├── LICENCE.txt ├── README.md ├── media ├── flow.png ├── intro.gif ├── leica.jpg └── scanner.png ├── pp_alvium_driver ├── CMakeLists.txt ├── DynamicLib │ ├── arm_64bit │ │ ├── libVimbaC.so │ │ └── libVimbaCPP.so │ ├── info.txt │ └── x86_64bit │ │ ├── libVimbaC.so │ │ └── libVimbaCPP.so ├── LICENSE.txt ├── README.md ├── calib │ ├── 210719_rgb.yaml │ ├── 210722_nir_2k.yaml │ └── 220314_nir_2point5k.yaml ├── launch │ ├── nir_only_python.launch │ └── rgb_only_python.launch ├── open-source-licenses.txt ├── package.xml ├── scripts │ ├── fix_cam_timestamps.py │ ├── ros_alvium_nir.py │ └── ros_alvium_rgb.py ├── setup.py └── src │ └── pp_alvium_driver │ ├── __init__.py │ ├── __pycache__ │ └── alvium_driver.cpython-38.pyc │ └── alvium_driver.py ├── pp_launcher ├── CMakeLists.txt ├── launch │ ├── 4cam_lidar_testing.launch │ ├── 4london.launch │ ├── 4london_nir.launch │ ├── record-raw.sh │ ├── record4london_all.sh │ ├── record4london_noNIR.sh │ ├── save_synced_rgb_and_lidar_msgs_outdoors_to_bags.launch │ └── start_rgb_and_lidar_sensors_outdoors.launch ├── package.xml └── rviz │ └── debug.rviz ├── pp_lidar2cam ├── CMakeLists.txt ├── calib │ ├── 220310_nir1.launch │ ├── 220310_nir2.launch │ └── 220310_rgb2cam.launch ├── launch │ ├── bag2bags.launch │ ├── project_lidar2rgb.launch │ ├── sync_nir_with_points.launch │ └── sync_rgb_with_points.launch ├── package.xml ├── scripts │ ├── pp_img_undistorter.py │ └── projector2.py ├── setup.py └── src │ ├── bag2bags.cpp │ └── lidar_cams_synchroniser.cpp ├── pp_monitor ├── CMakeLists.txt ├── launch │ └── points_imu_rgb_nir.launch ├── package.xml ├── scripts │ ├── monitor.py │ ├── pp_img_undistorter.py │ └── projector2.py ├── setup.py └── src │ └── lidar_cams_synchroniser.cpp ├── pp_velo ├── COPYING ├── README.md ├── velodyne │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── velodyne_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneNode.cfg │ ├── include │ │ └── velodyne_driver │ │ │ ├── driver.h │ │ │ ├── input.h │ │ │ ├── ring_sequence.h │ │ │ └── time_conversion.hpp │ ├── launch │ │ └── nodelet_manager.launch │ ├── mainpage.dox │ ├── nodelet_velodyne.xml │ ├── package.xml │ ├── src │ │ ├── driver │ │ │ ├── CMakeLists.txt │ │ │ ├── driver.cc │ │ │ ├── nodelet.cc │ │ │ └── velodyne_node.cc │ │ ├── lib │ │ │ ├── CMakeLists.txt │ │ │ └── input.cc │ │ └── vdump │ └── tests │ │ ├── diagnostic_agg.yaml │ │ ├── pcap_32e_node_hertz.test │ │ ├── pcap_32e_nodelet_hertz.test │ │ ├── pcap_node_hertz.test │ │ ├── pcap_nodelet_hertz.test │ │ ├── pcap_vlp16_node_hertz.test │ │ ├── pcap_vlp16_nodelet_hertz.test │ │ └── timeconversiontest.cpp ├── velodyne_laserscan │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneLaserScan.cfg │ ├── include │ │ └── velodyne_laserscan │ │ │ └── velodyne_laserscan.h │ ├── nodelets.xml │ ├── package.xml │ ├── src │ │ ├── node.cpp │ │ ├── nodelet.cpp │ │ └── velodyne_laserscan.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── lazy_subscriber.cpp │ │ ├── lazy_subscriber_node.test │ │ ├── lazy_subscriber_nodelet.test │ │ ├── system.cpp │ │ ├── system_node.test │ │ └── system_nodelet.test ├── velodyne_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── msg │ │ ├── VelodynePacket.msg │ │ └── VelodyneScan.msg │ └── package.xml ├── velodyne_pcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── velodyne_pcl │ │ │ └── point_types.h │ └── package.xml └── velodyne_pointcloud │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── TransformNode.cfg │ ├── include │ └── velodyne_pointcloud │ │ ├── calibration.h │ │ ├── datacontainerbase.h │ │ ├── organized_cloudXYZIRT.h │ │ ├── pointXYZIRT.h │ │ ├── pointcloudXYZIRT.h │ │ ├── rawdata.h │ │ └── transform.h │ ├── launch │ ├── 32e_points.launch │ ├── 64e_S3.launch │ ├── DEPRECIATED_pp_correct_velo_stamps.launch │ ├── VLP-32C_points.launch │ ├── VLS128_points.launch │ ├── cpp_correct_velo_stamps.launch │ ├── laserscan_nodelet.launch │ ├── orig_VLP16_points.launch │ ├── pp_VLP16_points.launch │ └── transform_nodelet.launch │ ├── mainpage.dox │ ├── nodelets.xml │ ├── package.xml │ ├── params │ ├── 32db.yaml │ ├── 64e_s2.1-sztaki.yaml │ ├── 64e_s3-xiesc.yaml │ ├── 64e_utexas.yaml │ ├── VLP16_hires_db.yaml │ ├── VLP16db.yaml │ ├── VLS128.yaml │ ├── VeloView-VLP-32C.yaml │ └── rviz_points.vcg │ ├── scripts │ ├── gen_calibration.py │ └── velodyne_timestamp_corrector.py │ ├── setup.py │ ├── src │ ├── conversions │ │ ├── CMakeLists.txt │ │ ├── organized_cloudXYZIRT.cc │ │ ├── pointcloudXYZIRT.cc │ │ ├── transform.cc │ │ ├── transform_node.cc │ │ └── transform_nodelet.cc │ ├── correct_timestamps.cpp │ └── lib │ │ ├── CMakeLists.txt │ │ ├── calibration.cc │ │ └── rawdata.cc │ └── tests │ ├── 32db.xml │ ├── 64e_s2.1-sztaki.xml │ ├── CMakeLists.txt │ ├── angles-calibrated.yaml │ ├── angles.yaml │ ├── empty.xml │ ├── issue_84_float_intensities.yaml │ ├── static_vehicle_tf.launch │ ├── test_calibration.cpp │ ├── test_db_without_intensities.xml │ ├── transform_node_32e_hz.test │ ├── transform_node_64e_s2.1_hz.test │ ├── transform_node_hz.test │ ├── transform_node_vlp16_hz.test │ ├── transform_nodelet_32e_hz.test │ ├── transform_nodelet_64e_s2.1_hz.test │ ├── transform_nodelet_hz.test │ ├── transform_nodelet_vlp16_hz.test │ └── two_nodelet_managers.test ├── pp_xsens_imu ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── README.txt ├── launch │ ├── display.launch │ └── xsens_mti_node.launch ├── lib │ └── xspublic │ │ ├── Makefile │ │ ├── xscommon │ │ ├── Makefile │ │ ├── abstractadditionallogger.h │ │ ├── additionalloggerbase.cpp │ │ ├── additionalloggerbase.cpp.o │ │ ├── additionalloggerbase.dpp │ │ ├── additionalloggerbase.h │ │ ├── calltracer.h │ │ ├── common_qdebug.h │ │ ├── consolelogger.cpp │ │ ├── consolelogger.cpp.o │ │ ├── consolelogger.dpp │ │ ├── consolelogger.h │ │ ├── enumexpandersbase.cpp │ │ ├── enumexpandersbase.cpp.o │ │ ├── enumexpandersbase.dpp │ │ ├── enumexpandersbase.h │ │ ├── extendedenum.h │ │ ├── fwupdate.c │ │ ├── fwupdate.c.o │ │ ├── fwupdate.d │ │ ├── fwupdate.h │ │ ├── journalexception.cpp │ │ ├── journalexception.cpp.o │ │ ├── journalexception.dpp │ │ ├── journalexception.h │ │ ├── journalfile.cpp │ │ ├── journalfile.cpp.o │ │ ├── journalfile.dpp │ │ ├── journalfile.h │ │ ├── journaller.cpp │ │ ├── journaller.cpp.o │ │ ├── journaller.dpp │ │ ├── journaller.h │ │ ├── journalloglevel.h │ │ ├── journalstackwalker.h │ │ ├── journalthreader.cpp │ │ ├── journalthreader.cpp.o │ │ ├── journalthreader.dpp │ │ ├── journalthreader.h │ │ ├── libxscommon.a │ │ ├── stackdumper.cpp │ │ ├── stackdumper.cpp.o │ │ ├── stackdumper.dpp │ │ ├── stackdumper.h │ │ ├── stackwalker.cpp │ │ ├── stackwalker.cpp.o │ │ ├── stackwalker.dpp │ │ ├── stackwalker.h │ │ ├── stackwalker_linux.cpp │ │ ├── stackwalker_linux.cpp.o │ │ ├── stackwalker_linux.dpp │ │ ├── stackwalker_linux.h │ │ ├── threading.cpp │ │ ├── threading.cpp.o │ │ ├── threading.dpp │ │ ├── threading.h │ │ ├── xbus.c │ │ ├── xbus.c.o │ │ ├── xbus.d │ │ ├── xbus.h │ │ ├── xbusparser.c │ │ ├── xbusparser.c.o │ │ ├── xbusparser.d │ │ ├── xbusparser.h │ │ ├── xprintf.cpp │ │ ├── xprintf.cpp.o │ │ ├── xprintf.dpp │ │ ├── xprintf.h │ │ ├── xscommon_config.h │ │ ├── xsens_debugtools.h │ │ ├── xsens_generic_matrix.h │ │ ├── xsens_janitors.h │ │ ├── xsens_math_throw.cpp │ │ ├── xsens_math_throw.cpp.o │ │ ├── xsens_math_throw.dpp │ │ ├── xsens_math_throw.h │ │ ├── xsens_mutex.h │ │ ├── xsens_threadpool.cpp │ │ ├── xsens_threadpool.cpp.o │ │ ├── xsens_threadpool.dpp │ │ └── xsens_threadpool.h │ │ ├── xscontroller │ │ ├── Makefile │ │ ├── broadcastdevice.cpp │ │ ├── broadcastdevice.cpp.o │ │ ├── broadcastdevice.dpp │ │ ├── broadcastdevice.h │ │ ├── callbackmanagerxda.cpp │ │ ├── callbackmanagerxda.cpp.o │ │ ├── callbackmanagerxda.dpp │ │ ├── callbackmanagerxda.h │ │ ├── clocksynccommand.h │ │ ├── communicator.cpp │ │ ├── communicator.cpp.o │ │ ├── communicator.dpp │ │ ├── communicator.h │ │ ├── communicatorfactory.cpp │ │ ├── communicatorfactory.cpp.o │ │ ├── communicatorfactory.dpp │ │ ├── communicatorfactory.h │ │ ├── compat.h │ │ ├── datalogger.cpp │ │ ├── datalogger.cpp.o │ │ ├── datalogger.dpp │ │ ├── datalogger.h │ │ ├── datapacketcache.cpp │ │ ├── datapacketcache.cpp.o │ │ ├── datapacketcache.dpp │ │ ├── datapacketcache.h │ │ ├── dataparser.cpp │ │ ├── dataparser.cpp.o │ │ ├── dataparser.dpp │ │ ├── dataparser.h │ │ ├── datapoller.cpp │ │ ├── datapoller.cpp.o │ │ ├── datapoller.dpp │ │ ├── datapoller.h │ │ ├── devicecommunicator.cpp │ │ ├── devicecommunicator.cpp.o │ │ ├── devicecommunicator.dpp │ │ ├── devicecommunicator.h │ │ ├── devicefactory.cpp │ │ ├── devicefactory.cpp.o │ │ ├── devicefactory.dpp │ │ ├── devicefactory.h │ │ ├── deviceredetector.cpp │ │ ├── deviceredetector.cpp.o │ │ ├── deviceredetector.dpp │ │ ├── deviceredetector.h │ │ ├── devicetypes.h │ │ ├── dotdevice.cpp │ │ ├── dotdevice.cpp.o │ │ ├── dotdevice.dpp │ │ ├── dotdevice.h │ │ ├── dummy.cpp │ │ ├── dummy.cpp.o │ │ ├── dummy.dpp │ │ ├── enumerateusbdevices.cpp │ │ ├── enumerateusbdevices.cpp.o │ │ ├── enumerateusbdevices.dpp │ │ ├── enumerateusbdevices.h │ │ ├── enumexpanders.cpp │ │ ├── enumexpanders.cpp.o │ │ ├── enumexpanders.dpp │ │ ├── enumexpanders.h │ │ ├── fileloader.h │ │ ├── gpsstatus.h │ │ ├── idfetchhelpers.h │ │ ├── iointerface.cpp │ │ ├── iointerface.cpp.o │ │ ├── iointerface.dpp │ │ ├── iointerface.h │ │ ├── iointerfacefile.cpp │ │ ├── iointerfacefile.cpp.o │ │ ├── iointerfacefile.dpp │ │ ├── iointerfacefile.h │ │ ├── iprotocolhandler.h │ │ ├── iprotocolmanager.h │ │ ├── lastresultmanager.h │ │ ├── libxscontroller.a │ │ ├── messageextractor.cpp │ │ ├── messageextractor.cpp.o │ │ ├── messageextractor.dpp │ │ ├── messageextractor.h │ │ ├── messagelocation.h │ │ ├── messageserializer.cpp │ │ ├── messageserializer.cpp.o │ │ ├── messageserializer.dpp │ │ ├── messageserializer.h │ │ ├── mtbdatalogger.cpp │ │ ├── mtbdatalogger.cpp.o │ │ ├── mtbdatalogger.dpp │ │ ├── mtbdatalogger.h │ │ ├── mtbfilecommunicator.cpp │ │ ├── mtbfilecommunicator.cpp.o │ │ ├── mtbfilecommunicator.dpp │ │ ├── mtbfilecommunicator.h │ │ ├── mtdevice.cpp │ │ ├── mtdevice.cpp.o │ │ ├── mtdevice.dpp │ │ ├── mtdevice.h │ │ ├── mti3x0device.cpp │ │ ├── mti3x0device.cpp.o │ │ ├── mti3x0device.dpp │ │ ├── mti3x0device.h │ │ ├── mti6x0device.cpp │ │ ├── mti6x0device.cpp.o │ │ ├── mti6x0device.dpp │ │ ├── mti6x0device.h │ │ ├── mti7_mti8device.cpp │ │ ├── mti7_mti8device.cpp.o │ │ ├── mti7_mti8device.dpp │ │ ├── mti7_mti8device.h │ │ ├── mti8x0device.cpp │ │ ├── mti8x0device.cpp.o │ │ ├── mti8x0device.dpp │ │ ├── mti8x0device.h │ │ ├── mtibasedevice.cpp │ │ ├── mtibasedevice.cpp.o │ │ ├── mtibasedevice.dpp │ │ ├── mtibasedevice.h │ │ ├── mtigdevice.cpp │ │ ├── mtigdevice.cpp.o │ │ ├── mtigdevice.dpp │ │ ├── mtigdevice.h │ │ ├── mtix00device.cpp │ │ ├── mtix00device.cpp.o │ │ ├── mtix00device.dpp │ │ ├── mtix00device.h │ │ ├── mtix0device.cpp │ │ ├── mtix0device.cpp.o │ │ ├── mtix0device.dpp │ │ ├── mtix0device.h │ │ ├── mtixdevice.cpp │ │ ├── mtixdevice.cpp.o │ │ ├── mtixdevice.dpp │ │ ├── mtixdevice.h │ │ ├── mtsyncsettings.h │ │ ├── mtthread.cpp │ │ ├── mtthread.cpp.o │ │ ├── mtthread.dpp │ │ ├── mtthread.h │ │ ├── nmea_protocolhandler.cpp │ │ ├── nmea_protocolhandler.cpp.o │ │ ├── nmea_protocolhandler.dpp │ │ ├── nmea_protocolhandler.h │ │ ├── openportstage.h │ │ ├── packeterrorrateestimator.cpp │ │ ├── packeterrorrateestimator.cpp.o │ │ ├── packeterrorrateestimator.dpp │ │ ├── packeterrorrateestimator.h │ │ ├── packetstamper.cpp │ │ ├── packetstamper.cpp.o │ │ ├── packetstamper.dpp │ │ ├── packetstamper.h │ │ ├── protocolhandler.cpp │ │ ├── protocolhandler.cpp.o │ │ ├── protocolhandler.dpp │ │ ├── protocolhandler.h │ │ ├── protocolmanager.cpp │ │ ├── protocolmanager.cpp.o │ │ ├── protocolmanager.dpp │ │ ├── protocolmanager.h │ │ ├── proxycommunicator.cpp │ │ ├── proxycommunicator.cpp.o │ │ ├── proxycommunicator.dpp │ │ ├── proxycommunicator.h │ │ ├── rangequeue.h │ │ ├── replymonitor.cpp │ │ ├── replymonitor.cpp.o │ │ ├── replymonitor.dpp │ │ ├── replymonitor.h │ │ ├── replyobject.cpp │ │ ├── replyobject.cpp.o │ │ ├── replyobject.dpp │ │ ├── replyobject.h │ │ ├── restorecommunication.cpp │ │ ├── restorecommunication.cpp.o │ │ ├── restorecommunication.dpp │ │ ├── restorecommunication.h │ │ ├── rx_tx_log.h │ │ ├── scanner.cpp │ │ ├── scanner.cpp.o │ │ ├── scanner.dpp │ │ ├── scanner.h │ │ ├── scenariomatchpred.h │ │ ├── serialcommunicator.cpp │ │ ├── serialcommunicator.cpp.o │ │ ├── serialcommunicator.dpp │ │ ├── serialcommunicator.h │ │ ├── serialinterface.cpp │ │ ├── serialinterface.cpp.o │ │ ├── serialinterface.dpp │ │ ├── serialinterface.h │ │ ├── serialportcommunicator.cpp │ │ ├── serialportcommunicator.cpp.o │ │ ├── serialportcommunicator.dpp │ │ ├── serialportcommunicator.h │ │ ├── simpleprotocolmanager.h │ │ ├── streaminterface.cpp │ │ ├── streaminterface.cpp.o │ │ ├── streaminterface.dpp │ │ ├── streaminterface.h │ │ ├── supportedsyncsettings.cpp │ │ ├── supportedsyncsettings.cpp.o │ │ ├── supportedsyncsettings.dpp │ │ ├── supportedsyncsettings.h │ │ ├── synclinegmt.c │ │ ├── synclinegmt.c.o │ │ ├── synclinegmt.d │ │ ├── synclinegmt.h │ │ ├── synclinemk4.c │ │ ├── synclinemk4.c.o │ │ ├── synclinemk4.d │ │ ├── synclinemk4.h │ │ ├── udev.cpp │ │ ├── udev.cpp.o │ │ ├── udev.dpp │ │ ├── udev.h │ │ ├── usbcommunicator.cpp │ │ ├── usbcommunicator.cpp.o │ │ ├── usbcommunicator.dpp │ │ ├── usbcommunicator.h │ │ ├── usbinterface.cpp │ │ ├── usbinterface.cpp.o │ │ ├── usbinterface.dpp │ │ ├── usbinterface.h │ │ ├── xdacommunicatorfactory.cpp │ │ ├── xdacommunicatorfactory.cpp.o │ │ ├── xdacommunicatorfactory.dpp │ │ ├── xdacommunicatorfactory.h │ │ ├── xsaccesscontrolmode.h │ │ ├── xsalignmentframe.h │ │ ├── xscalibrateddatamode.h │ │ ├── xscallback.h │ │ ├── xscallbackplainc.h │ │ ├── xsconnectivitystate.c │ │ ├── xsconnectivitystate.c.o │ │ ├── xsconnectivitystate.d │ │ ├── xsconnectivitystate.h │ │ ├── xscontrol_def.cpp │ │ ├── xscontrol_def.cpp.o │ │ ├── xscontrol_def.dpp │ │ ├── xscontrol_def.h │ │ ├── xscontrol_public.h │ │ ├── xscontrollerconfig.h │ │ ├── xscoordinatesystem.h │ │ ├── xsdef.cpp │ │ ├── xsdef.cpp.o │ │ ├── xsdef.dpp │ │ ├── xsdef.h │ │ ├── xsdevice_def.cpp │ │ ├── xsdevice_def.cpp.o │ │ ├── xsdevice_def.dpp │ │ ├── xsdevice_def.h │ │ ├── xsdevice_public.h │ │ ├── xsdeviceconfiguration.c │ │ ├── xsdeviceconfiguration.c.o │ │ ├── xsdeviceconfiguration.d │ │ ├── xsdeviceconfiguration.h │ │ ├── xsdeviceparameter.h │ │ ├── xsdeviceparameteridentifier.h │ │ ├── xsdeviceptr.h │ │ ├── xsdeviceptrarray.c │ │ ├── xsdeviceptrarray.c.o │ │ ├── xsdeviceptrarray.d │ │ ├── xsdeviceptrarray.h │ │ ├── xsdevicestate.c │ │ ├── xsdevicestate.c.o │ │ ├── xsdevicestate.d │ │ ├── xsdevicestate.h │ │ ├── xserrormode.h │ │ ├── xsfloatformat.h │ │ ├── xsgnssplatform.h │ │ ├── xsgnssreceivertype.h │ │ ├── xsgnssstatus.h │ │ ├── xsicccommand.h │ │ ├── xsiccrepmotionresult.h │ │ ├── xslibusb.cpp │ │ ├── xslibusb.cpp.o │ │ ├── xslibusb.dpp │ │ ├── xslibusb.h │ │ ├── xsoperationalmode.h │ │ ├── xsorientationmode.h │ │ ├── xsprocessingflag.h │ │ ├── xsprotocoltype.h │ │ ├── xsrejectreason.c │ │ ├── xsrejectreason.c.o │ │ ├── xsrejectreason.d │ │ ├── xsrejectreason.h │ │ ├── xsscanner.cpp │ │ ├── xsscanner.cpp.o │ │ ├── xsscanner.dpp │ │ ├── xsscanner.h │ │ ├── xsselftestresult.h │ │ ├── xsubloxgnssplatform.h │ │ ├── xsusbhubinfo.c │ │ ├── xsusbhubinfo.c.o │ │ ├── xsusbhubinfo.d │ │ ├── xsusbhubinfo.h │ │ ├── xswinusb.cpp │ │ ├── xswinusb.cpp.o │ │ ├── xswinusb.dpp │ │ └── xswinusb.h │ │ └── xstypes │ │ ├── Makefile │ │ ├── datapacket_p.cpp │ │ ├── datapacket_p.cpp.o │ │ ├── datapacket_p.dpp │ │ ├── datapacket_p.h │ │ ├── libxstypes.a │ │ ├── pstdint.h │ │ ├── resource.h │ │ ├── xsanalogindata.h │ │ ├── xsarray.c │ │ ├── xsarray.c.o │ │ ├── xsarray.d │ │ ├── xsarray.h │ │ ├── xsbaud.c │ │ ├── xsbaud.c.o │ │ ├── xsbaud.d │ │ ├── xsbaud.h │ │ ├── xsbaudcode.h │ │ ├── xsbaudrate.h │ │ ├── xsbusid.h │ │ ├── xsbytearray.c │ │ ├── xsbytearray.c.o │ │ ├── xsbytearray.d │ │ ├── xsbytearray.h │ │ ├── xscalibrateddata.c │ │ ├── xscalibrateddata.c.o │ │ ├── xscalibrateddata.d │ │ ├── xscalibrateddata.h │ │ ├── xscanbaudcode.h │ │ ├── xscanconfigidentifier.h │ │ ├── xscandataidentifier.h │ │ ├── xscanframeformat.h │ │ ├── xscanoutputconfiguration.c │ │ ├── xscanoutputconfiguration.c.o │ │ ├── xscanoutputconfiguration.d │ │ ├── xscanoutputconfiguration.h │ │ ├── xscanoutputconfigurationarray.c │ │ ├── xscanoutputconfigurationarray.c.o │ │ ├── xscanoutputconfigurationarray.d │ │ ├── xscanoutputconfigurationarray.h │ │ ├── xscontrolline.h │ │ ├── xscopy.h │ │ ├── xsdataidentifier.h │ │ ├── xsdataidentifiervalue.h │ │ ├── xsdatapacket.cpp │ │ ├── xsdatapacket.cpp.o │ │ ├── xsdatapacket.dpp │ │ ├── xsdatapacket.h │ │ ├── xsdatapacketptr.h │ │ ├── xsdatapacketptrarray.c │ │ ├── xsdatapacketptrarray.c.o │ │ ├── xsdatapacketptrarray.d │ │ ├── xsdatapacketptrarray.h │ │ ├── xsdebugcounters.cpp │ │ ├── xsdebugcounters.cpp.o │ │ ├── xsdebugcounters.dpp │ │ ├── xsdebugcounters.h │ │ ├── xsdevicecapabilities.c │ │ ├── xsdevicecapabilities.c.o │ │ ├── xsdevicecapabilities.d │ │ ├── xsdevicecapabilities.h │ │ ├── xsdeviceid.c │ │ ├── xsdeviceid.c.o │ │ ├── xsdeviceid.d │ │ ├── xsdeviceid.h │ │ ├── xsdeviceidarray.c │ │ ├── xsdeviceidarray.c.o │ │ ├── xsdeviceidarray.d │ │ ├── xsdeviceidarray.h │ │ ├── xsdeviceoptionflag.h │ │ ├── xsdid.h │ │ ├── xsens_compat.h │ │ ├── xseuler.c │ │ ├── xseuler.c.o │ │ ├── xseuler.d │ │ ├── xseuler.h │ │ ├── xsexception.h │ │ ├── xsfile.c │ │ ├── xsfile.c.o │ │ ├── xsfile.d │ │ ├── xsfile.h │ │ ├── xsfilepos.h │ │ ├── xsfilterprofile.c │ │ ├── xsfilterprofile.c.o │ │ ├── xsfilterprofile.d │ │ ├── xsfilterprofile.h │ │ ├── xsfilterprofilearray.c │ │ ├── xsfilterprofilearray.c.o │ │ ├── xsfilterprofilearray.d │ │ ├── xsfilterprofilearray.h │ │ ├── xsfilterprofilekind.h │ │ ├── xsfloatmath.h │ │ ├── xsglovedata.c │ │ ├── xsglovedata.c.o │ │ ├── xsglovedata.d │ │ ├── xsglovedata.h │ │ ├── xsglovesnapshot.h │ │ ├── xshandid.h │ │ ├── xsinforequest.h │ │ ├── xsint64array.c │ │ ├── xsint64array.c.o │ │ ├── xsint64array.d │ │ ├── xsint64array.h │ │ ├── xsintarray.c │ │ ├── xsintarray.c.o │ │ ├── xsintarray.d │ │ ├── xsintarray.h │ │ ├── xslibraryloader.c │ │ ├── xslibraryloader.c.o │ │ ├── xslibraryloader.d │ │ ├── xslibraryloader.h │ │ ├── xsmalloc.c │ │ ├── xsmalloc.c.o │ │ ├── xsmalloc.d │ │ ├── xsmalloc.h │ │ ├── xsmath.c │ │ ├── xsmath.c.o │ │ ├── xsmath.d │ │ ├── xsmath.h │ │ ├── xsmath2.h │ │ ├── xsmatrix.c │ │ ├── xsmatrix.c.o │ │ ├── xsmatrix.d │ │ ├── xsmatrix.h │ │ ├── xsmatrix3x3.c │ │ ├── xsmatrix3x3.c.o │ │ ├── xsmatrix3x3.d │ │ ├── xsmatrix3x3.h │ │ ├── xsmessage.c │ │ ├── xsmessage.c.o │ │ ├── xsmessage.d │ │ ├── xsmessage.h │ │ ├── xsmessagearray.c │ │ ├── xsmessagearray.c.o │ │ ├── xsmessagearray.d │ │ ├── xsmessagearray.h │ │ ├── xsmfmresultvalue.h │ │ ├── xsoption.h │ │ ├── xsoutputconfiguration.c │ │ ├── xsoutputconfiguration.c.o │ │ ├── xsoutputconfiguration.d │ │ ├── xsoutputconfiguration.h │ │ ├── xsoutputconfigurationarray.c │ │ ├── xsoutputconfigurationarray.c.o │ │ ├── xsoutputconfigurationarray.d │ │ ├── xsoutputconfigurationarray.h │ │ ├── xsplatform.h │ │ ├── xsportinfo.c │ │ ├── xsportinfo.c.o │ │ ├── xsportinfo.d │ │ ├── xsportinfo.h │ │ ├── xsportinfoarray.c │ │ ├── xsportinfoarray.c.o │ │ ├── xsportinfoarray.d │ │ ├── xsportinfoarray.h │ │ ├── xspressure.h │ │ ├── xsprotocol.h │ │ ├── xsquaternion.c │ │ ├── xsquaternion.c.o │ │ ├── xsquaternion.d │ │ ├── xsquaternion.h │ │ ├── xsquaternionarray.c │ │ ├── xsquaternionarray.c.o │ │ ├── xsquaternionarray.d │ │ ├── xsquaternionarray.h │ │ ├── xsrange.c │ │ ├── xsrange.c.o │ │ ├── xsrange.d │ │ ├── xsrange.h │ │ ├── xsrawgnsspvtdata.h │ │ ├── xsrawgnsssatinfo.h │ │ ├── xsresetmethod.h │ │ ├── xsresultvalue.c │ │ ├── xsresultvalue.c.o │ │ ├── xsresultvalue.d │ │ ├── xsresultvalue.h │ │ ├── xsrssi.c │ │ ├── xsrssi.c.o │ │ ├── xsrssi.d │ │ ├── xsrssi.h │ │ ├── xsscrdata.h │ │ ├── xssdidata.c │ │ ├── xssdidata.c.o │ │ ├── xssdidata.d │ │ ├── xssdidata.h │ │ ├── xssensorranges.cpp │ │ ├── xssensorranges.cpp.o │ │ ├── xssensorranges.dpp │ │ ├── xssensorranges.h │ │ ├── xssimpleversion.c │ │ ├── xssimpleversion.c.o │ │ ├── xssimpleversion.d │ │ ├── xssimpleversion.h │ │ ├── xssnapshot.c │ │ ├── xssnapshot.c.o │ │ ├── xssnapshot.d │ │ ├── xssnapshot.h │ │ ├── xssocket.c │ │ ├── xssocket.c.o │ │ ├── xssocket.d │ │ ├── xssocket.h │ │ ├── xsstatusflag.h │ │ ├── xsstring.c │ │ ├── xsstring.c.o │ │ ├── xsstring.d │ │ ├── xsstring.h │ │ ├── xsstringarray.c │ │ ├── xsstringarray.c.o │ │ ├── xsstringarray.d │ │ ├── xsstringarray.h │ │ ├── xsstringoutputtype.h │ │ ├── xsstringoutputtypearray.c │ │ ├── xsstringoutputtypearray.c.o │ │ ├── xsstringoutputtypearray.d │ │ ├── xsstringoutputtypearray.h │ │ ├── xsstringstreaming.h │ │ ├── xssyncfunction.h │ │ ├── xssyncline.h │ │ ├── xssyncpolarity.h │ │ ├── xssyncrole.h │ │ ├── xssyncsetting.c │ │ ├── xssyncsetting.c.o │ │ ├── xssyncsetting.d │ │ ├── xssyncsetting.h │ │ ├── xssyncsettingarray.c │ │ ├── xssyncsettingarray.c.o │ │ ├── xssyncsettingarray.d │ │ ├── xssyncsettingarray.h │ │ ├── xsthread.c │ │ ├── xsthread.c.o │ │ ├── xsthread.d │ │ ├── xsthread.h │ │ ├── xstime.c │ │ ├── xstime.c.o │ │ ├── xstime.d │ │ ├── xstime.h │ │ ├── xstimeinfo.c │ │ ├── xstimeinfo.c.o │ │ ├── xstimeinfo.d │ │ ├── xstimeinfo.h │ │ ├── xstimestamp.c │ │ ├── xstimestamp.c.o │ │ ├── xstimestamp.d │ │ ├── xstimestamp.h │ │ ├── xstriggerindicationdata.c │ │ ├── xstriggerindicationdata.c.o │ │ ├── xstriggerindicationdata.d │ │ ├── xstriggerindicationdata.h │ │ ├── xstypedefs.c │ │ ├── xstypedefs.c.o │ │ ├── xstypedefs.d │ │ ├── xstypedefs.h │ │ ├── xstypesconfig.h │ │ ├── xstypesdynlib.c │ │ ├── xstypesdynlib.h │ │ ├── xstypesinfo.h │ │ ├── xsushortvector.h │ │ ├── xsutctime.c │ │ ├── xsutctime.c.o │ │ ├── xsutctime.d │ │ ├── xsutctime.h │ │ ├── xsvector.c │ │ ├── xsvector.c.o │ │ ├── xsvector.d │ │ ├── xsvector.h │ │ ├── xsvector3.c │ │ ├── xsvector3.c.o │ │ ├── xsvector3.d │ │ ├── xsvector3.h │ │ ├── xsversion.c │ │ ├── xsversion.c.o │ │ ├── xsversion.d │ │ ├── xsversion.h │ │ └── xsxbusmessageid.h ├── package.xml ├── param │ └── xsens_mti_node.yaml ├── rviz │ ├── display.rviz │ └── example.rviz ├── src │ ├── main.cpp │ ├── messagepublishers │ │ ├── accelerationpublisher.h │ │ ├── angularvelocitypublisher.h │ │ ├── freeaccelerationpublisher.h │ │ ├── gnsspublisher.h │ │ ├── imupublisher.h │ │ ├── magneticfieldpublisher.h │ │ ├── orientationincrementspublisher.h │ │ ├── orientationpublisher.h │ │ ├── packetcallback.h │ │ ├── positionllapublisher.h │ │ ├── pressurepublisher.h │ │ ├── temperaturepublisher.h │ │ ├── timereferencepublisher.h │ │ ├── transformpublisher.h │ │ ├── twistpublisher.h │ │ ├── velocityincrementpublisher.h │ │ └── velocitypublisher.h │ ├── xdacallback.cpp │ ├── xdacallback.h │ ├── xdainterface.cpp │ └── xdainterface.h └── urdf │ ├── MTi_1.stl │ ├── MTi_1.urdf │ ├── MTi_10.stl │ ├── MTi_10.urdf │ ├── MTi_6xx.stl │ └── MTi_6xx.urdf └── tools ├── constrained_RMSE ├── CLI11.hpp ├── CMakeLists.txt └── main.cpp └── pp2evo ├── README.md └── pp2evo.py /LICENCE.txt: -------------------------------------------------------------------------------- 1 | Copyright (C) 2023, University of Cambridge, all rights reserved. 