├── .catkin_workspace ├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── README.md ├── images ├── action_server_client │ └── nodes.png ├── lasis_autonomous_vehicle │ ├── gmapping.png │ ├── lasis_vehicle_navigation.png │ └── racecar │ │ ├── ackermann_cmd_mux_structure.png │ │ ├── amcl.png │ │ └── amcl_odom_base_link.png ├── learning_tf │ └── nodes.png ├── my_global_planner_plugin │ ├── myAStar.png │ ├── myCarrot.png │ ├── myDijkstra.png │ └── myRosDijkstra.png ├── my_local_planner_plugin │ ├── base_local_planner.png │ ├── process.png │ └── tebLocalPlanner.png ├── my_nodelet_learning │ └── nodes.png ├── my_teb_planner │ ├── g2o.jpeg │ └── g2o_structure.jpg ├── param_dynamic_set │ └── nodes.png ├── service_req_rep │ └── nodes.png └── topic_pub_sub │ └── nodes.png └── src ├── CMakeLists.txt ├── action_server_client ├── CMakeLists.txt ├── action │ ├── Averaging.action │ └── fibon.action ├── launch │ ├── server_and_client_avg.launch │ └── server_and_client_fib.launch ├── package.xml └── src │ ├── action_client_avg.cpp │ ├── action_client_fib.cpp │ ├── action_server_avg.cpp │ ├── action_server_fib.cpp │ └── random_number_gen.cpp ├── lasis_autonomous_vehicle ├── ackermann_cmd_mux │ ├── .cproject │ ├── .gitignore │ ├── .project │ ├── .pydevproject │ ├── .settings │ │ └── language.settings.xml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── cfg │ │ └── reload.cfg │ ├── include │ │ └── ackermann_cmd_mux │ │ │ ├── ackermann_cmd_mux_nodelet.hpp │ │ │ ├── ackermann_cmd_subscribers.hpp │ │ │ └── exceptions.hpp │ ├── launch │ │ ├── ackermann_cmd_mux.launch │ │ ├── reconfigure.launch │ │ └── standalone.launch │ ├── package.xml │ ├── param │ │ ├── example.yaml │ │ └── reconfigure.yaml │ ├── plugins │ │ └── nodelets.xml │ └── src │ │ ├── ackermann_cmd_mux_nodelet.cpp │ │ ├── ackermann_cmd_subscribers.cpp │ │ └── throttle_interpolator.py ├── lasis_autonomous_vehicle │ ├── CMakeLists.txt │ └── package.xml ├── lasis_launch │ ├── CMakeLists.txt │ ├── include │ │ ├── amcl.launch │ │ └── move_base.launch │ ├── launch │ │ ├── gmapping.launch │ │ ├── navigation.launch │ │ ├── planner_debug.launch │ │ └── spawn_racecar.launch │ ├── map │ │ ├── map_with_cone.pgm │ │ └── map_with_cone.yaml │ ├── package.xml │ ├── rviz │ │ ├── gmapping.rviz │ │ ├── navigation.rviz │ │ ├── navigation_debug.rviz │ │ ├── planner_debug.rviz │ │ └── racecar_rviz.rviz │ ├── src │ │ └── path_pure_pursuit.cpp │ └── worlds │ │ ├── racecar.world │ │ └── racecar_runway.world ├── racecar │ ├── CMakeLists.txt │ ├── LICENSE │ ├── config │ │ └── racecar-v2 │ │ │ ├── high_level_mux.yaml │ │ │ ├── joy_teleop.yaml │ │ │ ├── low_level_mux.yaml │ │ │ ├── sensors.yaml │ │ │ ├── vesc.yaml │ │ │ └── vesc_new.yaml │ ├── launch │ │ ├── includes │ │ │ ├── common │ │ │ │ ├── joy_teleop.launch.xml │ │ │ │ └── sensors.launch.xml │ │ │ ├── racecar-v2-teleop.launch.xml │ │ │ └── racecar-v2 │ │ │ │ ├── static_transforms.launch.xml │ │ │ │ └── vesc.launch.xml │ │ ├── known_map_localization.launch │ │ ├── mux.launch │ │ ├── replay_bag_file │ │ │ ├── replay_bag_file.launch │ │ │ ├── replay_bag_mapping.launch │ │ │ └── replay_bag_with_lidar_processing.launch │ │ └── teleop.launch │ ├── maps │ │ ├── 32380.pgm │ │ ├── 32380.yaml │ │ ├── basement_hallways_10cm.png │ │ ├── basement_hallways_10cm.yaml │ │ ├── basement_hallways_5cm.png │ │ ├── basement_hallways_5cm.yml │ │ ├── short-course-33.png │ │ └── short-course-33.yml │ ├── package.xml │ ├── rviz │ │ ├── known_map_localization.rviz │ │ ├── laser_scan_matcher.rviz │ │ └── mapping.rviz │ └── scripts │ │ └── joy_teleop.py ├── racecar_control │ ├── CMakeLists.txt │ ├── config │ │ └── racecar_control.yaml │ ├── launch │ │ ├── gazebo_sim_joy.launch │ │ ├── racecar_control.launch │ │ └── teleop.launch │ ├── package.xml │ └── scripts │ │ ├── keyboard_teleop.py │ │ └── servo_commands.py ├── racecar_description │ ├── CMakeLists.txt │ ├── meshes │ │ ├── barca_track.DAE │ │ ├── chassis.STL │ │ ├── chassis.dae │ │ ├── cone.dae │ │ ├── hokuyo.dae │ │ ├── left_front_wheel.STL │ │ ├── left_front_wheel.dae │ │ ├── left_rear_wheel.STL │ │ ├── left_rear_wheel.dae │ │ ├── left_steering_hinge.STL │ │ ├── left_steering_hinge.dae │ │ ├── levine_track.dae │ │ ├── parking_1.dae │ │ ├── porto_race_track.DAE │ │ ├── right_front_wheel.STL │ │ ├── right_front_wheel.dae │ │ ├── right_rear_wheel.STL │ │ ├── right_rear_wheel.dae │ │ ├── right_steering_hinge.STL │ │ ├── right_steering_hinge.dae │ │ └── walker_racecourse.dae │ ├── models │ │ ├── MIT_Tunnel │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── ar_tags │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker0.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker0.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker1 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker1.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker1.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker10 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker10.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker10.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker11 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker11.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker11.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker12 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker12.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker12.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker13 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker13.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker13.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker14 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker14.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker14.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker15 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker15.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker15.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker16 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker16.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker16.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker17 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker17.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker17.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker2 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker2.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker2.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker3 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker3.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker3.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker4 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker4.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker4.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker5 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker5.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker5.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker6 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker6.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker6.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker7 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker7.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker7.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── marker8 │ │ │ │ ├── marker0 │ │ │ │ │ ├── marker0 │ │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ │ └── model.config │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ │ └── textures │ │ │ │ │ │ └── Marker8.png │ │ │ │ ├── meshes │ │ │ │ │ └── Marker8.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── marker9 │ │ │ │ ├── marker0 │ │ │ │ ├── marker0 │ │ │ │ │ ├── model-1_5.sdf │ │ │ │ │ └── model.config │ │ │ │ ├── model-1_5.sdf │ │ │ │ └── model.config │ │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ └── Marker9.png │ │ │ │ ├── meshes │ │ │ │ └── Marker9.dae │ │ │ │ ├── model-1_4.sdf │ │ │ │ ├── model-1_5.sdf │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ ├── barca_track │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── cone │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── levine_track │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── my_ground_plane │ │ │ ├── materials │ │ │ │ ├── scripts │ │ │ │ │ └── my_ground_plane.material │ │ │ │ └── textures │ │ │ │ │ ├── MyImage.png │ │ │ │ │ ├── MyImage.png.tar.gz │ │ │ │ │ └── MyImage │ │ │ │ │ ├── MyImage.JPG │ │ │ │ │ └── MyImage.png │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── parking_1 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── porto_track │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── runway │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── walker_racecourse │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── package.xml │ └── urdf │ │ ├── macros.xacro │ │ ├── materials.xacro │ │ ├── racecar.gazebo │ │ └── racecar.xacro └── racecar_gazebo │ ├── CMakeLists.txt │ ├── config │ ├── amcl_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── gmapping.rviz │ ├── keyboard_teleop.yaml │ ├── local_costmap_params.yaml │ ├── new_gmapping.rviz │ ├── racecar_rviz.rviz │ └── teb_local_planner_params.yaml │ ├── launch │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── gmapping.launch │ ├── racecar.launch │ ├── racecar_ar.launch │ ├── racecar_normal_light_runway.launch │ ├── racecar_normal_runway.launch │ ├── racecar_parking_1.launch │ ├── racecar_runway.launch │ ├── racecar_runway_navigation.launch │ ├── racecar_rviz.launch │ ├── racecar_tunnel.launch │ ├── racecar_walker.launch │ └── slam_gmapping.launch │ ├── map │ ├── map_runway.pgm │ ├── map_runway.yaml │ ├── map_tunnel.pgm │ ├── map_tunnel.png │ └── map_tunnel.yaml │ ├── model │ ├── green_light │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── my_ground_plane.material │ │ │ └── textures │ │ │ │ └── greenlight.png │ │ ├── model.config │ │ └── model.sdf │ ├── my_ground_plane │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── my_ground_plane.material │ │ │ └── textures │ │ │ │ ├── MyImage.jpg │ │ │ │ ├── MyImage.png.tar.gz │ │ │ │ └── MyImage │ │ │ │ ├── MyImage.JPG │ │ │ │ └── MyImage.png │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.tar.gz │ └── red_light │ │ ├── materials │ │ ├── scripts │ │ │ └── my_ground_plane.material │ │ └── textures │ │ │ └── light.png │ │ ├── model.config │ │ └── model.sdf │ ├── package.xml │ ├── scripts │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── findLine.py │ ├── gazebo_map_odom.py │ ├── gazebo_odometry.py │ ├── global_hybrid_A_star.py │ ├── keyboard_teleop.py │ ├── light_contrl.py │ └── path_pursuit.py │ ├── src │ └── findLine.cpp │ └── worlds │ ├── normal_runway.world │ ├── normal_runway_with_light.world │ ├── racecar.world │ ├── racecar_ar.world │ ├── racecar_cones.world │ ├── racecar_parking_1.world │ ├── racecar_runway.world │ ├── racecar_tunnel.world │ ├── racecar_walker.world │ ├── track_barca.world │ ├── track_empty.world │ ├── track_levine.world │ └── track_porto.world ├── learning_tf ├── CMakeLists.txt ├── launch │ └── start_demo.launch ├── package.xml └── src │ ├── carrot_tf_frame_broadcast.cpp │ ├── turtle_tf_boardcast_learning.cpp │ └── turtle_tf_listen_learning.cpp ├── my_global_planner_plugin ├── CMakeLists.txt ├── include │ ├── myAStar.hpp │ ├── myCarrot.hpp │ ├── myDijkstra.hpp │ ├── myDijkstraKernel.hpp │ ├── myDijkstraROS.hpp │ └── my_global_planner_common.hpp ├── launch │ └── kernelDebug.launch ├── map │ ├── costa.pgm │ ├── costayaml │ ├── my_map.pgm │ ├── my_map.yaml │ ├── willow.pgm │ └── willow.yaml ├── my_global_planner_plugin.xml ├── package.xml ├── rviz │ └── kernelDebug.rviz └── src │ ├── click_point_make_plan.cpp │ ├── kernelTest.cpp │ └── my_global_planner_register.cpp ├── my_local_planner_plugin ├── CMakeLists.txt ├── include │ ├── my_base_local_planner.hpp │ └── my_base_local_planner_ros.hpp ├── my_local_planner_plugin.xml ├── package.xml ├── scripts │ ├── phase_portrait.py │ └── visualize_velocity_profile.py └── src │ ├── kernelTest.cpp │ └── my_local_planner_register.cpp ├── my_nodelet_learning ├── CMakeLists.txt ├── include │ └── my_nodelet_learning │ │ └── my_nodelet_class.h ├── launch │ └── my_nodelet_launch.launch ├── nodelet_plugins.xml ├── package.xml └── src │ └── my_nodelet_register.cpp ├── my_pluginlib_learning ├── CMakeLists.txt ├── animal_plugin.xml ├── include │ └── my_pluginlib_learning │ │ ├── advanced_animal.h │ │ └── base_animal.h ├── launch │ └── plugin_param_demo.launch ├── package.xml └── src │ ├── plugin_caller.cpp │ └── plugin_register.cpp ├── param_dynamic_set ├── CMakeLists.txt ├── cfg │ └── param_dynamic_set_PY.cfg ├── launch │ └── param_dynamic_set.launch ├── package.xml ├── src │ ├── dynamic_configure_node.cpp │ └── my_param_dynamic_set_call_server.cpp └── srv │ ├── service_bool.srv │ ├── service_enum.srv │ ├── service_float.srv │ ├── service_int.srv │ └── service_string.srv ├── service_req_rep ├── CMakeLists.txt ├── launch │ └── service_req_rep.launch ├── msg │ ├── resp.msg │ └── rqst.msg ├── package.xml ├── scripts │ ├── myPyClient.py │ └── myPyServer.py ├── src │ ├── myClient.cpp │ └── myServer.cpp └── srv │ └── greeting.srv └── topic_pub_sub ├── CMakeLists.txt ├── launch └── topic_pub_sub.launch ├── msg ├── gps.msg └── timeStamp.msg ├── package.xml ├── scripts ├── myPyListener.py └── myPyTalker.py └── src ├── myListener.cpp └── myTalker.cpp /.catkin_workspace: -------------------------------------------------------------------------------- 1 | # This file currently only serves to mark the location of a catkin workspace for tool integration 2 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | devel 2 | build 3 | src/ROS-Academy-for-Beginners 4 | src/rosFiveDay 5 | src/racecar 6 | src/hypha-racecar 7 | src/rf2o_laser_odometry 8 | src/turtlebot 9 | src/husky 10 | src/astar_planner 11 | src/fssim -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "browse": { 5 | "databaseFilename": "", 6 | "limitSymbolsToIncludedHeaders": true 7 | }, 8 | "includePath": [ 9 | "/opt/ros/melodic/include/**", 10 | "/usr/include/**", 11 | "${workspaceFolder}/devel/include/**", 12 | "${workspaceFolder}/**" 13 | ], 14 | "name": "ROS" 15 | } 16 | ], 17 | "version": 4 18 | } -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | "version": "0.2.0", 3 | "configurations": [ 4 | { 5 | "name": "Python: 当前文件", 6 | "type": "python", 7 | "request": "launch", 8 | "program": "${file}", 9 | "console": "integratedTerminal" 10 | }, 11 | { 12 | // 在要debug的cmakelist里第三行插入 13 | // SET(CMAKE_BUILD_TYPE Debug) 14 | // 15 | // https://haoqchen.site/2019/08/15/debug-ros-with-vscode/ 16 | // 修改为编译文件的名称 17 | "name": "kernelTest", 18 | "type": "cppdbg", 19 | "request": "launch", 20 | // 可执行对象的位置 21 | "program": "${workspaceFolder}/devel/lib/my_global_planner_plugin/kernelTest", 22 | // 启动传入参数 23 | "args": [ 24 | "_model:=RS16", 25 | "_resolution_type:=1.0cm" 26 | ], 27 | "stopAtEntry": false, 28 | "cwd": "${workspaceFolder}", 29 | "environment": [], 30 | "externalConsole": false, 31 | "preLaunchTask": "prerun", 32 | "MIMode": "gdb", 33 | "avoidWindowsConsoleRedirection": true, 34 | "setupCommands": [ 35 | { 36 | "description": "Enable pretty-printing for gdb", 37 | "text": "-enable-pretty-printing", 38 | "ignoreFailures": true 39 | } 40 | ] 41 | } 42 | ] 43 | } -------------------------------------------------------------------------------- /images/action_server_client/nodes.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/images/action_server_client/nodes.png -------------------------------------------------------------------------------- /images/lasis_autonomous_vehicle/gmapping.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | # goal 2 | int32 samples 3 | --- 4 | # result 5 | float32 avg 6 | float32 std_dev 7 | --- 8 | # feedback 9 | int32 sample 10 | float32 data 11 | float32 avg 12 | float32 std_dev 13 | -------------------------------------------------------------------------------- /src/action_server_client/action/fibon.action: -------------------------------------------------------------------------------- 1 | # goal 2 | int32 order 3 | --- 4 | # result 5 | int32[] sequence 6 | --- 7 | # feedback 8 | int32[] sequence 9 | -------------------------------------------------------------------------------- /src/action_server_client/launch/server_and_client_avg.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 16 | 22 | 23 | 30 | 31 | 37 | 43 | 50 | -------------------------------------------------------------------------------- /src/action_server_client/launch/server_and_client_fib.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 15 | 16 | 22 | 23 | 28 | -------------------------------------------------------------------------------- /src/action_server_client/src/action_client_avg.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | 7 | void spinThread(){ 8 | ros::spin(); 9 | return; 10 | } 11 | 12 | int main(int argc, char* argv[]){ 13 | ros::init(argc, argv, "avgActionClient"); 14 | actionlib::SimpleActionClient actionClient("avgActionServer"); 15 | // 创建线程并开始 16 | boost::thread spin_thread(&spinThread); 17 | ROS_INFO("waiting for service"); 18 | actionClient.waitForServer(); 19 | ROS_INFO("server started"); 20 | action_server_client::AveragingGoal goal; 21 | goal.samples = 100; 22 | if (argc != 1){ 23 | goal.samples = atoi(argv[1]); 24 | } 25 | actionClient.sendGoal(goal); 26 | bool finsihed = actionClient.waitForResult(ros::Duration(30.0)); 27 | if (finsihed){ 28 | actionlib::SimpleClientGoalState state = actionClient.getState(); 29 | ROS_INFO("Action finished: %s", state.toString().c_str()); 30 | } 31 | else{ 32 | ROS_WARN("timeout."); 33 | } 34 | ros::shutdown(); 35 | // join线程 36 | spin_thread.join(); 37 | return 0; 38 | } -------------------------------------------------------------------------------- /src/action_server_client/src/action_client_fib.