = "" 5 | pkg_name = "udacity_bot" 6 | dependencies_str = "std_msgs;geometry_msgs;move_base_msgs" 7 | langs = "gencpp;geneus;genlisp;gennodejs;genpy" 8 | dep_include_paths_str = "std_msgs;/opt/ros/kinetic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/kinetic/share/geometry_msgs/cmake/../msg;move_base_msgs;/opt/ros/kinetic/share/move_base_msgs/cmake/../msg;actionlib_msgs;/opt/ros/kinetic/share/actionlib_msgs/cmake/../msg" 9 | PYTHON_EXECUTABLE = "/usr/bin/python" 10 | package_has_static_sources = '' == 'TRUE' 11 | genmsg_check_deps_script = "/opt/ros/kinetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" 12 | -------------------------------------------------------------------------------- /catkin_ws/devel/.built_by: -------------------------------------------------------------------------------- 1 | catkin_make -------------------------------------------------------------------------------- /catkin_ws/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/workspace/catkin_ws/src;//home/workspace/catkin_ws/src -------------------------------------------------------------------------------- /catkin_ws/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/workspace/catkin_ws/devel/setup.sh 3 | -------------------------------------------------------------------------------- /catkin_ws/devel/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 "$@" 17 | -------------------------------------------------------------------------------- /catkin_ws/devel/lib/pkgconfig/udacity_bot.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/workspace/catkin_ws/devel 2 | 3 | Name: udacity_bot 4 | Description: Description of udacity_bot 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L/home/workspace/catkin_ws/devel/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /catkin_ws/devel/lib/python2.7/dist-packages/udacity_bot/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WolfeTyler/ROS-Localization-Navigation-AMCL/afd9a3a472715611d795faba0147176725341dc9/catkin_ws/devel/lib/python2.7/dist-packages/udacity_bot/__init__.py -------------------------------------------------------------------------------- /catkin_ws/devel/lib/udacity_bot/navigation_goal: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WolfeTyler/ROS-Localization-Navigation-AMCL/afd9a3a472715611d795faba0147176725341dc9/catkin_ws/devel/lib/udacity_bot/navigation_goal -------------------------------------------------------------------------------- /catkin_ws/devel/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /catkin_ws/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/devel/share/roseus/ros/udacity_bot/manifest.l: -------------------------------------------------------------------------------- 1 | ;; 2 | ;; DO NOT EDIT THIS FILE 3 | ;; 4 | ;; THIS FILE IS AUTOMATICALLY GENERATED 5 | ;; FROM /home/workspace/catkin_ws/src/udacity_bot/package.xml (0.0.0) 6 | ;; USING /opt/ros/kinetic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/kinetic/share/geneus/package.xml (2.2.6) 7 | ;; 8 | (ros::load-ros-package "geometry_msgs") 9 | (ros::load-ros-package "move_base_msgs") 10 | (ros::load-ros-package "std_msgs") 11 | (ros::load-ros-package "udacity_bot") 12 | -------------------------------------------------------------------------------- /catkin_ws/devel/share/udacity_bot/cmake/udacity_bot-msg-extras.cmake: -------------------------------------------------------------------------------- 1 | set(udacity_bot_MESSAGE_FILES "") 2 | set(udacity_bot_SERVICE_FILES "") 3 | -------------------------------------------------------------------------------- /catkin_ws/devel/share/udacity_bot/cmake/udacity_bot-msg-paths.cmake: -------------------------------------------------------------------------------- 1 | # generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in 2 | 3 | set(udacity_bot_MSG_INCLUDE_DIRS "") 4 | set(udacity_bot_MSG_DEPENDENCIES std_msgs;geometry_msgs;move_base_msgs) 5 | -------------------------------------------------------------------------------- /catkin_ws/devel/share/udacity_bot/cmake/udacity_botConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /catkin_ws/src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ../../../../opt/ros/kinetic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/config/base_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | controller_frequency: 5.0 2 | 3 | TrajectoryPlannerROS: 