2 | 3 | THIS SOFTWARE IS PROVIDED “AS IS” FOR ACADEMIC USE ONLY AND ANY EXPRESS OR IMPLIED WARRANTIES, 4 | INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY 5 | AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL 6 | THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 7 | INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY. OR CONSEQUENTIAL DAMAGES 8 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 9 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 10 | HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 11 | STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 12 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 13 | POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /media/flow.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/media/flow.png -------------------------------------------------------------------------------- /media/intro.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/media/intro.gif -------------------------------------------------------------------------------- /media/leica.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/media/leica.jpg -------------------------------------------------------------------------------- /media/scanner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/media/scanner.png -------------------------------------------------------------------------------- /pp_alvium_driver/DynamicLib/arm_64bit/libVimbaC.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/DynamicLib/arm_64bit/libVimbaC.so -------------------------------------------------------------------------------- /pp_alvium_driver/DynamicLib/arm_64bit/libVimbaCPP.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/DynamicLib/arm_64bit/libVimbaCPP.so -------------------------------------------------------------------------------- /pp_alvium_driver/DynamicLib/info.txt: -------------------------------------------------------------------------------- 1 | this x86_64bit folder with the dyn libraries inside were copied from the Vimba_4_2/VimbaCPP package of the original vimba drivers 2 | 3 | 4 | the arm_64bit is copied from Vimba 5.1 5 | 6 | more info on: 7 | https://www.alliedvision.com/en/support/technical-documentation/alvium-usb-documentation/ 8 | -------------------------------------------------------------------------------- /pp_alvium_driver/DynamicLib/x86_64bit/libVimbaC.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/DynamicLib/x86_64bit/libVimbaC.so -------------------------------------------------------------------------------- /pp_alvium_driver/DynamicLib/x86_64bit/libVimbaCPP.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/DynamicLib/x86_64bit/libVimbaCPP.so -------------------------------------------------------------------------------- /pp_alvium_driver/LICENSE.txt: -------------------------------------------------------------------------------- 1 | BSD 2-Clause License 2 | 3 | Copyright (c) 2019, Allied Vision Technologies GmbH 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /pp_alvium_driver/README.md: -------------------------------------------------------------------------------- 1 | # Drivers for Alvium USB cameras 2 | 3 | ## How to run 4 | ### 1 camera 5 | To run **just 1 camera** simply run in a terminal `roslaunch pp_alvium_driver rgb_only_python.launch` or `nir_only_python.launch`. 6 | 7 | ### 2 cameras simultaneously 8 | To run **2 cameras simultaneously**: 9 | 1. run `roslaunch pp_alvium_driver rgb_only_python.launch` in a terminal 10 | 2. then open another terminal, and run `conda activate <>` 11 | 3. in the activated conda's `>` run `roslaunch pp_alvium_driver nir_only_python.launch` 12 | 13 | The whole point for the virtual environemnt is that the way above gives you maximum frame rate from both cameras whereas using multithreading gives you way lower Hz and things start breaking up when my second camera wants to achieve fps > 20 Hz. I presume this is due to the fact that Python uses only 1 core for both cameras to operate. 14 | 15 | ### How to install vimba in Conda's virtual environemnt? 16 | Just install vimba to a default system's interpreter. And then literally copy manually `vimba` and `VimbaPython-1.0.1.dist-info` folders from the python base where they have just been installed (e.g. in `/usr/local/lib/python3.8`) to your venv folder, for example `/home/maciej/miniconda3/envs/4ros1/lib/python3.8/site-packages`. 17 | 18 | 19 | ## Remarks 20 | 1. Install `Vimba_4_2` for intel processors or `Vimba 5.1` for arm to a desired python directory as instructed by `VimbaPython/Install.sh` 21 | 2. Make sure that `GENICAM_GENTL64_PATH` points to `path/2/vimba/Vimba_4_2/VimbaUSBTL/CTI/x86_64bit` or for vimba 5.1 accordingly 22 | 3. This code has been tested on python 3.8 23 | -------------------------------------------------------------------------------- /pp_alvium_driver/calib/210719_rgb.yaml: -------------------------------------------------------------------------------- 1 | image_width: 2064 2 | image_height: 1544 3 | camera_name: pp_rgb 4 | camera_matrix: 5 | rows: 3 6 | cols: 3 7 | data: [2351.85909, 0. , 1017.24032, 8 | 0. , 2353.56734, 788.70774, 9 | 0. , 0. , 1. ] 10 | distortion_model: plumb_bob 11 | distortion_coefficients: 12 | rows: 1 13 | cols: 5 14 | data: [-0.054366, 0.118389, 0.001781, -0.003908, 0.000000] 15 | rectification_matrix: 16 | rows: 3 17 | cols: 3 18 | data: [1., 0., 0., 19 | 0., 1., 0., 20 | 0., 0., 1.] 21 | projection_matrix: # 210724: this is Maciej's projection mtx for undist and cropped imgs which works for his system 22 | rows: 3 23 | cols: 3 24 | data: [2333.62549, 0. , 1010.86063, 0.0, 25 | 0. , 2330.45288, 785.218867, 0.0, 26 | 0. , 0. , 1.0, 0.0 ] 27 | -------------------------------------------------------------------------------- /pp_alvium_driver/calib/210722_nir_2k.yaml: -------------------------------------------------------------------------------- 1 | image_width: 2064 2 | image_height: 1544 3 | camera_name: pp_nir 4 | camera_matrix: 5 | rows: 3 6 | cols: 3 7 | data: [2187.46357, 0. , 1050.84776, 8 | 0. , 2182.60933, 758.00261, 9 | 0. , 0. , 1. ] 10 | distortion_model: plumb_bob 11 | distortion_coefficients: 12 | rows: 1 13 | cols: 5 14 | data: [-0.272522, 0.137143, 0.000374, -0.001290, 0.000000] 15 | rectification_matrix: 16 | rows: 3 17 | cols: 3 18 | data: [1., 0., 0., 19 | 0., 1., 0., 20 | 0., 0., 1.] 21 | projection_matrix: # 210724: this is Maciej's projection mtx for undist and cropped imgs which works for his system 22 | rows: 3 23 | cols: 3 24 | data: [1987.71948, 0. , 1018.26258, 0.0, 25 | 0. , 1984.04858, 712.331880, 0.0, 26 | 0. , 0. , 1.0, 0.0 ] 27 | -------------------------------------------------------------------------------- /pp_alvium_driver/calib/220314_nir_2point5k.yaml: -------------------------------------------------------------------------------- 1 | image_width: 2592 2 | image_height: 1944 3 | camera_name: pp_nir 4 | camera_matrix: 5 | rows: 3 6 | cols: 3 7 | data: [2753.33489, 0. , 1307.25754, 8 | 0. , 2749.44213, 936.72462, 9 | 0. , 0. , 1. ] 10 | distortion_model: plumb_bob 11 | distortion_coefficients: 12 | rows: 1 13 | cols: 5 14 | data: [-0.283888, 0.158605, 0.000015, 0.000025, 0.000000] 15 | rectification_matrix: 16 | rows: 3 17 | cols: 3 18 | data: [1., 0., 0., 19 | 0., 1., 0., 20 | 0., 0., 1.] 21 | projection_matrix: 22 | rows: 3 23 | cols: 4 24 | data: [0., 0. , 0., 0. , 25 | 0. , 0., 0., 0. , 26 | 0. , 0. , 0. , 0. ] 27 | -------------------------------------------------------------------------------- /pp_alvium_driver/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pp_alvium_driver 4 | 0.0.1 5 | pp_alvium_driver node 6 | 7 | Maciej Trzeciak 8 | Maciej Trzeciak 9 | MIT 10 | 11 | catkin 12 | 13 | message_generation 14 | message_runtime 15 | roscpp 16 | rospy 17 | sensor_msgs 18 | cv_bridge 19 | dynamic_reconfigure 20 | camera_info_manager 21 | diagnostic_updater 22 | std_msgs 23 | polled_camera 24 | image_geometry 25 | image_transport 26 | image_view 27 | 28 | -------------------------------------------------------------------------------- /pp_alvium_driver/scripts/fix_cam_timestamps.py: -------------------------------------------------------------------------------- 1 | import rospy 2 | # import sys 3 | # import cv2 4 | # import numpy as np 5 | # import message_filters 6 | # import yaml 7 | # from cv_bridge import CvBridge 8 | from sensor_msgs.msg import Image 9 | # from sensor_msgs.msg import CameraInfo 10 | # from pathlib import Path 11 | 12 | 13 | absolute_exposure_time = 2200 14 | hardware_delay_correction = 0.026 15 | half_exposure_time_nanoseconds = rospy.Duration(0, (absolute_exposure_time / 2) * 1000) # *1000 to convert from microseconds (10^-6) to nanoseconds (10^-9) 16 | hardware_delay_correction = rospy.Duration().from_sec(hardware_delay_correction) 17 | pub_img = None 18 | 19 | def callback(ros_dist_img: Image): 20 | ros_dist_img.header.stamp = ros_dist_img.header.stamp - half_exposure_time_nanoseconds - hardware_delay_correction 21 | pub_img.publish(ros_dist_img) 22 | print("corrected img published") 23 | 24 | 25 | 26 | def main(): 27 | rospy.init_node('correct_cameras_timestamps', anonymous=False) 28 | 29 | # scaling_param = float(rospy.get_param("/pp_lidar2cam_projector/scaling_param")) 30 | # path2calib_file = str(rospy.get_param("/pp_lidar2cam_projector/calib_matrix_from_file")) 31 | img_topic2sub = "pp/rgb_raw" 32 | img_topic2pub = "pp/rgb_raw_time_ok" 33 | # scaling_param = 1.0 34 | 35 | global pub_img 36 | pub_img = rospy.Publisher(img_topic2pub, Image, queue_size=5) 37 | rospy.Subscriber(img_topic2sub, Image, callback) 38 | 39 | rospy.spin() 40 | 41 | 42 | if __name__ == '__main__': 43 | main() 44 | -------------------------------------------------------------------------------- /pp_alvium_driver/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | # http://wiki.ros.org/rospy_tutorials/Tutorials/Makefile 3 | 4 | from distutils.core import setup 5 | from catkin_pkg.python_setup import generate_distutils_setup 6 | 7 | # fetch values from package.xml 8 | setup_args = generate_distutils_setup( 9 | packages=['pp_alvium_driver'], 10 | package_dir={'': 'src'}, 11 | ) 12 | 13 | setup(**setup_args) -------------------------------------------------------------------------------- /pp_alvium_driver/src/pp_alvium_driver/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/src/pp_alvium_driver/__init__.py -------------------------------------------------------------------------------- /pp_alvium_driver/src/pp_alvium_driver/__pycache__/alvium_driver.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_alvium_driver/src/pp_alvium_driver/__pycache__/alvium_driver.cpython-38.pyc -------------------------------------------------------------------------------- /pp_launcher/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.2) 2 | project(pp_launcher) 3 | 4 | ## Find catkin macros and libraries 5 | find_package(catkin REQUIRED COMPONENTS 6 | ) 7 | 8 | ################################################ 9 | ## Declare ROS dynamic reconfigure parameters ## 10 | ################################################ 11 | 12 | ################################### 13 | ## catkin specific configuration ## 14 | ################################### 15 | 16 | catkin_package( 17 | ) 18 | 19 | ############# 20 | ## Install ## 21 | ############# 22 | 23 | install(DIRECTORY launch/ 24 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch 25 | ) 26 | -------------------------------------------------------------------------------- /pp_launcher/launch/record-raw.