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | // 定义动作的所有可能结束状态 5 | // Simple Action Client将原始客户端状态机分为三种状态：Pending，Active & Done 6 | #include 7 | 8 | int main(int argc, char* argv[]){ 9 | ros::init(argc, argv, "fibonClient"); 10 | // 简单动作客户端模板函数 11 | actionlib::SimpleActionClient actionClient("fibonAction", true); 12 | ROS_INFO("waiting action server"); 13 | // 必须等服务，否则会调用尚未建立的动作服务 14 | actionClient.waitForServer(); 15 | action_server_client::fibonGoal goal; 16 | goal.order = 20; 17 | if (argc == 2){ 18 | goal.order = atoi(argv[1]); 19 | } 20 | std::cout << goal.order << std::endl; 21 | actionClient.sendGoal(goal); 22 | // actionClient.cancelGoal(); //取消 23 | bool finishedBeforeDDL = actionClient.waitForResult(ros::Duration(30.0)); 24 | if (finishedBeforeDDL){ 25 | // 询问状态 26 | actionlib::SimpleClientGoalState state = actionClient.getState(); 27 | ROS_INFO("action finished: %s.", state.toString().c_str()); 28 | } 29 | else{ 30 | ROS_WARN("timeout."); 31 | } 32 | return 0; 33 | } -------------------------------------------------------------------------------- /src/action_server_client/src/random_number_gen.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | 6 | int main(int argc, char* argv[]){ 7 | ros::init(argc, argv, "randomNumGen"); 8 | ros::NodeHandle handler; 9 | ros::Publisher pub = handler.advertise("/randomNumber", 10); 10 | std_msgs::Float32 msg; 11 | float pubRate = 10; 12 | int maxVal = INT_MAX; 13 | if (argc != 1){ 14 | pubRate = atof(argv[1]); 15 | maxVal = atoi(argv[2]); 16 | } 17 | ros::Rate rate(pubRate); 18 | while (ros::ok()){ 19 | msg.data = rand() % maxVal; 20 | pub.publish(msg); 21 | rate.sleep(); 22 | } 23 | return 0; 24 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/.gitignore: -------------------------------------------------------------------------------- 1 | /bin 2 | /build 3 | /lib 4 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Default 6 | python 2.7 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/.settings/language.settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/cfg/reload.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | PACKAGE = "ackermann_cmd_mux" 4 | 5 | from dynamic_reconfigure.parameter_generator_catkin import * 6 | 7 | gen = ParameterGenerator() 8 | 9 | gen.add("yaml_cfg_file", str_t, 0, "Pathname to a yaml file for re-configuration of the mux", "") 10 | 11 | # Second arg is node name it will run in (doc purposes only), third is generated filename prefix 12 | exit(gen.generate(PACKAGE, "ackermann_cmd_mux_reload", "reload")) -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/launch/ackermann_cmd_mux.launch: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/launch/reconfigure.launch: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/launch/standalone.launch: -------------------------------------------------------------------------------- 1 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/param/reconfigure.yaml: -------------------------------------------------------------------------------- 1 | # Another example configuration file, though this one is used to test the dynamic reconfiguration 2 | # of the ackermann_cmd_mux. Used with reconfigure.launch. 3 | 4 | subscribers: 5 | - name: "Default input" 6 | topic: "input/default" 7 | timeout: 0.1 8 | priority: 0 9 | short_desc: "The default ackermann_cmd, controllers unaware that we are multiplexing ackermann_cmd should come here" 10 | - name: "Navigation stack" 11 | topic: "input/navigation" 12 | timeout: 0.5 13 | priority: 1 14 | short_desc: "Navigation stack controller" 15 | - name: "Safety controller" 16 | topic: "input/safety" 17 | timeout: 0.1 18 | priority: 10 19 | short_desc: "Used with the reactive velocity control provided by the bumper/cliff sensor safety controller" 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/ackermann_cmd_mux/plugins/nodelets.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | Implementation for the ackermann command multiplexer as a nodelet. 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_autonomous_vehicle/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(lasis_autonomous_vehicle) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_autonomous_vehicle/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | lasis_autonomous_vehicle 4 | 0.0.1 5 | 6 | lasis autonomous vehicle 7 | depends: 8 | 1. Metapackage for ROS interface to the Vedder VESC open source motor controller. 9 | 10 | lasis 11 | 12 | 14 | BSD 15 | 16 | 17 | catkin 18 | 19 | ackermann_cmd_mux 20 | racecar 21 | racecar_description 22 | racecar_control 23 | racecar_gazebo 24 | lasis_launch 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/launch/planner_debug.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 25 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/launch/spawn_racecar.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/map/map_with_cone.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/lasis_launch/map/map_with_cone.pgm -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/map/map_with_cone.yaml: -------------------------------------------------------------------------------- 1 | image: map_with_cone.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 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/src/path_pure_pursuit.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | class pathController{ 10 | public: 11 | pathController(){ 12 | return; 13 | } 14 | private: 15 | ros::NodeHandle handler_; 16 | ros::Subscriber odomSub_; 17 | ros::Subscriber pathSub_; 18 | ros::Publisher ackermannPub_; 19 | geometry_msgs::Twist twist_; 20 | }; 21 | 22 | int main(int argc, char* argv[]){ 23 | ros::init(argc, argv, "path_pure_pursuit_node"); 24 | ros::spin(); 25 | return 0; 26 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/lasis_launch/worlds/racecar.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | true 11 | 12 | 13 | 14 | 15 | 0 0 1 16 | 150 150 17 | 18 | 19 | 20 | 21 | 22 | 100 23 | 50 24 | 25 | 26 | 27 | 28 | 29 | false 30 | 31 | 32 | 0 0 1 33 | 150 150 34 | 35 | 36 | 37 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/config/racecar-v2/high_level_mux.yaml: -------------------------------------------------------------------------------- 1 | # Individual subscriber configuration: 2 | # name: Source name 3 | # topic: The topic that provides ackermann_cmd messages 4 | # timeout: Time in seconds without incoming messages to consider this topic inactive 5 | # priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT 6 | # short_desc: Short description (optional) 7 | 8 | subscribers: 9 | - name: "Nav_0" 10 | topic: "input/nav_0" 11 | timeout: 0.2 12 | priority: 20 13 | short_desc: "Input for autonomous navigation, highest priority" 14 | 15 | - name: "Nav_1" 16 | topic: "input/nav_1" 17 | timeout: 0.2 18 | priority: 15 19 | short_desc: "Input for autonomous navigation" 20 | 21 | - name: "Nav_2" 22 | topic: "input/nav_2" 23 | timeout: 0.2 24 | priority: 10 25 | short_desc: "Input for autonomous navigation" 26 | 27 | - name: "Nav_3" 28 | topic: "input/nav_3" 29 | timeout: 0.2 30 | priority: 5 31 | short_desc: "Input for autonomous navigation" 32 | 33 | - name: "Default" 34 | topic: "input/default" 35 | timeout: 1.0 36 | priority: 0 37 | short_desc: "Default input, lowest priority" 38 | publisher: "output" -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/config/racecar-v2/low_level_mux.yaml: -------------------------------------------------------------------------------- 1 | # Individual subscriber configuration: 2 | # name: Source name 3 | # topic: The topic that provides ackermann_cmd messages 4 | # timeout: Time in seconds without incoming messages to consider this topic inactive 5 | # priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT 6 | # short_desc: Short description (optional) 7 | 8 | subscribers: 9 | - name: "Teleoperation" 10 | topic: "input/teleop" 11 | timeout: 0.2 12 | priority: 10 13 | short_desc: "Input for human teleoperation (joystick). Highest priority." 14 | 15 | - name: "Safety" 16 | topic: "input/safety" 17 | timeout: 0.2 18 | priority: 5 19 | short_desc: "Input for safety monitor." 