4 | 5 | holonomic_robot: false 6 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/config/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | map_type: costmap 2 | 3 | obstacle_range: 3.1 4 | raytrace_range: 4.0 5 | inflation_radius: 0.5 6 | 7 | transform_tolerance: 0.2 8 | 9 | observation_sources: laser_scan_sensor 10 | 11 | laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /udacity_bot/laser/scan, marking: true, clearing: true} 12 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/config/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: robot_footprint 4 | update_frequency: 50.0 5 | publish_frequency: 50.0 6 | width: 40.0 7 | height: 40.0 8 | resolution: 0.05 9 | static_map: true 10 | rolling_window: false -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/config/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: robot_footprint 4 | update_frequency: 50.0 5 | publish_frequency: 50.0 6 | width: 20.0 7 | height: 20.0 8 | resolution: 0.05 9 | static_map: false 10 | rolling_window: true -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/launch/amcl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/launch/robot_description.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/launch/udacity_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/launch/udacity_world.launch.save: -------------------------------------------------------------------------------- 1 | 2 | 3 | < 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/maps/jackal_race.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WolfeTyler/ROS-Localization-Navigation-AMCL/afd9a3a472715611d795faba0147176725341dc9/catkin_ws/src/udacity_bot/maps/jackal_race.pgm -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/maps/jackal_race.yaml: -------------------------------------------------------------------------------- 1 | image: jackal_race.pgm 2 | resolution: 0.020000 3 | origin: [-38.560000, -30.240000, 0.000000] 4 | #origin: [0.000000, 0.000000, 0.000000] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.196 8 | 9 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | udacity_bot 4 | 0.0.0 5 | The udacity_bot package 6 | 7 | 8 | 9 | 10 | robond 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 | catkin 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/src/navigation_goal.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | typedef actionlib::SimpleActionClient MoveBaseClient; 6 | 7 | int main(int argc, char** argv) 8 | { 9 | ros::init(argc, argv, "navigation_goal"); 10 | // Spin a thread 11 | MoveBaseClient ac("move_base", true); 12 | 13 | // Wait for the action server to come up 14 | ROS_INFO("Waiting for the move_base action server"); 15 | ac.waitForServer(ros::Duration(5)); 16 | 17 | ROS_INFO("Connected to move_base server"); 18 | 19 | move_base_msgs::MoveBaseGoal goal; 20 | 21 | // Send goal pose 22 | goal.target_pose.header.frame_id = "map"; 23 | goal.target_pose.header.stamp = ros::Time::now(); 24 | 25 | // Do NOT modify the following for final submission. 26 | goal.target_pose.pose.position.x = 0.995; 27 | goal.target_pose.pose.position.y = -2.99; 28 | 29 | goal.target_pose.pose.orientation.x = 0.0; 30 | goal.target_pose.pose.orientation.y = 0.0; 31 | goal.target_pose.pose.orientation.z = 0.0; 32 | goal.target_pose.pose.orientation.w = 1.0; 33 | 34 | ROS_INFO("Sending goal"); 35 | ac.sendGoal(goal); 36 | 37 | ac.waitForResult(); 38 | 39 | if (ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) 40 | ROS_INFO("Excellent! Your robot has reached the goal position."); 41 | else 42 | ROS_INFO("The robot failed to reach the goal position"); 43 | 44 | return 0; 45 | } 46 | -------------------------------------------------------------------------------- /catkin_ws/src/udacity_bot/worlds/udacity.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://ground_plane 9 | 10 | 11 | 12 | 13 | model://sun 14 | 15 | 16 | 17 | 18 | 19 | 4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190 20 | orbit 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /images/68747470733a2f2f71696974612d696d6167652d73746f72652e73332e616d617a6f6e6177732e636f6d2f302f3235343434322f35343138643133352d333833652d306135662d663731312d3735353064383139653234392e676966.gif: -------------------------------------------------------------------------------- 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