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | rosbag record velodyne_points pp_rgb/raw imu/data pp_rgb/camera_info 4 | -------------------------------------------------------------------------------- /pp_launcher/launch/record4london_all.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | rosbag record pp_points/synced2rgb pp_rgb/synced2points pp_nir/synced2points imu/data pp_rgb/camera_info pp_nir/camera_info 4 | -------------------------------------------------------------------------------- /pp_launcher/launch/record4london_noNIR.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | rosbag record pp_points/synced2rgb pp_rgb/synced2points imu/data pp_rgb/camera_info 4 | -------------------------------------------------------------------------------- /pp_launcher/launch/save_synced_rgb_and_lidar_msgs_outdoors_to_bags.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /pp_launcher/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pp_launcher 4 | 0.0.1 5 | pp_launcher 6 | 7 | Maciej Trzeciak - University of Cambridge 8 | Maciej Trzeciak 9 | 10 | catkin 11 | 12 | 13 | -------------------------------------------------------------------------------- /pp_lidar2cam/calib/220310_nir1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /pp_lidar2cam/calib/220310_nir2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /pp_lidar2cam/calib/220310_rgb2cam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /pp_lidar2cam/launch/bag2bags.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_lidar2cam/launch/project_lidar2rgb.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | path2cam_calib_yaml: /home/maciej/ros1_wss/pp_ws_collector/src/pp_alvium_driver/calib/210719_rgb.yaml 13 | sync_difference_time: 0.03 14 | depth_factor: 655.35 15 | save_images_and_lidar_bags: 0 16 | save_depth_maps: 0 17 | create_control: 1 18 | subscriber_img_topic: "pp_rgb/synced2points" 19 | input_images_are_distorted: True 20 | subscriber_lidar_topic: "pp_points/synced2rgb" 21 | publisher_img_topic: "pp/lidar2cam_projection" 22 | publish_colourised_pcd_msgs: True 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /pp_lidar2cam/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pp_lidar2cam_projector 4 | 0.0.1 5 | pp_lidar2cam_projector 6 | 7 | Maciej Trzeciak - University of Cambridge 8 | Maciej Trzeciak 9 | 10 | catkin 11 | 12 | message_generation 13 | message_runtime 14 | roscpp 15 | rospy 16 | sensor_msgs 17 | rosbag 18 | cv_bridge 19 | 20 | pcl_conversions 21 | pcl_ros 22 | libpcl-all-dev 23 | libpcl-all 24 | image_geometry 25 | image_transport 26 | image_view 27 | tf 28 | tf_conversions 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_lidar2cam/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | # http://wiki.ros.org/rospy_tutorials/Tutorials/Makefile 3 | 4 | from distutils.core import setup 5 | from catkin_pkg.python_setup import generate_distutils_setup 6 | 7 | # fetch values from package.xml 8 | setup_args = generate_distutils_setup( 9 | packages=['pp_lidar2cam_projector'], 10 | package_dir={'': 'src'}, 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /pp_monitor/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.2) 2 | project(pp_monitor) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_STANDARD 17) 6 | set(CMAKE_CXX_STANDARD_REQUIRED ON) 7 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 8 | 9 | ## Find catkin macros and libraries 10 | find_package(catkin REQUIRED COMPONENTS 11 | message_runtime 12 | cv_bridge 13 | roscpp 14 | rospy 15 | std_msgs 16 | sensor_msgs 17 | rosbag 18 | image_geometry 19 | image_transport 20 | image_view 21 | pcl_conversions 22 | pcl_ros 23 | tf_conversions #added 200324 for tf to eigen transofrmation conversions 24 | ) 25 | 26 | ################################### 27 | ## catkin specific configuration ## 28 | ################################### 29 | 30 | catkin_package() 31 | 32 | ########### 33 | ## Build ## 34 | ########### 35 | 36 | include_directories( 37 | ${catkin_INCLUDE_DIRS} 38 | include ${catkin_INCLUDE_DIRS} # include/pp_lidar2cam_projector 39 | ) 40 | 41 | #add_executable(lidar_cams_synchroniser src/lidar_cams_synchroniser.cpp) 42 | #target_link_libraries(lidar_cams_synchroniser ${catkin_LIBRARIES}) 43 | 44 | catkin_python_setup() 45 | 46 | ############# 47 | ## Install ## 48 | ############# 49 | 50 | catkin_install_python(PROGRAMS 51 | scripts/monitor.py 52 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 53 | ) 54 | -------------------------------------------------------------------------------- /pp_monitor/launch/points_imu_rgb_nir.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /pp_monitor/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pp_monitor 4 | 0.0.1 5 | pp_monitor 6 | 7 | Maciej Trzeciak - University of Cambridge 8 | Maciej Trzeciak 9 | 10 | catkin 11 | 12 | message_generation 13 | message_runtime 14 | roscpp 15 | rospy 16 | sensor_msgs 17 | rosbag 18 | cv_bridge 19 | 20 | pcl_conversions 21 | pcl_ros 22 | libpcl-all-dev 23 | libpcl-all 24 | image_geometry 25 | image_transport 26 | image_view 27 | tf 28 | tf_conversions 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_monitor/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | # http://wiki.ros.org/rospy_tutorials/Tutorials/Makefile 3 | 4 | from distutils.core import setup 5 | from catkin_pkg.python_setup import generate_distutils_setup 6 | 7 | # fetch values from package.xml 8 | setup_args = generate_distutils_setup( 9 | packages=['pp_monitor'], 10 | package_dir={'': 'src'}, 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /pp_velo/README.md: -------------------------------------------------------------------------------- 1 | [![](https://github.com/ros-drivers/velodyne/workflows/Basic%20Build%20Workflow/badge.svg)](https://github.com/ros-drivers/velodyne/actions) 2 | 3 | Overview 4 | ======== 5 | 6 | Velodyne1 is a collection of ROS2 packages supporting `Velodyne high 7 | definition 3D LIDARs`3. 8 | 9 | **Warning**: 10 | 11 | The master branch normally contains code being tested for the next 12 | ROS release. It will not always work with every previous release. 13 | To check out the source for the most recent release, check out the 14 | tag `` with the highest version number. 15 | 16 | The current ``master`` branch works with ROS Kinetic and Melodic. 17 | CI builds are currently run for Kinetic and Melodic. 18 | 19 | - 1Velodyne: http://www.ros.org/wiki/velodyne 20 | - 2ROS: http://www.ros.org 21 | - 3`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx 22 | -------------------------------------------------------------------------------- /pp_velo/velodyne/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(velodyne) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /pp_velo/velodyne/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne 4 | 1.6.1 5 | 6 | Basic ROS support for the Velodyne 3D LIDARs. 7 | 8 | Josh Whitley 9 | Jack O'Quin 10 | BSD 11 | http://www.ros.org/wiki/velodyne 12 | https://github.com/ros-drivers/velodyne 13 | https://github.com/ros-drivers/velodyne/issues 14 | 15 | catkin 16 | 17 | velodyne_driver 18 | velodyne_laserscan 19 | velodyne_msgs 20 | velodyne_pointcloud 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/cfg/VelodyneNode.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "velodyne_driver" 3 | NODE_NAME = "velodyne_node" 4 | PARAMS_NAME = "VelodyneNode" 5 | 6 | from math import pi 7 | from dynamic_reconfigure.parameter_generator_catkin import * 8 | 9 | gen = ParameterGenerator() 10 | 11 | gen.add("time_offset", double_t, 1, "A manually calibrated offset (in seconds) to add to the timestamp before publication of a message.", 12 | 0.0, -1.0, 1.0) 13 | gen.add("enabled", bool_t, 2, "Switch to enable and disable lidar packet consumption", True); 14 | 15 | exit(gen.generate(PACKAGE, NODE_NAME, PARAMS_NAME)) 16 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/nodelet_velodyne.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | Publish raw Velodyne data packets. 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne_driver 4 | 1.6.1 5 | 6 | ROS device driver for Velodyne 3D LIDARs. 7 | 8 | Josh Whitley 9 | Brice Rebsamen 10 | Jack O'Quin 11 | Patrick Beeson 12 | Michael Quinlan 13 | Yaxin Liu 14 | BSD 15 | 16 | http://www.ros.org/wiki/velodyne_driver 17 | https://github.com/ros-drivers/velodyne 18 | https://github.com/ros-drivers/velodyne/issues 19 | 20 | catkin 21 | 22 | roslint 23 | 24 | diagnostic_updater 25 | dynamic_reconfigure 26 | libpcap 27 | nodelet 28 | roscpp 29 | tf 30 | velodyne_msgs 31 | 32 | roslaunch 33 | rostest 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/src/driver/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # build the driver node 2 | add_executable(velodyne_node velodyne_node.cc driver.cc) 3 | add_dependencies(velodyne_node velodyne_driver_gencfg) 4 | target_link_libraries(velodyne_node 5 | velodyne_input 6 | ${catkin_LIBRARIES} 7 | ${libpcap_LIBRARIES} 8 | ) 9 | 10 | # build the nodelet version 11 | add_library(driver_nodelet nodelet.cc driver.cc) 12 | add_dependencies(driver_nodelet velodyne_driver_gencfg) 13 | target_link_libraries(driver_nodelet 14 | velodyne_input 15 | ${catkin_LIBRARIES} 16 | ${libpcap_LIBRARIES} 17 | ) 18 | 19 | # install runtime files 20 | install(TARGETS velodyne_node 21 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 22 | COMPONENT main 23 | ) 24 | install(TARGETS driver_nodelet 25 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 26 | ) 27 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/src/lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(velodyne_input input.cc) 2 | target_link_libraries(velodyne_input 3 | ${catkin_LIBRARIES} 4 | ${libpcap_LIBRARIES} 5 | ) 6 | if(catkin_EXPORTED_TARGETS) 7 | add_dependencies(velodyne_input ${catkin_EXPORTED_TARGETS}) 8 | endif() 9 | 10 | install(TARGETS velodyne_input 11 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 12 | ) 13 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/src/vdump: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # dump velodyne packets 4 | # $Id: vdump 8892 2009-10-24 15:13:57Z joq $ 5 | 6 | if [ x$1 = x ] 7 | then echo -e "usage:\t`basename $0` file-prefix [ interface ]" 8 | echo -e "\n\tfile-prefix is completed with a three-digit number" 9 | echo -e "\tinterface default is 'eth0'\n" 10 | exit 9 11 | fi 12 | 13 | IF=${2:-eth0} 14 | UN=`id -un` 15 | ID=`id -u` 16 | 17 | echo "acquiring packets on $IF for user $UN; press ^C when done" 18 | 19 | if [ $ID = 0 ]; then 20 | /usr/sbin/tcpdump -i $IF -s 0 -C 100 -W 999 -w $1 21 | else 22 | sudo /usr/sbin/tcpdump -i $IF -Z $UN -s 0 -C 100 -W 999 -w $1 23 | fi 24 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/diagnostic_agg.yaml: -------------------------------------------------------------------------------- 1 | ## Diagnostic aggregator parameters for testing Velodyne diagnostics. 