20 | 21 | - name: "Navigation" 22 | topic: "input/navigation" 23 | timeout: 0.2 24 | priority: 0 25 | short_desc: "Input for autonomous navigation" 26 | 27 | publisher: "output" -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/config/racecar-v2/sensors.yaml: -------------------------------------------------------------------------------- 1 | 2 | laser_node: 3 | device: /dev/sensors/hokuyo 4 | 5 | imu_node: 6 | device: /dev/imu 7 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/config/racecar-v2/vesc.yaml: -------------------------------------------------------------------------------- 1 | 2 | # erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset 3 | speed_to_erpm_gain: 4614 4 | speed_to_erpm_offset: 0.0 5 | 6 | tachometer_ticks_to_meters_gain: 0.00225 7 | # servo smoother - limits rotation speed and smooths anything above limit 8 | max_servo_speed: 3.2 # radians/second 9 | servo_smoother_rate: 75.0 # messages/sec 10 | 11 | # servo smoother - limits acceleration and smooths anything above limit 12 | max_acceleration: 2.5 # meters/second^2 13 | throttle_smoother_rate: 75.0 # messages/sec 14 | 15 | # servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset 16 | steering_angle_to_servo_gain: -1.2135 17 | steering_angle_to_servo_offset: 0.5304 18 | 19 | # publish odom to base link tf 20 | vesc_to_odom/publish_tf: false 21 | 22 | # car wheelbase is about 25cm 23 | wheelbase: .25 24 | 25 | vesc_driver: 26 | port: /dev/sensors/vesc 27 | duty_cycle_min: 0.0 28 | duty_cycle_max: 0.0 29 | current_min: 0.0 30 | current_max: 100.0 31 | brake_min: -20000.0 32 | brake_max: 200000.0 33 | speed_min: -23250 34 | speed_max: 23250 35 | position_min: 0.0 36 | position_max: 0.0 37 | servo_min: 0.15 38 | servo_max: 0.85 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/config/racecar-v2/vesc_new.yaml: -------------------------------------------------------------------------------- 1 | 2 | # erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset 3 | speed_to_erpm_gain: 4614 4 | speed_to_erpm_offset: 0.0 5 | 6 | tachometer_ticks_to_meters_gain: 0.00225 7 | # servo smoother - limits rotation speed and smooths anything above limit 8 | max_servo_speed: 3.2 # radians/second 9 | servo_smoother_rate: 75.0 # messages/sec 10 | 11 | # servo smoother - limits acceleration and smooths anything above limit 12 | max_acceleration: 2.5 # meters/second^2 13 | throttle_smoother_rate: 75.0 # messages/sec 14 | 15 | # servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset 16 | steering_angle_to_servo_gain: -1.2135 17 | steering_angle_to_servo_offset: 0.5304 18 | 19 | # publish odom to base link tf 20 | vesc_to_odom/publish_tf: false 21 | 22 | # car wheelbase is about 25cm 23 | wheelbase: .25 24 | 25 | vesc_driver: 26 | port: /dev/ttyACM1 27 | duty_cycle_min: 0.0 28 | duty_cycle_max: 0.5 29 | current_min: 0.0 30 | current_max: 100.0 31 | brake_min: -20000.0 32 | brake_max: 200000.0 33 | speed_min: -33250 34 | speed_max: 33250 35 | position_min: 0.0 36 | position_max: 0.0 37 | servo_min: 0.15 38 | servo_max: 0.85 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/includes/common/joy_teleop.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/includes/common/sensors.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/includes/racecar-v2-teleop.launch.xml: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/includes/racecar-v2/static_transforms.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/includes/racecar-v2/vesc.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/replay_bag_file/replay_bag_file.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/replay_bag_file/replay_bag_with_lidar_processing.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 33 | 35 | 36 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/launch/teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/maps/32380.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar/maps/32380.pgm -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/maps/32380.yaml: -------------------------------------------------------------------------------- 1 | image: 32380.pgm 2 | resolution: 0.050000 3 | origin: [-51.224998, -51.224998, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/maps/basement_hallways_10cm.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar/maps/basement_hallways_10cm.png -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar/maps/basement_hallways_10cm.yaml: -------------------------------------------------------------------------------- 1 | image: basement_hallways_10cm.png 2 | resolution: 0.100000 3 | origin: [-30.000000, -30.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- 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10 | Building 32-081 11 | 12 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker0/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker0/marker0/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- 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model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker6/model.config: -------------------------------------------------------------------------------- 1 | 2 | Marker6 3 | 1.0 4 | model.sdf 5 | model-1_5.sdf 6 | model-1_4.sdf 7 | 8 | 9 | Mikael Arguedas 10 | mikael.arguedas@gmail.com 11 | 12 | 13 | 14 | A model of AR marker 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker6/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/marker0/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/materials/textures/Marker7.png: 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model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/model.config: -------------------------------------------------------------------------------- 1 | 2 | Marker7 3 | 1.0 4 | model.sdf 5 | model-1_5.sdf 6 | model-1_4.sdf 7 | 8 | 9 | Mikael Arguedas 10 | mikael.arguedas@gmail.com 11 | 12 | 13 | 14 | A model of AR marker 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker7/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/marker0/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/materials/textures/Marker8.png: 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model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/model.config: -------------------------------------------------------------------------------- 1 | 2 | Marker8 3 | 1.0 4 | model.sdf 5 | model-1_5.sdf 6 | model-1_4.sdf 7 | 8 | 9 | Mikael Arguedas 10 | mikael.arguedas@gmail.com 11 | 12 | 13 | 14 | A model of AR marker 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker8/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/marker0/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/marker0/model-1_5.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | model://marker0/meshes/Marker0.dae 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/marker0/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Marker0 5 | 1.0 6 | model.sdf 7 | model-1_5.sdf 8 | model-1_4.sdf 9 | 10 | 11 | Mikael Arguedas 12 | mikael.arguedas@gmail.com 13 | 14 | 15 | 16 | A model of AR marker 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/materials/textures/Marker9.png: 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model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/model.config: -------------------------------------------------------------------------------- 1 | 2 | Marker9 3 | 1.0 4 | model.sdf 5 | model-1_5.sdf 6 | model-1_4.sdf 7 | 8 | 9 | Mikael Arguedas 10 | mikael.arguedas@gmail.com 11 | 12 | 13 | 14 | A model of AR marker 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/ar_tags/marker9/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | true 4 | 5 | 6 | 7 | 8 | model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae 9 | 0.1 0.1 0.1 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/barca_track/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | barca_track 4 | 1.0 5 | model.sdf 6 | 7 | Manas Shukla 8 | shuklam@seas.upenn.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/barca_track/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/barca_track.DAE 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/barca_track.DAE 16 | 17 | 18 | 19 | 20 | 1 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/cone/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | cone 4 | 1.0 5 | model.sdf 6 | A bright orange cone 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/cone/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/cone.dae 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/cone.dae 16 | 17 | 18 | 19 | 1 0.2 0 1 20 | 1 0.2 0 1 21 | 0.1 0.1 0.1 1 22 | 0 0 0 0 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/levine_track/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | levine_track 4 | 1.0 5 | model.sdf 6 | 7 | Christopher Kao 8 | chriskao@seas.upenn.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/levine_track/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/levine_track.dae 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/levine_track.dae 16 | 17 | 18 | 19 | 20 | 1 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/my_ground_plane/materials/scripts/my_ground_plane.material: -------------------------------------------------------------------------------- 1 | material MyGroundPlane/Image 2 | { 3 | receive_shadows on 4 | technique 5 | { 6 | pass 7 | { 8 | ambient 0.5 0.5 0.5 1.0 9 | texture_unit 10 | { 11 | texture MyImage.png 12 | } 13 | } 14 | } 15 | } 16 | 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-------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/my_ground_plane/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | My Ground Plane 4 | 1.0 5 | model.sdf 6 | My textured ground plane. 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/my_ground_plane/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 15 15 0.01 10 | 11 | 12 | 13 | 14 | 15 | 100 16 | 50 17 | 18 | 19 | 20 | 21 | 22 | true 23 | 24 | 25 | 15 15 0.01 26 | 27 | 28 | 29 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/parking_1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/parking_1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/parking_1.dae 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/parking_1.dae 16 | 17 | 18 | 19 | 20 | 1 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/porto_track/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | porto_track 4 | 1.0 5 | model.sdf 6 | 7 | Manas Shukla 8 | shuklam@seas.upenn.