2 | # 3 | # $ rosparam load $(rospack find velodyne_driver)/tests/diagnostic_agg.yaml 4 | # $ rosrun diagnostic_aggregator aggregator_node 5 | # 6 | diagnostic_aggregator: 7 | analyzers: 8 | sensors: 9 | type: diagnostic_aggregator/AnalyzerGroup 10 | path: Sensors 11 | analyzers: 12 | velodyne: 13 | type: diagnostic_aggregator/GenericAnalyzer 14 | path: Velodyne HDL 15 | timeout: 5.0 16 | find_and_remove_prefix: velodyne_nodelet_manager 17 | num_items: 1 18 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_32e_node_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_32e_nodelet_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_node_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_nodelet_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_vlp16_node_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /pp_velo/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/cfg/VelodyneLaserScan.cfg: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | PACKAGE='velodyne_laserscan' 4 | 5 | from dynamic_reconfigure.parameter_generator_catkin import * 6 | 7 | gen = ParameterGenerator() 8 | 9 | # Name Type Lvl Description Default Min Max 10 | gen.add("ring", int_t, 0, "Ring to extract as laser scan (-1 default)", -1, -1, 31) 11 | gen.add("resolution", double_t, 0, "Laser scan angular resolution (rad)", 0.007, 0.001, 0.05) 12 | 13 | exit(gen.generate(PACKAGE, PACKAGE, "VelodyneLaserScan")) 14 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/nodelets.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | Extract a single ring from a Velodyne PointCloud2 and publish 7 | as a LaserScan. 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne_laserscan 4 | 1.6.1 5 | 6 | Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message 7 | 8 | Josh Whitley 9 | Micho Radovnikovich 10 | Kevin Hallenbeck 11 | BSD 12 | 13 | http://ros.org/wiki/velodyne_laserscan 14 | https://github.com/ros-drivers/velodyne 15 | https://github.com/ros-drivers/velodyne/issues 16 | 17 | catkin 18 | 19 | roslint 20 | 21 | roscpp 22 | nodelet 23 | sensor_msgs 24 | dynamic_reconfigure 25 | 26 | roslaunch 27 | rostest 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/tests/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Unit tests 2 | # 3 | # Only configured when CATKIN_ENABLE_TESTING is true. 4 | 5 | # These dependencies are only needed for unit testing 6 | find_package(roslaunch REQUIRED) 7 | find_package(rostest REQUIRED) 8 | 9 | # C++ gtests 10 | #catkin_add_gtest(test_calibration test_calibration.cpp) 11 | #add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS}) 12 | #target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES}) 13 | 14 | # ROS rostests 15 | add_rostest_gtest(test_lazy_subscriber_node lazy_subscriber_node.test lazy_subscriber.cpp) 16 | add_dependencies(test_lazy_subscriber_node ${catkin_EXPORTED_TARGETS}) 17 | target_link_libraries(test_lazy_subscriber_node ${catkin_LIBRARIES}) 18 | 19 | add_rostest_gtest(test_lazy_subscriber_nodelet lazy_subscriber_nodelet.test lazy_subscriber.cpp) 20 | add_dependencies(test_lazy_subscriber_nodelet ${catkin_EXPORTED_TARGETS}) 21 | target_link_libraries(test_lazy_subscriber_nodelet ${catkin_LIBRARIES}) 22 | 23 | add_rostest_gtest(test_system_node system_node.test system.cpp) 24 | add_dependencies(test_system_node ${catkin_EXPORTED_TARGETS}) 25 | target_link_libraries(test_system_node ${catkin_LIBRARIES}) 26 | 27 | add_rostest_gtest(test_system_nodelet system_nodelet.test system.cpp) 28 | add_dependencies(test_system_nodelet ${catkin_EXPORTED_TARGETS}) 29 | target_link_libraries(test_system_nodelet ${catkin_LIBRARIES}) 30 | 31 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/tests/lazy_subscriber_node.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/tests/lazy_subscriber_nodelet.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/tests/system_node.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /pp_velo/velodyne_laserscan/tests/system_nodelet.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /pp_velo/velodyne_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(velodyne_msgs) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g") 6 | 7 | 8 | find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) 9 | 10 | add_message_files( 11 | DIRECTORY msg 12 | FILES 13 | VelodynePacket.msg 14 | VelodyneScan.msg 15 | ) 16 | generate_messages(DEPENDENCIES std_msgs) 17 | 18 | catkin_package( 19 | CATKIN_DEPENDS message_runtime std_msgs 20 | ) 21 | -------------------------------------------------------------------------------- /pp_velo/velodyne_msgs/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | The @b velodyne_msgs package collects ROS messages specific to the 6 | Velodyne HDL-64E 3D and HDL-64E S2 LIDARs. 7 | 8 | No other programming interfaces or ROS nodes are provided. 9 | 10 | */ 11 | -------------------------------------------------------------------------------- /pp_velo/velodyne_msgs/msg/VelodynePacket.msg: -------------------------------------------------------------------------------- 1 | # Raw Velodyne LIDAR packet. 2 | 3 | time stamp # packet timestamp 4 | uint8[1206] data # packet contents 5 | 6 | -------------------------------------------------------------------------------- /pp_velo/velodyne_msgs/msg/VelodyneScan.msg: -------------------------------------------------------------------------------- 1 | # Velodyne LIDAR scan packets. 2 | 3 | Header header # standard ROS message header 4 | VelodynePacket[] packets # vector of raw packets 5 | -------------------------------------------------------------------------------- /pp_velo/velodyne_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne_msgs 4 | 1.6.1 5 | 6 | ROS message definitions for Velodyne 3D LIDARs. 7 | 8 | Josh Whitley 9 | Jack O'Quin 10 | BSD 11 | 12 | http://ros.org/wiki/velodyne_msgs 13 | https://github.com/ros-drivers/velodyne 14 | https://github.com/ros-drivers/velodyne/issues 15 | 16 | catkin 17 | 18 | message_generation 19 | 20 | std_msgs 21 | 22 | message_runtime 23 | 24 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pcl/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(velodyne_pcl) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g") 6 | 7 | find_package(catkin REQUIRED COMPONENTS pcl_ros roslint) 8 | 9 | roslint_cpp() 10 | 11 | if(CATKIN_ENABLE_TESTING) 12 | roslint_add_test() 13 | endif() 14 | 15 | catkin_package( 16 | INCLUDE_DIRS include 17 | CATKIN_DEPENDS pcl_ros 18 | ) 19 | 20 | include_directories( 21 | include 22 | ${catkin_INCLUDE_DIRS} 23 | ) 24 | 25 | install(DIRECTORY include/${PROJECT_NAME}/ 26 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 27 | FILES_MATCHING PATTERN "*.h" 28 | ) 29 | 30 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pcl/README.md: -------------------------------------------------------------------------------- 1 | ## PointCloud2 to PCL PointCloud Conversion 2 | 3 | Convert `sensor_msgs::PointCloud2` objects coming from the velodyne_pointcloud driver to `pcl::PointCloud` objects. 4 | 5 | The `sensor_msgs::PointCloud2` ROS message is constructed by using the `PointcloudXYZIRT`, or the `OrganizedCloudXYZIRT` container. 6 | Both define the following channels: 7 | 8 | * x - The x coord in Cartesian coordinates 9 | * y - The y coord in Cartesian coordinates 10 | * z - The z coord in Cartesian coordinates 11 | * intensity - The measured intensity at the point 12 | * ring - The ring number of the laser 13 | * time - The time stamp of the measured point 14 | 15 | To convert a `sensor_msgs::PointCloud2` published by the velodyne driver to PCL you could use the following code: 16 | 17 | ``` 18 | #include 19 | #include 20 | #include 21 | #include 22 | 23 | void cloud_callback(const boost::shared_ptr& cloud){ 24 | 25 | pcl::PCLPointCloud2 pcl_pointcloud2; 26 | pcl_conversions::toPCL(*cloud, pcl_pointcloud2); 27 | pcl::PointCloud::Ptr pcl_cloud_ptr(new pcl::PointCloud); 28 | pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr); 29 | 30 | // use pcl_cloud_ptr 31 | } 32 | ``` 33 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pcl/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne_pcl 4 | 1.6.1 5 | The velodyne_pcl package 6 | 7 | Josh Whitley 8 | Sebastian Pütz 9 | 10 | BSD 11 | 12 | http://wiki.ros.org/velodyne_pcl 13 | https://github.com/ros-drivers/velodyne 14 | https://github.com/ros-drivers/velodyne/issues 15 | 16 | catkin 17 | roslint 18 | pcl_ros 19 | 20 | 21 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/cfg/TransformNode.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "velodyne_pointcloud" 3 | 4 | from math import pi 5 | import dynamic_reconfigure.parameter_generator_catkin as pgc 6 | 7 | gen = pgc.ParameterGenerator() 8 | 9 | gen.add("min_range", 10 | pgc.double_t, 11 | 0, 12 | "min range to publish", 13 | 0.9, 0.1, 10.0) 14 | 15 | gen.add("max_range", 16 | pgc.double_t, 17 | 0, 18 | "max range to publish", 19 | 130, 0.1, 200) 20 | 21 | gen.add("view_direction", 22 | pgc.double_t, 23 | 0, 24 | "angle defining the center of view", 25 | 0.0, -pi, pi) 26 | 27 | gen.add("view_width", 28 | pgc.double_t, 29 | 0, 30 | "angle defining the view width", 31 | 2*pi, 0.0, 2*pi) 32 | 33 | gen.add("fixed_frame", 34 | pgc.str_t, 35 | 0, 36 | "world fixed frame used for ego motion compensation (leave empty if no ego motion compensation is required)", 37 | "") 38 | 39 | gen.add("target_frame", 40 | pgc.str_t, 41 | 0, 42 | "output frame of the final PointCloud2 msg (leave empty to use the frame specified in the original scan msg)", 43 | "") 44 | 45 | gen.add("organize_cloud", 46 | pgc.bool_t, 47 | 0, 48 | "organize cloud", 49 | False) 50 | 51 | exit(gen.generate(PACKAGE, "transform_node", "TransformNode")) 52 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/include/velodyne_pointcloud/pointXYZIRT.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Maciej Trzeciak on 15/02/2022. 3 | // 4 | 5 | #ifndef VELODYNE_POINTCLOUD_POINTXYZIRT_H 6 | #define VELODYNE_POINTCLOUD_POINTXYZIRT_H 7 | #define PCL_NO_PRECOMPILE 8 | #include 9 | 10 | namespace pcl { 11 | struct VelodynePointXYZIRT 12 | { 13 | PCL_ADD_POINT4D 14 | PCL_ADD_INTENSITY; 15 | uint16_t ring; 16 | float time; 17 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 18 | } EIGEN_ALIGN16; 19 | } 20 | 21 | POINT_CLOUD_REGISTER_POINT_STRUCT (VelodynePointXYZIRT, 22 | (float, x, x) (float, y, y) (float, z, z) (float, intensity, intensity) 23 | (uint16_t, ring, ring) (float, time, time) 24 | ) 25 | 26 | #endif //VELODYNE_POINTCLOUD_POINTXYZIRT_H 27 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/launch/DEPRECIATED_pp_correct_velo_stamps.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/launch/cpp_correct_velo_stamps.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/launch/laserscan_nodelet.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/launch/transform_nodelet.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | Nodes and nodelets for converting raw Velodyne 3D LIDAR data to point 6 | clouds. 7 | 8 | */ 9 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/nodelets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors 9 | for visualization of the laser rings. 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | Transforms packets into /map frame, publishing multiple packets 20 | as PointCloud2. 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | velodyne_pointcloud 4 | 1.6.1 5 | 6 | Point cloud conversions for Velodyne 3D LIDARs. 