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/porto_track/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/porto_race_track.DAE 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/porto_race_track.DAE 16 | 17 | 18 | 19 | 20 | 1 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/runway/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | runway 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/walker_racecourse/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | walker_racecourse 4 | 1.0 5 | model.sdf 6 | 7 | Owen Guldner 8 | owen.guldner@ll.mit.edu 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/models/walker_racecourse/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | model://racecar_description/meshes/walker_racecourse.dae 9 | 10 | 11 | 12 | 13 | 14 | 15 | model://racecar_description/meshes/walker_racecourse.dae 16 | 17 | 18 | 19 | 20 | 1 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_description/urdf/materials.xacro: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/config/amcl_params.yaml: -------------------------------------------------------------------------------- 1 | use_map_topic: true 2 | 3 | odom_frame_id: "odom" 4 | base_frame_id: "base_link" 5 | global_frame_id: "map" 6 | 7 | ## Publish scans from best pose at a max of 10 Hz 8 | odom_model_type: "diff" 9 | odom_alpha5: 0.1 10 | gui_publish_rate: 10.0 11 | laser_max_beams: 60 12 | laser_max_range: 12.0 13 | min_particles: 500 14 | max_particles: 2000 15 | kld_err: 0.05 16 | kld_z: 0.99 17 | odom_alpha1: 0.2 18 | odom_alpha2: 0.2 19 | ## translation std dev, m 20 | odom_alpha3: 0.2 21 | odom_alpha4: 0.2 22 | laser_z_hit: 0.5 23 | aser_z_short: 0.05 24 | laser_z_max: 0.05 25 | laser_z_rand: 0.5 26 | laser_sigma_hit: 0.2 27 | laser_lambda_short: 0.1 28 | laser_model_type: "likelihood_field" # "likelihood_field" or "beam" 29 | laser_likelihood_max_dist: 2.0 30 | update_min_d: 0.25 31 | update_min_a: 0.2 32 | 33 | resample_interval: 1 34 | 35 | ## Increase tolerance because the computer can get quite busy 36 | transform_tolerance: 1.0 37 | recovery_alpha_slow: 0.001 38 | recovery_alpha_fast: 0.1 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/config/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | 2 | #---standard pioneer footprint--- 3 | #---(in meters)--- 4 | #footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] 5 | footprint: [ [-0.1,-0.125], [0.5,-0.125], [0.5,0.125], [-0.1,0.125] ] 6 | 7 | 8 | transform_tolerance: 0.2 9 | map_type: costmap 10 | 11 | obstacle_layer: 12 | enabled: true 13 | obstacle_range: 5.0 14 | raytrace_range: 5.5 15 | inflation_radius: 0.2 16 | track_unknown_space: false 17 | combination_method: 1 18 | 19 | observation_sources: laser_scan_sensor 20 | laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true} 21 | 22 | 23 | inflation_layer: 24 | enabled: true 25 | cost_scaling_factor: 15 # exponential rate at which the obstacle cost drops off (default: 10) 26 | inflation_radius: 1.0 # max. distance from an obstacle at which costs are incurred for planning paths. 27 | 28 | static_layer: 29 | enabled: true 30 | map_topic: "/map" 31 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/config/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_link 4 | update_frequency: 0.001 5 | publish_frequency: 0.0005 6 | static_map: true 7 | 8 | transform_tolerance: 0.5 9 | plugins: 10 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 12 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/config/keyboard_teleop.yaml: -------------------------------------------------------------------------------- 1 | keyboard_teleop: 2 | speed: 0.5 3 | max_steering_angle: 0.34 4 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/config/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: 10.0 6 | static_map: false 7 | rolling_window: true 8 | width: 5 9 | height: 5 10 | resolution: 0.25 11 | transform_tolerance: 0.5 12 | 13 | plugins: 14 | - {name: static_layer, type: "costmap_2d::StaticLayer"} 15 | - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "browse": { 5 | "databaseFilename": "", 6 | "limitSymbolsToIncludedHeaders": true 7 | }, 8 | "includePath": [ 9 | "/home/tony-yaoyao/f110_ws/devel/include/**", 10 | "/home/tony-yaoyao/uw-mushr-ws/devel/include/**", 11 | "/opt/ros/melodic/include/**", 12 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/racecar/ackermann_cmd_mux/include/**", 13 | "/home/tony-yaoyao/uw-mushr-ws/src/mushr/mushr_hardware/realsense/realsense2_camera/include/**", 14 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/serial/include/**", 15 | "/home/tony-yaoyao/f110_ws/src/teb_local_planner/include/**", 16 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/vesc/vesc_ackermann/include/**", 17 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/vesc/vesc_driver/include/**", 18 | "/usr/include/**" 19 | ], 20 | "name": "ROS", 21 | "intelliSenseMode": "gcc-x64", 22 | "compilerPath": "/usr/bin/gcc", 23 | "cStandard": "c11", 24 | "cppStandard": "c++17" 25 | } 26 | ], 27 | "version": 4 28 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/tony-yaoyao/f110_ws/devel/lib/python2.7/dist-packages", 4 | "/home/tony-yaoyao/uw-mushr-ws/devel/lib/python2.7/dist-packages", 5 | "/opt/ros/melodic/lib/python2.7/dist-packages" 6 | ] 7 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_ar.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_normal_light_runway.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_normal_runway.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_parking_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_runway.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/racecar_walker.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/launch/slam_gmapping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/map/map_runway.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/map/map_runway.pgm -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/map/map_runway.yaml: -------------------------------------------------------------------------------- 1 | image: map_runway.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 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/map/map_tunnel.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/map/map_tunnel.pgm -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/map/map_tunnel.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/map/map_tunnel.png -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/map/map_tunnel.yaml: -------------------------------------------------------------------------------- 1 | image: map_tunnel.png 2 | resolution: 0.050000 3 | origin: [-100.000000, -100.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.1 6 | free_thresh: 0.1 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/green_light/materials/scripts/my_ground_plane.material: -------------------------------------------------------------------------------- 1 | material GreenLight/Image 2 | { 3 | receive_shadows on 4 | technique 5 | { 6 | pass 7 | { 8 | ambient 0.5 0.5 0.5 1.0 9 | texture_unit 10 | { 11 | texture greenlight.png 12 | } 13 | } 14 | } 15 | } 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/green_light/materials/textures/greenlight.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/model/green_light/materials/textures/greenlight.png -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/green_light/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Green Light 4 | 1.0 5 | model.sdf 6 | My textured green light. 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/green_light/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 0.25 0.01 0.4 10 | 11 | 12 | 13 | 14 | 15 | 100 16 | 50 17 | 18 | 19 | 20 | 21 | 22 | true 23 | 24 | 25 | 0.25 0.01 0.4 26 | 27 | 28 | 29 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/materials/scripts/my_ground_plane.material: -------------------------------------------------------------------------------- 1 | material MyGroundPlane/Image 2 | { 3 | receive_shadows on 4 | technique 5 | { 6 | pass 7 | { 8 | ambient 0.5 0.5 0.5 1.0 9 | texture_unit 10 | { 11 | texture MyImage.jpg 12 | } 13 | } 14 | } 15 | } 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/materials/textures/MyImage.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/materials/textures/MyImage.jpg 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-------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/materials/textures/MyImage/MyImage.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/materials/textures/MyImage/MyImage.png -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | My Ground Plane 4 | 1.0 5 | model.sdf 6 | My textured ground plane. 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 15 15 0.01 10 | 11 | 12 | 13 | 14 | 15 | 100 16 | 50 17 | 18 | 19 | 20 | 21 | 22 | true 23 | 24 | 25 | 15 15 0.01 26 | 27 | 28 | 29 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/model.sdf.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/model/my_ground_plane/model.sdf.tar.gz -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/red_light/materials/scripts/my_ground_plane.material: -------------------------------------------------------------------------------- 1 | material RedLight/Image 2 | { 3 | receive_shadows on 4 | technique 5 | { 6 | pass 7 | { 8 | ambient 0.5 0.5 0.5 1.0 9 | texture_unit 10 | { 11 | texture light.png 12 | } 13 | } 14 | } 15 | } 16 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/red_light/materials/textures/light.