7 | 8 | Josh Whitley 9 | Jack O'Quin 10 | Piyush Khandelwal 11 | Jesse Vera 12 | Sebastian Pütz 13 | BSD 14 | http://ros.org/wiki/velodyne_pointcloud 15 | https://github.com/ros-drivers/velodyne 16 | https://github.com/ros-drivers/velodyne/issues 17 | 18 | catkin 19 | 20 | roslint 21 | 22 | angles 23 | nodelet 24 | roscpp 25 | roslib 26 | sensor_msgs 27 | tf2_ros 28 | velodyne_driver 29 | velodyne_msgs 30 | yaml-cpp 31 | dynamic_reconfigure 32 | diagnostic_updater 33 | eigen 34 | 35 | velodyne_laserscan 36 | 37 | rosunit 38 | roslaunch 39 | rostest 40 | tf2_ros 41 | 42 | pcl 43 | pcl_conversions 44 | pcl 45 | pcl_conversions 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | # http://wiki.ros.org/rospy_tutorials/Tutorials/Makefile 3 | 4 | from distutils.core import setup 5 | from catkin_pkg.python_setup import generate_distutils_setup 6 | 7 | # fetch values from package.xml 8 | setup_args = generate_distutils_setup( 9 | packages=['velodyne_pointcloud'], 10 | package_dir={'': 'src'}, 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/src/conversions/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(data_containers pointcloudXYZIRT.cc organized_cloudXYZIRT.cc) 2 | add_dependencies(data_containers ${${PROJECT_NAME}_EXPORTED_TARGETS}) 3 | target_link_libraries(data_containers velodyne_rawdata 4 | ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) 5 | 6 | add_executable(transform_node transform_node.cc transform.cc) 7 | add_dependencies(transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) 8 | target_link_libraries(transform_node velodyne_rawdata data_containers 9 | ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) 10 | 11 | add_library(transform_nodelet transform_nodelet.cc transform.cc) 12 | add_dependencies(transform_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS}) 13 | target_link_libraries(transform_nodelet velodyne_rawdata data_containers 14 | ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) 15 | 16 | install(TARGETS data_containers transform_node transform_nodelet 17 | RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} 18 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 19 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) 20 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/src/conversions/transform_node.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 3 | * License: Modified BSD Software License Agreement 4 | * 5 | * $Id$ 6 | */ 7 | 8 | /** \file 9 | 10 | This ROS node transforms raw Velodyne LIDAR packets to PointCloud2 11 | in the /map frame of reference. 12 | 13 | */ 14 | 15 | #include 16 | #include "velodyne_pointcloud/transform.h" 17 | 18 | /** Main node entry point. */ 19 | int main(int argc, char **argv) 20 | { 21 | ros::init(argc, argv, "transform_node"); 22 | 23 | // create conversion class, which subscribes to raw data 24 | velodyne_pointcloud::Transform transform(ros::NodeHandle(), 25 | ros::NodeHandle("~")); 26 | 27 | // handle callbacks until shut down 28 | ros::spin(); 29 | 30 | return 0; 31 | } 32 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/src/conversions/transform_nodelet.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 3 | * License: Modified BSD Software License Agreement 4 | * 5 | * $Id$ 6 | */ 7 | 8 | /** @file 9 | 10 | This ROS nodelet transforms raw Velodyne 3D LIDAR packets to a 11 | PointCloud2 in the /map frame. 12 | 13 | */ 14 | 15 | #include 16 | #include 17 | #include 18 | 19 | #include "velodyne_pointcloud/transform.h" 20 | 21 | namespace velodyne_pointcloud 22 | { 23 | class TransformNodelet: public nodelet::Nodelet 24 | { 25 | public: 26 | 27 | TransformNodelet() {} 28 | ~TransformNodelet() {} 29 | 30 | private: 31 | 32 | virtual void onInit(); 33 | boost::shared_ptr tf_; 34 | }; 35 | 36 | /** @brief Nodelet initialization. */ 37 | void TransformNodelet::onInit() 38 | { 39 | tf_.reset(new Transform(getNodeHandle(), getPrivateNodeHandle(), getName())); 40 | } 41 | 42 | } // namespace velodyne_pointcloud 43 | 44 | 45 | // Register this plugin with pluginlib. Names must match nodelets.xml. 46 | // 47 | // parameters: class type, base class type 48 | PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::TransformNodelet, nodelet::Nodelet) 49 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/src/lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(velodyne_rawdata rawdata.cc calibration.cc) 2 | target_link_libraries(velodyne_rawdata 3 | ${catkin_LIBRARIES} 4 | ${YAML_CPP_LIBRARIES}) 5 | install(TARGETS velodyne_rawdata 6 | RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} 7 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 8 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) 9 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/empty.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_velo/velodyne_pointcloud/tests/empty.xml -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/static_vehicle_tf.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 10 | 11 | 13 | 16 | 17 | 19 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_node_32e_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_node_64e_s2.1_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_node_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 25 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_node_vlp16_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_nodelet_32e_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_nodelet_64e_s2.1_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_nodelet_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 25 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /pp_velo/velodyne_pointcloud/tests/transform_nodelet_vlp16_hz.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /pp_xsens_imu/LICENSE.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2003-2018 Xsens Technologies B.V. or subsidiaries worldwide. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, 5 | are permitted provided that the following conditions are met: 6 | 7 | 1. Redistributions of source code must retain the above copyright notice, 8 | this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | 3. Neither the names of the copyright holders nor the names of their contributors 15 | may be used to endorse or promote products derived from this software without 16 | specific prior written permission. 17 | 18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY 19 | EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 20 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL 21 | THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 22 | SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 23 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 24 | HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR 25 | TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /pp_xsens_imu/README.md: -------------------------------------------------------------------------------- 1 | # pp_xsens_imu 2 | 3 | # install 4 | 5 | in ros_ws run these (based on http://wiki.ros.org/xsens_mti_driver) 6 | 7 | install MTI package first. Go on their webstie and follow the intruction. Particulary after downlaoding, unpack and `bash ./mtsdk_linux-x64_2021.4.sh` 8 | 9 | then copy from the unpacked folder the ros driver or just have this one from this repo 10 | 11 | `pushd src/pp_xsens_imu/lib/xspublic && make && popd` 12 | 13 | `catkin_make` 14 | 15 | `source devel/setup.bash` 16 | 17 | `roslaunch xsens_mti_driver display.launch` 18 | 19 | # troubleshooting 20 | 21 | - be sure that this command `ls -l /dev/ttyUSB0` actually works and displays ```crw-rw---- 1 root dialout 188, 0 May 6 16:21 /dev/ttyUSB0``` 22 | 23 | - then make sure that `maciej` is in `dialout`. How? type `groups` and if maciej is not there then add it via `sudo usermod -G dialout -a $USER` or the other coomand in the link (re-log most likely neccessary) 24 | 25 | - if you cant see maciej and dialout there then the IMU wont work. 26 | 27 | - i noticed that you should first plug in the adapter with imu and then start ubuntu to to make `ls -l /dev/ttyUSB0` work. UPDATE: actually i noticed with mbp14 that you should boot ubuntu and then when you r in ubuntu then plug the usb and select ubuntu. 28 | -------------------------------------------------------------------------------- /pp_xsens_imu/launch/display.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /pp_xsens_imu/launch/xsens_mti_node.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/Makefile: -------------------------------------------------------------------------------- 1 | OBJLIBS = libxscontroller libxscommon libxstypes 2 | 3 | all : $(OBJLIBS) 4 | 5 | libxscontroller : libxstypes 6 | $(MAKE) -C xscontroller $(MFLAGS) 7 | 8 | libxscommon : libxscommon 9 | $(MAKE) -C xscommon $(MFLAGS) 10 | 11 | libxstypes : 12 | $(MAKE) -C xstypes $(MFLAGS) libxstypes.a 13 | 14 | clean : 15 | -$(MAKE) -C xscontroller $(MFLAGS) clean 16 | -$(MAKE) -C xscommon $(MFLAGS) clean 17 | -$(MAKE) -C xstypes $(MFLAGS) clean 18 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/Makefile: -------------------------------------------------------------------------------- 1 | TARGET=libxscommon.a 2 | CPP_FILES := $(wildcard *.cpp) 3 | C_FILES := $(wildcard *.c) 4 | OBJECTS := $(CPP_FILES:.cpp=.cpp.o) $(C_FILES:.c=.c.o) 5 | CFLAGS+= -fPIC -I../ -include xscommon_config.h -include xstypes/xsens_compat.h 6 | CXXFLAGS+= -std=c++11 -I../ -include xscommon_config.h -include xstypes/xsens_compat.h 7 | 8 | all: $(TARGET) 9 | 10 | -include $(FILES:.cpp=.dpp) 11 | 12 | %.cpp.o: %.cpp 13 | $(CXX) -c $(CXXFLAGS) $< -o $@ 14 | @$(CXX) -MM $(CXXFLAGS) $< > $*.dpp 15 | @mv -f $*.dpp $*.dpp.tmp 16 | @sed -e 's|.*:|$*.cpp.o:|' < $*.dpp.tmp > $*.dpp 17 | @sed -e 's/.*://' -e 's/\\$$//' < $*.dpp.tmp | fmt -1 | \ 18 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.dpp 19 | @rm -f $*.dpp.tmp 20 | 21 | -include $(FILES:.c=.d) 22 | 23 | %.c.o: %.c 24 | $(CC) -c $(CFLAGS) $< -o $@ 25 | @$(CC) -MM $(CFLAGS) $< > $*.d 26 | @mv -f $*.d $*.d.tmp 27 | @sed -e 's|.*:|$*.c.o:|' < $*.d.tmp > $*.d 28 | @sed -e 's/.*://' -e 's/\\$$//' < $*.d.tmp | fmt -1 | \ 29 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.d 30 | @rm -f $*.d.tmp 31 | 32 | $(TARGET): $(OBJECTS) 33 | ar rcs $@ $^ 34 | 35 | clean: 36 | -$(RM) $(TARGET) 37 | -$(RM) *.o *.d 38 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/additionalloggerbase.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/additionalloggerbase.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/additionalloggerbase.dpp: -------------------------------------------------------------------------------- 1 | additionalloggerbase.cpp.o: additionalloggerbase.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h additionalloggerbase.h \ 5 | abstractadditionallogger.h journalloglevel.h 6 | additionalloggerbase.cpp: 7 | xscommon_config.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/xstypedefs.h: 10 | ../xstypes/xstypesconfig.h: 11 | ../xstypes/pstdint.h: 12 | ../xstypes/xsens_compat.h: 13 | additionalloggerbase.h: 14 | abstractadditionallogger.h: 15 | journalloglevel.h: 16 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/consolelogger.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/consolelogger.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/consolelogger.dpp: -------------------------------------------------------------------------------- 1 | consolelogger.cpp.o: consolelogger.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h consolelogger.h additionalloggerbase.h \ 5 | abstractadditionallogger.h journalloglevel.h 6 | consolelogger.cpp: 7 | xscommon_config.