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/lasis_autonomous_vehicle/racecar_gazebo/model/red_light/materials/textures/light.png -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/red_light/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Red Light 4 | 1.0 5 | model.sdf 6 | My textured red light. 7 | 8 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/model/red_light/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 7 | 8 | 9 | 0.25 0.01 0.4 10 | 11 | 12 | 13 | 14 | 15 | 100 16 | 50 17 | 18 | 19 | 20 | 21 | 22 | true 23 | 24 | 25 | 0.25 0.01 0.4 26 | 27 | 28 | 29 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/scripts/.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "browse": { 5 | "databaseFilename": "", 6 | "limitSymbolsToIncludedHeaders": true 7 | }, 8 | "includePath": [ 9 | "/home/tony-yaoyao/f110_ws/devel/include/**", 10 | "/home/tony-yaoyao/uw-mushr-ws/devel/include/**", 11 | "/opt/ros/melodic/include/**", 12 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/racecar/ackermann_cmd_mux/include/**", 13 | "/home/tony-yaoyao/uw-mushr-ws/src/mushr/mushr_hardware/realsense/realsense2_camera/include/**", 14 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/serial/include/**", 15 | "/home/tony-yaoyao/f110_ws/src/teb_local_planner/include/**", 16 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/vesc/vesc_ackermann/include/**", 17 | "/home/tony-yaoyao/f110_ws/src/f110-fall2018-skeletons/system/vesc/vesc_driver/include/**", 18 | "/usr/include/**" 19 | ], 20 | "name": "ROS", 21 | "intelliSenseMode": "gcc-x64", 22 | "compilerPath": "/usr/bin/gcc", 23 | "cStandard": "c11", 24 | "cppStandard": "c++17" 25 | } 26 | ], 27 | "version": 4 28 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/scripts/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/tony-yaoyao/f110_ws/devel/lib/python2.7/dist-packages", 4 | "/home/tony-yaoyao/uw-mushr-ws/devel/lib/python2.7/dist-packages", 5 | "/opt/ros/melodic/lib/python2.7/dist-packages" 6 | ] 7 | } -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/scripts/light_contrl.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # BEGIN ALL 3 | 4 | import sys 5 | sys.path.append("/home/xmy/.local/lib/python3.5/site-packages") 6 | import rospy,cv2,cv_bridge, numpy 7 | #import paddle as paddle 8 | import paddle.fluid as fluid 9 | from sensor_msgs.msg import Image 10 | from std_msgs.msg import Float64 11 | from ackermann_msgs.msg import AckermannDriveStamped 12 | 13 | 14 | class Follower: 15 | def __init__(self): 16 | self.bridge = cv_bridge.CvBridge() 17 | #cv2.namedWindow("window", 1) 18 | self.image_sub = rospy.Subscriber('/camera/zed/rgb/image_rect_color', 19 | Image, self.image_callback) 20 | self.cmd_vel_pub = rospy.Publisher( 21 | "/vesc/low_level/ackermann_cmd_mux/input/teleop", AckermannDriveStamped, queue_size=1) 22 | self.err_pub = rospy.Publisher('err', 23 | Float64, queue_size=1) 24 | self.ack = AckermannDriveStamped() 25 | def image_callback(self, msg): 26 | 27 | 28 | # END CONTROL 29 | 30 | cv2.waitKey(3) 31 | 32 | rospy.init_node('light_contrl') 33 | follower = Follower() 34 | rospy.spin() 35 | # END ALL 36 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/worlds/racecar.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | true 11 | 12 | 13 | 14 | 15 | 0 0 1 16 | 150 150 17 | 18 | 19 | 20 | 21 | 22 | 100 23 | 50 24 | 25 | 26 | 27 | 28 | 29 | false 30 | 31 | 32 | 0 0 1 33 | 150 150 34 | 35 | 36 | 37 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/worlds/racecar_walker.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0.5 0.5 0.5 1.0 7 | 0 8 | 9 | 10 | 11 | model://sun 12 | 0.0 0.0 15.0 0 0 0 13 | false 14 | 15 | 0.5 16 | 0.01 17 | 0.0 18 | 100 19 | 20 | 21 | 22 | 23 | 0 0 15 0 0 0 24 | .9 .9 .9 1 25 | .1 .1 .1 1 26 | 27 | 0.5 28 | 0.01 29 | 0.0 30 | 50 31 | 32 | 0 0 -1 33 | false 34 | 35 | 36 | 37 | model://racecar_description/models/walker_racecourse 38 | -4 2 -.5 0 0 -1.57 39 | walker_racecourse 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/worlds/track_barca.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0.5 0.5 0.5 1.0 7 | 0 8 | 9 | 10 | 11 | model://sun 12 | 0.0 0.0 15.0 0 0 0 13 | false 14 | 15 | 0.5 16 | 0.01 17 | 0.0 18 | 100 19 | 20 | 21 | 22 | 23 | 0 0 15 0 0 0 24 | .9 .9 .9 1 25 | .1 .1 .1 1 26 | 27 | 0.5 28 | 0.01 29 | 0.0 30 | 50 31 | 32 | 0 0 -1 33 | false 34 | 35 | 36 | 37 | model://racecar_description/models/barca_track 38 | -4 2 -.5 0 0 -1.57 39 | barca_track 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /src/lasis_autonomous_vehicle/racecar_gazebo/worlds/track_porto.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 0.5 0.5 0.5 1.0 7 | 0 8 | 9 | 10 | 11 | model://sun 12 | 0.0 0.0 15.0 0 0 0 13 | false 14 | 15 | 0.5 16 | 0.01 17 | 0.0 18 | 100 19 | 20 | 21 | 22 | 23 | 0 0 15 0 0 0 24 | .9 .9 .9 1 25 | .1 .1 .1 1 26 | 27 | 0.5 28 | 0.01 29 | 0.0 30 | 50 31 | 32 | 0 0 -1 33 | false 34 | 35 | 36 | 37 | model://racecar_description/models/porto_track 38 | 1 2 -.5 0 0 -1.57 39 | porto_track 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /src/learning_tf/launch/start_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 14 | 15 | 16 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 27 | 29 | -------------------------------------------------------------------------------- /src/learning_tf/src/carrot_tf_frame_broadcast.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | int main(int argc, char* argv[]){ 5 | ros::init(argc, argv, "carrot_node"); 6 | if(argc != 2){ 7 | ROS_ERROR("sprcify fixed or not"); 8 | return -1; 9 | } 10 | bool fixed = (argv[1][0] == '1'); 11 | // std::cout << fixed << std::endl; 12 | ros::NodeHandle handler; 13 | tf::TransformBroadcaster brdcstr; 14 | tf::Transform trans; 15 | ros::Rate rate(10.0); 16 | while (ros::ok()){ 17 | // 发布一个胡萝卜变换，让其相对乌龟1变换 18 | if(fixed){ 19 | trans.setOrigin(tf::Vector3(0.0, 2.0, 0.0)); 20 | } 21 | else{ 22 | trans.setOrigin(tf::Vector3(2.0 * sin(ros::Time::now().toSec()), 2.0 * cos(ros::Time::now().toSec()), 0.0)); 23 | } 24 | trans.setRotation(tf::Quaternion(0, 0, 0, 1)); 25 | brdcstr.sendTransform(tf::StampedTransform(trans, ros::Time::now(), "turtle1", "carrot1")); 26 | rate.sleep(); 27 | } 28 | return 0; 29 | } -------------------------------------------------------------------------------- /src/learning_tf/src/turtle_tf_boardcast_learning.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | std::string turtleName; 7 | 8 | // 接收到坐标指令后发布变换 9 | 10 | void poseCallback(const turtlesim::PoseConstPtr& msg){ 11 | static tf::TransformBroadcaster brdCst;// 变化发布器 12 | tf::Transform trans;// 变换 13 | trans.setOrigin(tf::Vector3(msg->x, msg->y, 0)); 14 | tf::Quaternion q;// 旋转四元数 15 | q.setRPY(0, 0, msg->theta); 16 | trans.setRotation(q); 17 | // 发布当前乌龟相对于world的变换 18 | // father, son 19 | brdCst.sendTransform(tf::StampedTransform(trans, ros::Time::now(), "world", turtleName)); 20 | return; 21 | } 22 | 23 | int main(int argc, char* argv[]){ 24 | // 不在launch文件中指定node名称，就用下面的默认名称 25 | ros::init(argc, argv, "broadcast_turtle"); 26 | if(argc != 2){ 27 | ROS_ERROR("specify name"); 28 | return -1; 29 | } 30 | turtleName = argv[1]; 31 | ros::NodeHandle handler; 32 | // 订阅当前乌龟位置 33 | ros::Subscriber poseSub = handler.subscribe(turtleName + "/pose", 10, &poseCallback); 34 | ros::spin(); 35 | return 0; 36 | } -------------------------------------------------------------------------------- /src/my_global_planner_plugin/include/my_global_planner_common.hpp: -------------------------------------------------------------------------------- 1 | #ifndef _MY_GLOBAL_PLANNER_COMMON_ 2 | #define _MY_GLOBAL_PLANNER_COMMON_ 3 | 4 | #define KERNEL_COSTMAP_TYPE unsigned char 5 | 6 | #define COST_UNKNOWN_ROS 255 7 | #define COST_OBS 254 8 | #define COST_OBS_ROS 253 9 | #define COST_OBS_SERVER 100 10 | #define COST_NEUTRAL 50 11 | #define COST_FACTOR 0.8 12 | #define POT_HIGH 1.0e10 13 | #define PRIORITYBUFSIZE 10000 14 | #define INVSQRT2 0.707106781 15 | 16 | namespace global_planner{ 17 | const double infVal = 1.0e10; 18 | 19 | struct aSrarNode{ 20 | double cost = infVal; 21 | int index = 0; 22 | }; 23 | 24 | bool operator <(const global_planner::aSrarNode& x, const global_planner::aSrarNode& y) { 25 | return x.cost < y.cost; 26 | } 27 | 28 | struct dijkstraNode{ 29 | double cost = infVal; 30 | int index = 0; 31 | }; 32 | 33 | bool operator <(const global_planner::dijkstraNode& x, const global_planner::dijkstraNode& y) { 34 | return x.cost < y.cost; 35 | } 36 | }; 37 | 38 | #endif -------------------------------------------------------------------------------- /src/my_global_planner_plugin/launch/kernelDebug.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 13 | 19 | -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/costa.