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/xstypedefs.h: 10 | ../xstypes/xstypesconfig.h: 11 | ../xstypes/pstdint.h: 12 | ../xstypes/xsens_compat.h: 13 | consolelogger.h: 14 | additionalloggerbase.h: 15 | abstractadditionallogger.h: 16 | journalloglevel.h: 17 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/enumexpandersbase.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/enumexpandersbase.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/enumexpandersbase.dpp: -------------------------------------------------------------------------------- 1 | enumexpandersbase.cpp.o: enumexpandersbase.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h enumexpandersbase.h journaller.h \ 5 | journalloglevel.h abstractadditionallogger.h ../xstypes/xsstring.h \ 6 | ../xstypes/xsarray.h ../xstypes/xsresultvalue.h \ 7 | ../xstypes/xsxbusmessageid.h ../xstypes/xsoption.h 8 | enumexpandersbase.cpp: 9 | xscommon_config.h: 10 | ../xstypes/xstypesconfig.h: 11 | ../xstypes/xstypedefs.h: 12 | ../xstypes/xstypesconfig.h: 13 | ../xstypes/pstdint.h: 14 | ../xstypes/xsens_compat.h: 15 | enumexpandersbase.h: 16 | journaller.h: 17 | journalloglevel.h: 18 | abstractadditionallogger.h: 19 | ../xstypes/xsstring.h: 20 | ../xstypes/xsarray.h: 21 | ../xstypes/xsresultvalue.h: 22 | ../xstypes/xsxbusmessageid.h: 23 | ../xstypes/xsoption.h: 24 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/fwupdate.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/fwupdate.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/fwupdate.d: -------------------------------------------------------------------------------- 1 | fwupdate.c.o: fwupdate.c xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h fwupdate.h xbus.h 4 | fwupdate.c: 5 | xscommon_config.h: 6 | ../xstypes/xstypesconfig.h: 7 | ../xstypes/xstypedefs.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/pstdint.h: 10 | ../xstypes/xsens_compat.h: 11 | fwupdate.h: 12 | xbus.h: 13 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalexception.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/journalexception.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalexception.dpp: -------------------------------------------------------------------------------- 1 | journalexception.cpp.o: journalexception.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h journalstackwalker.h stackwalker_linux.h \ 5 | journaller.h journalloglevel.h abstractadditionallogger.h \ 6 | ../xstypes/xsstring.h ../xstypes/xsarray.h journalexception.h \ 7 | ../xstypes/xsexception.h ../xstypes/xsresultvalue.h \ 8 | ../xstypes/xsstring.h 9 | journalexception.cpp: 10 | xscommon_config.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/xstypedefs.h: 13 | ../xstypes/xstypesconfig.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsens_compat.h: 16 | journalstackwalker.h: 17 | stackwalker_linux.h: 18 | journaller.h: 19 | journalloglevel.h: 20 | abstractadditionallogger.h: 21 | ../xstypes/xsstring.h: 22 | ../xstypes/xsarray.h: 23 | journalexception.h: 24 | ../xstypes/xsexception.h: 25 | ../xstypes/xsresultvalue.h: 26 | ../xstypes/xsstring.h: 27 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalfile.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/journalfile.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalfile.dpp: -------------------------------------------------------------------------------- 1 | journalfile.cpp.o: journalfile.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h journalfile.h ../xstypes/xsstring.h \ 5 | ../xstypes/xsarray.h ../xstypes/xsfile.h ../xstypes/xsresultvalue.h \ 6 | ../xstypes/xsfilepos.h ../xstypes/xsstring.h ../xstypes/xsbytearray.h 7 | journalfile.cpp: 8 | xscommon_config.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/xstypedefs.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/pstdint.h: 13 | ../xstypes/xsens_compat.h: 14 | journalfile.h: 15 | ../xstypes/xsstring.h: 16 | ../xstypes/xsarray.h: 17 | ../xstypes/xsfile.h: 18 | ../xstypes/xsresultvalue.h: 19 | ../xstypes/xsfilepos.h: 20 | ../xstypes/xsstring.h: 21 | ../xstypes/xsbytearray.h: 22 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journaller.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/journaller.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journaller.dpp: -------------------------------------------------------------------------------- 1 | journaller.cpp.o: journaller.cpp xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h journalstackwalker.h stackwalker_linux.h \ 4 | journaller.h journalloglevel.h abstractadditionallogger.h \ 5 | ../xstypes/xsstring.h ../xstypes/xsarray.h journalthreader.h \ 6 | xscommon_config.h xsens_mutex.h ../xstypes/xsthread.h \ 7 | ../xstypes/xstime.h ../xstypes/xstimestamp.h ../xstypes/xsstring.h \ 8 | ../xstypes/xstimeinfo.h ../xstypes/xstimestamp.h journalfile.h \ 9 | ../xstypes/xsfile.h ../xstypes/xsresultvalue.h ../xstypes/xsfilepos.h \ 10 | ../xstypes/xsbytearray.h ../xstypes/xstime.h ../xstypes/pstdint.h \ 11 | ../xstypes/xstimeinfo.h 12 | journaller.cpp: 13 | xscommon_config.h: 14 | ../xstypes/xstypesconfig.h: 15 | ../xstypes/xstypedefs.h: 16 | ../xstypes/xstypesconfig.h: 17 | ../xstypes/pstdint.h: 18 | ../xstypes/xsens_compat.h: 19 | journalstackwalker.h: 20 | stackwalker_linux.h: 21 | journaller.h: 22 | journalloglevel.h: 23 | abstractadditionallogger.h: 24 | ../xstypes/xsstring.h: 25 | ../xstypes/xsarray.h: 26 | journalthreader.h: 27 | xscommon_config.h: 28 | xsens_mutex.h: 29 | ../xstypes/xsthread.h: 30 | ../xstypes/xstime.h: 31 | ../xstypes/xstimestamp.h: 32 | ../xstypes/xsstring.h: 33 | ../xstypes/xstimeinfo.h: 34 | ../xstypes/xstimestamp.h: 35 | journalfile.h: 36 | ../xstypes/xsfile.h: 37 | ../xstypes/xsresultvalue.h: 38 | ../xstypes/xsfilepos.h: 39 | ../xstypes/xsbytearray.h: 40 | ../xstypes/xstime.h: 41 | ../xstypes/pstdint.h: 42 | ../xstypes/xstimeinfo.h: 43 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalthreader.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/journalthreader.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/journalthreader.dpp: -------------------------------------------------------------------------------- 1 | journalthreader.cpp.o: journalthreader.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h journalthreader.h xscommon_config.h \ 5 | journalloglevel.h xsens_mutex.h ../xstypes/xsthread.h \ 6 | ../xstypes/xstime.h ../xstypes/xstimestamp.h ../xstypes/xsstring.h \ 7 | ../xstypes/xsarray.h ../xstypes/xstimeinfo.h ../xstypes/xstimestamp.h \ 8 | journalfile.h ../xstypes/xsstring.h ../xstypes/xsfile.h \ 9 | ../xstypes/xsresultvalue.h ../xstypes/xsfilepos.h \ 10 | ../xstypes/xsbytearray.h 11 | journalthreader.cpp: 12 | xscommon_config.h: 13 | ../xstypes/xstypesconfig.h: 14 | ../xstypes/xstypedefs.h: 15 | ../xstypes/xstypesconfig.h: 16 | ../xstypes/pstdint.h: 17 | ../xstypes/xsens_compat.h: 18 | journalthreader.h: 19 | xscommon_config.h: 20 | journalloglevel.h: 21 | xsens_mutex.h: 22 | ../xstypes/xsthread.h: 23 | ../xstypes/xstime.h: 24 | ../xstypes/xstimestamp.h: 25 | ../xstypes/xsstring.h: 26 | ../xstypes/xsarray.h: 27 | ../xstypes/xstimeinfo.h: 28 | ../xstypes/xstimestamp.h: 29 | journalfile.h: 30 | ../xstypes/xsstring.h: 31 | ../xstypes/xsfile.h: 32 | ../xstypes/xsresultvalue.h: 33 | ../xstypes/xsfilepos.h: 34 | ../xstypes/xsbytearray.h: 35 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/libxscommon.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/libxscommon.a -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackdumper.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/stackdumper.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackdumper.dpp: -------------------------------------------------------------------------------- 1 | stackdumper.cpp.o: stackdumper.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h stackdumper.h stackwalker_linux.h 5 | stackdumper.cpp: 6 | xscommon_config.h: 7 | ../xstypes/xstypesconfig.h: 8 | ../xstypes/xstypedefs.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/pstdint.h: 11 | ../xstypes/xsens_compat.h: 12 | stackdumper.h: 13 | stackwalker_linux.h: 14 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackwalker.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/stackwalker.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackwalker.dpp: -------------------------------------------------------------------------------- 1 | stackwalker.cpp.o: stackwalker.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h 5 | stackwalker.cpp: 6 | xscommon_config.h: 7 | ../xstypes/xstypesconfig.h: 8 | ../xstypes/xstypedefs.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/pstdint.h: 11 | ../xstypes/xsens_compat.h: 12 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackwalker_linux.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/stackwalker_linux.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/stackwalker_linux.dpp: -------------------------------------------------------------------------------- 1 | stackwalker_linux.cpp.o: stackwalker_linux.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h stackwalker_linux.h 5 | stackwalker_linux.cpp: 6 | xscommon_config.h: 7 | ../xstypes/xstypesconfig.h: 8 | ../xstypes/xstypedefs.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/pstdint.h: 11 | ../xstypes/xsens_compat.h: 12 | stackwalker_linux.h: 13 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/threading.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/threading.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/threading.dpp: -------------------------------------------------------------------------------- 1 | threading.cpp.o: threading.cpp xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h threading.h xsens_mutex.h \ 4 | ../xstypes/xsthread.h ../xstypes/xstime.h ../xstypes/xstimestamp.h \ 5 | ../xstypes/xsstring.h ../xstypes/xsarray.h ../xstypes/xstimeinfo.h \ 6 | ../xstypes/xstimestamp.h ../xstypes/xstime.h 7 | threading.cpp: 8 | xscommon_config.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/xstypedefs.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/pstdint.h: 13 | ../xstypes/xsens_compat.h: 14 | threading.h: 15 | xsens_mutex.h: 16 | ../xstypes/xsthread.h: 17 | ../xstypes/xstime.h: 18 | ../xstypes/xstimestamp.h: 19 | ../xstypes/xsstring.h: 20 | ../xstypes/xsarray.h: 21 | ../xstypes/xstimeinfo.h: 22 | ../xstypes/xstimestamp.h: 23 | ../xstypes/xstime.h: 24 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xbus.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/xbus.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xbus.d: -------------------------------------------------------------------------------- 1 | xbus.c.o: xbus.c xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h xbus.h 4 | xbus.c: 5 | xscommon_config.h: 6 | ../xstypes/xstypesconfig.h: 7 | ../xstypes/xstypedefs.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/pstdint.h: 10 | ../xstypes/xsens_compat.h: 11 | xbus.h: 12 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xbusparser.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/xbusparser.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xbusparser.d: -------------------------------------------------------------------------------- 1 | xbusparser.c.o: xbusparser.c xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h xbusparser.h xbus.h 4 | xbusparser.c: 5 | xscommon_config.h: 6 | ../xstypes/xstypesconfig.h: 7 | ../xstypes/xstypedefs.