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/my_global_planner_plugin/map/costa.pgm -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/costayaml: -------------------------------------------------------------------------------- 1 | image: costa.pgm 2 | resolution: 0.050000 3 | origin: [-15.400000, -15.400000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/my_map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/my_global_planner_plugin/map/my_map.pgm -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/my_map.yaml: -------------------------------------------------------------------------------- 1 | image: my_map.pgm 2 | resolution: 0.050000 3 | origin: [-15.400000, -13.800000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/willow.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/my_global_planner_plugin/map/willow.pgm -------------------------------------------------------------------------------- /src/my_global_planner_plugin/map/willow.yaml: -------------------------------------------------------------------------------- 1 | image: willow.pgm 2 | resolution: 0.100000 3 | origin: [0.000000, 0.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | -------------------------------------------------------------------------------- /src/my_global_planner_plugin/my_global_planner_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | my carrot planner. 5 | 6 | 7 | my aStar planner. 8 | 9 | 10 | my Dijkstra planner. 11 | 12 | 13 | my Dijkstra planner with ros wrapper. 14 | 15 | -------------------------------------------------------------------------------- /src/my_global_planner_plugin/src/my_global_planner_register.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | PLUGINLIB_EXPORT_CLASS(global_planner::myCarrot, nav_core::BaseGlobalPlanner) 10 | PLUGINLIB_EXPORT_CLASS(global_planner::myAStar, nav_core::BaseGlobalPlanner) 11 | PLUGINLIB_EXPORT_CLASS(global_planner::myDijkstra, nav_core::BaseGlobalPlanner) 12 | PLUGINLIB_EXPORT_CLASS(global_planner::myRosDijkstra, nav_core::BaseGlobalPlanner) 13 | 14 | -------------------------------------------------------------------------------- /src/my_local_planner_plugin/my_local_planner_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | myBaseLocalPlannerROS 4 | 5 | -------------------------------------------------------------------------------- /src/my_local_planner_plugin/src/kernelTest.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/guannan-he/ROS/b468105fc6bc988b60c845cf5e63cdacd302a00b/src/my_local_planner_plugin/src/kernelTest.cpp -------------------------------------------------------------------------------- /src/my_local_planner_plugin/src/my_local_planner_register.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | PLUGINLIB_EXPORT_CLASS(base_local_planner::myBaseLocalPlannerROS, nav_core::BaseLocalPlanner) -------------------------------------------------------------------------------- /src/my_nodelet_learning/nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | This is my nodelet 8 | 9 | 13 | This is my subPub nodelet 14 | 15 | -------------------------------------------------------------------------------- /src/my_nodelet_learning/src/my_nodelet_register.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | PLUGINLIB_EXPORT_CLASS(myNodeletClass::myNodeLet, nodelet::Nodelet) 5 | PLUGINLIB_EXPORT_CLASS(serialPubSub::serialPubSubNodelet, nodelet::Nodelet) 6 | -------------------------------------------------------------------------------- /src/my_pluginlib_learning/animal_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Cat class from walking animals. 6 | 7 | 8 | Dog class from walking animals. 9 | 10 | 11 | Fish class from walking animals. 12 | 13 | 14 | Duck class from walking animals. 15 | 16 | 17 | Pigeon class from walking animals. 18 | 19 | 20 | Eagle class from walking animals. 21 | 22 | -------------------------------------------------------------------------------- /src/my_pluginlib_learning/include/my_pluginlib_learning/base_animal.h: -------------------------------------------------------------------------------- 1 | #ifndef _BASE_ANIMAL_CLASS_ 2 | #define _BASE_ANIMAL_CLASS_ 3 | 4 | #include 5 | 6 | // 构造函数不能有参数 7 | // 类继承应为共有继承 8 | 9 | namespace baseAnimal{ 10 | class canRun{ 11 | public: 12 | virtual void init(std::string name) = 0; 13 | virtual void makeSound() = 0; 14 | virtual void move(int len) = 0; 15 | virtual ~canRun(){}; 16 | std::string getName(){ 17 | return name_; 18 | } 19 | protected: 20 | std::string name_; 21 | canRun(){}; 22 | }; 23 | class canFly{ 24 | public: 25 | virtual void init(std::string name) = 0; 26 | virtual void makeSound() = 0; 27 | virtual void move(int len) = 0; 28 | virtual ~canFly(){}; 29 | std::string getName(){ 30 | return name_; 31 | } 32 | protected: 33 | std::string name_; 34 | canFly(){}; 35 | }; 36 | class canSwim{ 37 | public: 38 | virtual void init(std::string name) = 0; 39 | virtual void makeSound() = 0; 40 | virtual void move(int len) = 0; 41 | virtual ~canSwim(){}; 42 | std::string getName(){ 43 | return name_; 44 | } 45 | protected: 46 | std::string name_; 47 | canSwim(){}; 48 | }; 49 | }; 50 | 51 | #endif -------------------------------------------------------------------------------- /src/my_pluginlib_learning/launch/plugin_param_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 12 | 13 | -------------------------------------------------------------------------------- /src/my_pluginlib_learning/src/plugin_register.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | // https://blog.csdn.net/sunbibei/article/details/52958724 5 | // 没有分号 6 | // 1.添加头文件, 2.本文件, 3.cmakelist后就会生成.so文件 7 | // 基类定义的接口要和派生类的相同,否则无法调用 8 | // 下面的第一个参数是派生类, 第二个参数是基类 9 | // 分别查看cmakelist, animal_plugin.xml, package.xml, plugin_caller.cpp查看调用流程 10 | PLUGINLIB_EXPORT_CLASS(walkingAnimals::cat, baseAnimal::canRun) 11 | PLUGINLIB_EXPORT_CLASS(walkingAnimals::dog, baseAnimal::canRun) 12 | PLUGINLIB_EXPORT_CLASS(swimingAnimals::fish, baseAnimal::canSwim) 13 | PLUGINLIB_EXPORT_CLASS(swimingAnimals::duck, baseAnimal::canSwim) 14 | PLUGINLIB_EXPORT_CLASS(flyingAnimals::pigeon, baseAnimal::canFly) 15 | PLUGINLIB_EXPORT_CLASS(flyingAnimals::eagle, baseAnimal::canFly) 16 | -------------------------------------------------------------------------------- /src/param_dynamic_set/cfg/param_dynamic_set_PY.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | #coding=utf-8 3 | PACKAGE = "param_dynamic_set" 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | gen = ParameterGenerator() 6 | 7 | # 变量 8 | # 名称 类型 级别 描述 默认值 最小值 最大值 9 | # 需要传入参数动态配置回调函数中的掩码，在回调函数中会修改所有参数的掩码，表示参数已经进行修改 10 | gen.add("int_param", int_t, 0, "int param", 50, 0, 100) 11 | gen.add("double_param", double_t, 0, "double param", 0.5, 0.0, 1.0) 12 | gen.add("str_param", str_t, 0, "str param", "hellowWorld") 13 | gen.add("bool_param", bool_t, 0, "bool param", True) 14 | 15 | # 创建一个枚举 16 | size_enum = gen.enum([ 17 | # 常量 18 | # 名称 类型 级别 描述 19 | gen.const("small", int_t, 0, "small const"), 20 | gen.const("medium", int_t, 1, "medium const"), 21 | gen.const("large", int_t, 2, "large const"), 22 | gen.const("extra_large", int_t, 3, "extra_large const"), 23 | ],"a enum to set size") 24 | 25 | gen.add("size", int_t, 0, "size param editted via enum", 1, 0, 3, size_enum) 26 | 27 | exit(gen.generate(PACKAGE, "dynamic_configure_node", "param_dynamic_set_PY")) 28 | 29 | -------------------------------------------------------------------------------- /src/param_dynamic_set/launch/param_dynamic_set.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 9 | 14 | 19 | 24 | -------------------------------------------------------------------------------- /src/param_dynamic_set/srv/service_bool.srv: -------------------------------------------------------------------------------- 1 | bool boolVal 2 | --- 3 | string retStr 4 | -------------------------------------------------------------------------------- /src/param_dynamic_set/srv/service_enum.srv: -------------------------------------------------------------------------------- 1 | int32 enumVal 2 | --- 3 | string retStr 4 | -------------------------------------------------------------------------------- /src/param_dynamic_set/srv/service_float.srv: -------------------------------------------------------------------------------- 1 | float32 floatVal 2 | --- 3 | float32 retVal 4 | -------------------------------------------------------------------------------- /src/param_dynamic_set/srv/service_int.srv: -------------------------------------------------------------------------------- 1 | int32 intVal 2 | --- 3 | int32 retVal 4 | -------------------------------------------------------------------------------- /src/param_dynamic_set/srv/service_string.srv: -------------------------------------------------------------------------------- 1 | string rqstStr 2 | --- 3 | string respStr 4 | -------------------------------------------------------------------------------- /src/service_req_rep/launch/service_req_rep.launch: -------------------------------------------------------------------------------- 1 | 2 | 8 | 14 | 19 | -------------------------------------------------------------------------------- /src/service_req_rep/msg/resp.msg: -------------------------------------------------------------------------------- 1 | string feedback 2 | -------------------------------------------------------------------------------- /src/service_req_rep/msg/rqst.msg: -------------------------------------------------------------------------------- 1 | string name 2 | int32 age 3 | -------------------------------------------------------------------------------- /src/service_req_rep/scripts/myPyClient.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # coding:utf-8 3 | 4 | import rospy 5 | from service_req_rep.srv import * 6 | 7 | def pyClient(): 8 | rospy.init_node("pyClient") 9 | rospy.wait_for_service("greetingChannel") 10 | callSrv = rospy.ServiceProxy("greetingChannel", greeting) 11 | callServiceFunc(callSrv, "cock", -1) 12 | callServiceFunc(callSrv, "dick", 20) 13 | 14 | def callServiceFunc(callSrv, name, age): 15 | try: 16 | resp = callSrv.call(name, age) 17 | rospy.loginfo("response from server: %s"%resp.feedback) 18 | except rospy.ServiceException, e: 19 | rospy.logwarn("service call fail: %s"%e) 20 | 21 | if __name__ == "__main__": 22 | pyClient() -------------------------------------------------------------------------------- /src/service_req_rep/scripts/myPyServer.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # coding:utf-8 3 | 4 | import rospy 5 | from service_req_rep.srv import * 6 | 7 | def pyServer(): 8 | rospy.init_node("pyServer") 9 | srv = rospy.Service("greetingChannel", greeting, serverResponseFunc) 10 | rospy.loginfo("server ready") 11 | rospy.spin() 12 | 13 | def serverResponseFunc(req): 14 | rospy.loginfo("request from: \"%s\" with age %d", req.name, req.age) 15 | if req.age > -1: 16 | return greetingResponse("hi, \"%s\""%req.name) 17 | else: 18 | return "null" 19 | 20 | 21 | if __name__ == "__main__": 22 | pyServer() -------------------------------------------------------------------------------- /src/service_req_rep/src/myClient.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace ros; 5 | void callService(ServiceClient& client, service_req_rep::greeting& srvRqst){ 6 | if (client.call(srvRqst)){ 7 | ROS_INFO("response from server: %s", srvRqst.response.feedback.c_str()); 8 | } 9 | else{ 10 | ROS_WARN("invalid age"); 11 | } 12 | return; 13 | } 14 | int main(int argc, char* argv[]){ 15 | init(argc, argv, "myClient"); 16 | NodeHandle handler; 17 | // 定义请求客户端时需要指定服务类型 18 | ServiceClient client = handler.serviceClient("greetingChannel"); 19 | service_req_rep::greeting srvRqstValid, srvRqstInValid; 20 | srvRqstValid.request.name = "pinky"; 21 | srvRqstValid.request.age = 20; 22 | srvRqstInValid.request.name = "purky"; 23 | srvRqstInValid.request.age = -1; 24 | service_req_rep::greeting& srvRqst = srvRqstValid; 25 | callService(client, srvRqst); 26 | srvRqst = srvRqstInValid; 27 | callService(client, srvRqst); 28 | ros::spin(); 29 | return 0; 30 | } -------------------------------------------------------------------------------- /src/service_req_rep/src/myServer.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | // #include 4 | // #include 5 | #include 6 | // #include 7 | // #include 8 | 9 | using namespace ros; 10 | 11 | bool handleFunc(service_req_rep::greeting::Request& req, service_req_rep::greeting::Response& res){ 12 | ROS_INFO("Requst from %s with age %d.", req.name.c_str(), req.age); 13 | res.feedback = "Hi! " + req.name + "!"; 14 | return req.age > -1; 15 | } 16 | 17 | int main(int argc, char* argv[]){ 18 | init(argc, argv, "myServer"); 19 | NodeHandle handler; 20 | // 定义服务时不需要指定服务类型 21 | ServiceServer nodeService = handler.advertiseService("greetingChannel", handleFunc); 22 | spin(); 23 | return 0; 24 | } -------------------------------------------------------------------------------- /src/service_req_rep/srv/greeting.srv: -------------------------------------------------------------------------------- 1 | string name 2 | int32 age 3 | --- 4 | string feedback 5 | -------------------------------------------------------------------------------- /src/topic_pub_sub/launch/topic_pub_sub.launch: -------------------------------------------------------------------------------- 1 | 2 | 8 | 14 | 19 | -------------------------------------------------------------------------------- /src/topic_pub_sub/msg/gps.msg: -------------------------------------------------------------------------------- 1 | float32 x 2 | float32 y 3 | string state 4 | -------------------------------------------------------------------------------- /src/topic_pub_sub/msg/timeStamp.msg: -------------------------------------------------------------------------------- 1 | string time 2 | -------------------------------------------------------------------------------- /src/topic_pub_sub/scripts/myPyListener.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | #coding=utf-8 3 | 4 | import rospy 5 | import math 6 | import time 7 | from topic_pub_sub.msg import gps 8 | from topic_pub_sub.msg import timeStamp 9 | 10 | def gpsCallback(msg): 11 | dist = math.sqrt(math.pow(msg.x, 2) + math.pow(msg.y, 2)) 12 | rospy.loginfo("Listener: distanct = %3.2f, state: %s", dist, msg.state) 13 | 14 | def gpsRawCallback(rawMsg): 15 | rospy.loginfo("GPS raw info: x = %3.2f, y = %3.2f, state: %s", rawMsg.x, rawMsg.y, rawMsg.state) 16 | 17 | def timeCallback(timeStamp): 18 | rospy.loginfo("%s, %s", timeStamp.time, time.time()) 19 | 20 | def myPyListener(): 21 | rospy.init_node("myPyListener") 22 | sub = rospy.Subscriber("gpsInfo", gps, gpsCallback) 23 | subRaw = rospy.Subscriber("gpsInfoRaw", gps, gpsRawCallback) 24 | subTime = rospy.Subscriber("timeInfo", timeStamp, timeCallback) 25 | rospy.spin() 26 | 27 | if __name__ == '__main__': 28 | myPyListener() -------------------------------------------------------------------------------- /src/topic_pub_sub/scripts/myPyTalker.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | #coding=utf-8 3 | 4 | import rospy 5 | from topic_pub_sub.msg import gps 6 | from topic_pub_sub.msg import timeStamp 7 | 8 | def myPyTalker(): 9 | rospy.init_node('pyTalkerNode') 10 | pub = rospy.Publisher("gpsInfo", gps, queue_size = 10) 11 | pubRaw = rospy.Publisher("gpsInfoRaw", gps, queue_size = 10) 12 | pubTime = rospy.Publisher("timeInfo", timeStamp, queue_size = 10) 13 | rate = rospy.Rate(1) 14 | state = 'working' 15 | x = 1.0 16 | y = 2.0 17 | while not rospy.is_shutdown(): 18 | rospy.loginfo('Talker: x = %3.2f, y = %3.2f', x, y) 19 | pub.publish(gps(x, y, state)) 20 | pubRaw.publish(gps(x, y, state)) 21 | pubTime.publish(timeStamp("invalid time")) 22 | x *= 1.03 23 | y *= 1.03 24 | rate.sleep() 25 | 26 | if __name__ == '__main__': 27 | myPyTalker() -------------------------------------------------------------------------------- /src/topic_pub_sub/src/myListener.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include //auto generate gps.h 3 | #include 4 | #include 5 | #include 6 | using namespace ros; 7 | //根据不同的[消息]和[话题]调用不同的回调函数 8 | void gpsCallback(const topic_pub_sub::gps::ConstPtr& msg){ 9 | std_msgs::Float32 dist; 10 | dist.data = sqrt(pow(msg->x, 2) + pow(msg->y, 2)); 11 | ROS_INFO("Listener: distance to origin: %2.3f, state: %s", dist.data, msg->state.c_str()); 12 | return; 13 | } 14 | void gpsCallbackRaw(const topic_pub_sub::gps::ConstPtr& msg){ 15 | ROS_INFO("Listener: gps raw info %3.2f, %3.2f", msg->x, msg->y); 16 | return; 17 | } 18 | void timeStampCallback(const topic_pub_sub::timeStamp::ConstPtr& timeSTMP){ 19 | ROS_INFO("Listener: %s, until now", timeSTMP->time.c_str()); 20 | return; 21 | } 22 | int main(int argc, char* argv[]){ 23 | init(argc, argv, "myListener"); 24 | NodeHandle handler; 25 | Subscriber subGPS = handler.subscribe("gpsInfo", 1, gpsCallback);//new subscriber: topic name, buffer size, callback function pointer 26 | Subscriber subTime = handler.subscribe("timeInfo", 1, timeStampCallback); 27 | Subscriber subGpsRaw = handler.subscribe("gpsInfoRaw", 1, gpsCallbackRaw); 28 | spin();//blocking 29 | return 0; 30 | } -------------------------------------------------------------------------------- /src/topic_pub_sub/src/myTalker.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include //auto generate gps.h 3 | #include 4 | //#include 5 | using namespace ros; 6 | int main(int argc, char* argv[]){ 7 | init(argc, argv, "myTalker"); 8 | NodeHandle handler; 9 | topic_pub_sub::gps gpsMsg; 10 | topic_pub_sub::timeStamp timeSTMP; 11 | timeSTMP.time = "no time avail"; 12 | gpsMsg.x = 1.0; 13 | gpsMsg.y = 1.0; 14 | gpsMsg.state = "norm"; 15 | Publisher pubGps = handler.advertise("gpsInfo", 1);//topic name and buffer size 16 | Publisher pubGpsRaw = handler.advertise("gpsInfoRaw", 1); 17 | Publisher pubTimeStamp = handler.advertise("timeInfo", 1); 18 | Rate loopRate(1.0);//init freq at 1Hz 19 | while (ok()){ 20 | gpsMsg.x *= 1.03; 21 | gpsMsg.y *= 1.03; 22 | ROS_INFO("Talker gps info: x cord: %2.3f, y cord: %2.3f", gpsMsg.x, gpsMsg.y); 23 | ROS_INFO("Talker time info: %s", timeSTMP.time.c_str()); 24 | pubGps.publish(gpsMsg); 25 | pubGpsRaw.publish(gpsMsg); 26 | pubTimeStamp.publish(timeSTMP); 27 | loopRate.sleep(); 28 | } 29 | return 0; 30 | } --------------------------------------------------------------------------------