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/pstdint.h: 10 | ../xstypes/xsens_compat.h: 11 | xbusparser.h: 12 | xbus.h: 13 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xprintf.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/xprintf.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xprintf.dpp: -------------------------------------------------------------------------------- 1 | xprintf.cpp.o: xprintf.cpp xscommon_config.h ../xstypes/xstypesconfig.h \ 2 | ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsens_compat.h xprintf.h 4 | xprintf.cpp: 5 | xscommon_config.h: 6 | ../xstypes/xstypesconfig.h: 7 | ../xstypes/xstypedefs.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/pstdint.h: 10 | ../xstypes/xsens_compat.h: 11 | xprintf.h: 12 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xsens_math_throw.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/xsens_math_throw.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xsens_math_throw.dpp: -------------------------------------------------------------------------------- 1 | xsens_math_throw.cpp.o: xsens_math_throw.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h xsens_math_throw.h ../xstypes/xsexception.h \ 5 | ../xstypes/xsresultvalue.h ../xstypes/xsstring.h ../xstypes/xsarray.h \ 6 | xsens_mutex.h ../xstypes/xsthread.h ../xstypes/xstime.h \ 7 | ../xstypes/xstimestamp.h ../xstypes/xstimeinfo.h \ 8 | ../xstypes/xstimestamp.h 9 | xsens_math_throw.cpp: 10 | xscommon_config.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/xstypedefs.h: 13 | ../xstypes/xstypesconfig.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsens_compat.h: 16 | xsens_math_throw.h: 17 | ../xstypes/xsexception.h: 18 | ../xstypes/xsresultvalue.h: 19 | ../xstypes/xsstring.h: 20 | ../xstypes/xsarray.h: 21 | xsens_mutex.h: 22 | ../xstypes/xsthread.h: 23 | ../xstypes/xstime.h: 24 | ../xstypes/xstimestamp.h: 25 | ../xstypes/xstimeinfo.h: 26 | ../xstypes/xstimestamp.h: 27 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xsens_threadpool.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscommon/xsens_threadpool.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscommon/xsens_threadpool.dpp: -------------------------------------------------------------------------------- 1 | xsens_threadpool.cpp.o: xsens_threadpool.cpp xscommon_config.h \ 2 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 3 | ../xstypes/xstypesconfig.h ../xstypes/pstdint.h \ 4 | ../xstypes/xsens_compat.h xsens_threadpool.h xsens_mutex.h \ 5 | ../xstypes/xsthread.h ../xstypes/xstime.h ../xstypes/xstimestamp.h \ 6 | ../xstypes/xsstring.h ../xstypes/xsarray.h ../xstypes/xstimeinfo.h \ 7 | ../xstypes/xstimestamp.h ../xstypes/xsexception.h \ 8 | ../xstypes/xsresultvalue.h threading.h 9 | xsens_threadpool.cpp: 10 | xscommon_config.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/xstypedefs.h: 13 | ../xstypes/xstypesconfig.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsens_compat.h: 16 | xsens_threadpool.h: 17 | xsens_mutex.h: 18 | ../xstypes/xsthread.h: 19 | ../xstypes/xstime.h: 20 | ../xstypes/xstimestamp.h: 21 | ../xstypes/xsstring.h: 22 | ../xstypes/xsarray.h: 23 | ../xstypes/xstimeinfo.h: 24 | ../xstypes/xstimestamp.h: 25 | ../xstypes/xsexception.h: 26 | ../xstypes/xsresultvalue.h: 27 | threading.h: 28 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/Makefile: -------------------------------------------------------------------------------- 1 | TARGET=libxscontroller.a 2 | CPP_FILES := $(wildcard *.cpp) 3 | C_FILES := $(wildcard *.c) 4 | OBJECTS := $(CPP_FILES:.cpp=.cpp.o) $(C_FILES:.c=.c.o) 5 | CFLAGS+= -fPIC -I../ -include xscontrollerconfig.h 6 | CXXFLAGS+= -std=c++11 -I../ -include xscontrollerconfig.h 7 | 8 | CXXFLAGS+=-DHAVE_JOURNALLER 9 | 10 | HAVE_LIBUSB?=0 11 | ifeq ($(HAVE_LIBUSB), 1) 12 | CFLAGS+=-DHAVE_LIBUSB 13 | CXXFLAGS+=-DHAVE_LIBUSB 14 | endif 15 | 16 | all: $(TARGET) 17 | 18 | -include $(FILES:.cpp=.dpp) 19 | 20 | %.cpp.o: %.cpp 21 | $(CXX) -c $(CXXFLAGS) $< -o $@ 22 | @$(CXX) -MM $(CXXFLAGS) $< > $*.dpp 23 | @mv -f $*.dpp $*.dpp.tmp 24 | @sed -e 's|.*:|$*.cpp.o:|' < $*.dpp.tmp > $*.dpp 25 | @sed -e 's/.*://' -e 's/\\$$//' < $*.dpp.tmp | fmt -1 | \ 26 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.dpp 27 | @rm -f $*.dpp.tmp 28 | 29 | -include $(FILES:.c=.d) 30 | 31 | %.c.o: %.c 32 | $(CC) -c $(CFLAGS) $< -o $@ 33 | @$(CC) -MM $(CFLAGS) $< > $*.d 34 | @mv -f $*.d $*.d.tmp 35 | @sed -e 's|.*:|$*.c.o:|' < $*.d.tmp > $*.d 36 | @sed -e 's/.*://' -e 's/\\$$//' < $*.d.tmp | fmt -1 | \ 37 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.d 38 | @rm -f $*.d.tmp 39 | 40 | $(TARGET): $(OBJECTS) 41 | ar rcs $@ $^ 42 | 43 | clean: 44 | -$(RM) $(TARGET) 45 | -$(RM) *.o *.d 46 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/broadcastdevice.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/broadcastdevice.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/callbackmanagerxda.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/callbackmanagerxda.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/callbackmanagerxda.dpp: -------------------------------------------------------------------------------- 1 | callbackmanagerxda.cpp.o: callbackmanagerxda.cpp xscontrollerconfig.h \ 2 | ../xscommon/journaller.h ../xscommon/journalloglevel.h \ 3 | ../xscommon/abstractadditionallogger.h ../xstypes/xsstring.h \ 4 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h ../xstypes/pstdint.h \ 5 | ../xstypes/xsarray.h callbackmanagerxda.h xscallback.h \ 6 | xscallbackplainc.h ../xstypes/pstdint.h ../xstypes/xsresultvalue.h \ 7 | ../xstypes/xsinforequest.h xsdevicestate.h xscontrollerconfig.h \ 8 | ../xstypes/xsarray.h xsconnectivitystate.h xsprotocoltype.h \ 9 | ../xscommon/xsens_mutex.h ../xstypes/xsthread.h ../xstypes/xstime.h \ 10 | ../xstypes/xstimestamp.h ../xstypes/xsstring.h ../xstypes/xstimeinfo.h \ 11 | ../xstypes/xstimestamp.h 12 | callbackmanagerxda.cpp: 13 | xscontrollerconfig.h: 14 | ../xscommon/journaller.h: 15 | ../xscommon/journalloglevel.h: 16 | ../xscommon/abstractadditionallogger.h: 17 | ../xstypes/xsstring.h: 18 | ../xstypes/xstypesconfig.h: 19 | ../xstypes/xstypedefs.h: 20 | ../xstypes/pstdint.h: 21 | ../xstypes/xsarray.h: 22 | callbackmanagerxda.h: 23 | xscallback.h: 24 | xscallbackplainc.h: 25 | ../xstypes/pstdint.h: 26 | ../xstypes/xsresultvalue.h: 27 | ../xstypes/xsinforequest.h: 28 | xsdevicestate.h: 29 | xscontrollerconfig.h: 30 | ../xstypes/xsarray.h: 31 | xsconnectivitystate.h: 32 | xsprotocoltype.h: 33 | ../xscommon/xsens_mutex.h: 34 | ../xstypes/xsthread.h: 35 | ../xstypes/xstime.h: 36 | ../xstypes/xstimestamp.h: 37 | ../xstypes/xsstring.h: 38 | ../xstypes/xstimeinfo.h: 39 | ../xstypes/xstimestamp.h: 40 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/communicator.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/communicator.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/communicatorfactory.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/communicatorfactory.cpp.o 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../xstypes/xsinforequest.h xsdevicestate.h xscontrollerconfig.h \ 8 | ../xstypes/xsarray.h xsconnectivitystate.h xsprotocoltype.h 9 | datalogger.cpp: 10 | xscontrollerconfig.h: 11 | ../xscommon/journaller.h: 12 | ../xscommon/journalloglevel.h: 13 | ../xscommon/abstractadditionallogger.h: 14 | ../xstypes/xsstring.h: 15 | ../xstypes/xstypesconfig.h: 16 | ../xstypes/xstypedefs.h: 17 | ../xstypes/pstdint.h: 18 | ../xstypes/xsarray.h: 19 | datalogger.h: 20 | callbackmanagerxda.h: 21 | xscallback.h: 22 | xscallbackplainc.h: 23 | ../xstypes/pstdint.h: 24 | ../xstypes/xsresultvalue.h: 25 | ../xstypes/xsinforequest.h: 26 | xsdevicestate.h: 27 | xscontrollerconfig.h: 28 | ../xstypes/xsarray.h: 29 | xsconnectivitystate.h: 30 | xsprotocoltype.h: 31 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/datapacketcache.cpp.o: -------------------------------------------------------------------------------- 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5 | ../xstypes/xsarray.h dataparser.h ../xstypes/xsresultvalue.h \ 6 | ../xscommon/threading.h ../xscommon/xsens_mutex.h ../xstypes/xsthread.h \ 7 | ../xstypes/xstime.h ../xstypes/xstimestamp.h ../xstypes/xsstring.h \ 8 | ../xstypes/xstimeinfo.h ../xstypes/xstimestamp.h \ 9 | ../xstypes/xsbytearray.h xscontrollerconfig.h ../xstypes/xsmessage.h \ 10 | ../xstypes/xsbytearray.h ../xstypes/xsdataidentifier.h \ 11 | ../xstypes/xsdataidentifiervalue.h ../xstypes/xsxbusmessageid.h \ 12 | ../xstypes/xsresultvalue.h ../xstypes/xsbusid.h 13 | dataparser.cpp: 14 | xscontrollerconfig.h: 15 | ../xscommon/journaller.h: 16 | ../xscommon/journalloglevel.h: 17 | ../xscommon/abstractadditionallogger.h: 18 | ../xstypes/xsstring.h: 19 | ../xstypes/xstypesconfig.h: 20 | ../xstypes/xstypedefs.h: 21 | ../xstypes/pstdint.h: 22 | ../xstypes/xsarray.h: 23 | dataparser.h: 24 | ../xstypes/xsresultvalue.h: 25 | ../xscommon/threading.h: 26 | ../xscommon/xsens_mutex.h: 27 | ../xstypes/xsthread.h: 28 | 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| xscontrollerconfig.h ../xscommon/journaller.h \ 3 | ../xscommon/journalloglevel.h ../xscommon/abstractadditionallogger.h \ 4 | ../xstypes/xsstring.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 5 | ../xstypes/pstdint.h ../xstypes/xsarray.h packeterrorrateestimator.h \ 6 | ../xscommon/threading.h ../xscommon/xsens_mutex.h ../xstypes/xsthread.h \ 7 | ../xstypes/xstime.h ../xstypes/xstimestamp.h ../xstypes/xsstring.h \ 8 | ../xstypes/xstimeinfo.h ../xstypes/xstimestamp.h \ 9 | ../xscommon/xsens_mutex.h xscontrollerconfig.h 10 | packeterrorrateestimator.cpp: 11 | xscontrollerconfig.h: 12 | ../xscommon/journaller.h: 13 | ../xscommon/journalloglevel.h: 14 | ../xscommon/abstractadditionallogger.h: 15 | ../xstypes/xsstring.h: 16 | ../xstypes/xstypesconfig.h: 17 | ../xstypes/xstypedefs.h: 18 | ../xstypes/pstdint.h: 19 | ../xstypes/xsarray.h: 20 | packeterrorrateestimator.h: 21 | ../xscommon/threading.h: 22 | ../xscommon/xsens_mutex.h: 23 | ../xstypes/xsthread.h: 24 | 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supportedsyncsettings.cpp.o: supportedsyncsettings.cpp xscontrollerconfig.h \ 2 | ../xscommon/journaller.h ../xscommon/journalloglevel.h \ 3 | ../xscommon/abstractadditionallogger.h ../xstypes/xsstring.h \ 4 | ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h ../xstypes/pstdint.h \ 5 | ../xstypes/xsarray.h supportedsyncsettings.h ../xstypes/xsdeviceid.h \ 6 | ../xstypes/xsstring.h ../xstypes/xshandid.h synclinemk4.h \ 7 | ../xstypes/xssyncline.h synclinegmt.h ../xstypes/xssyncsettingarray.h \ 8 | ../xstypes/xssyncsetting.h ../xstypes/xssyncline.h \ 9 | ../xstypes/xssyncfunction.h ../xstypes/xssyncpolarity.h 10 | supportedsyncsettings.cpp: 11 | xscontrollerconfig.h: 12 | ../xscommon/journaller.h: 13 | ../xscommon/journalloglevel.h: 14 | ../xscommon/abstractadditionallogger.h: 15 | ../xstypes/xsstring.h: 16 | ../xstypes/xstypesconfig.h: 17 | ../xstypes/xstypedefs.h: 18 | ../xstypes/pstdint.h: 19 | ../xstypes/xsarray.h: 20 | supportedsyncsettings.h: 21 | ../xstypes/xsdeviceid.h: 22 | 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xsconnectivitystate.h ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h \ 3 | ../xstypes/xstypedefs.h ../xstypes/pstdint.h 4 | xsconnectivitystate.c: 5 | xscontrollerconfig.h: 6 | xsconnectivitystate.h: 7 | ../xstypes/xstypedefs.h: 8 | ../xstypes/xstypesconfig.h: 9 | ../xstypes/xstypedefs.h: 10 | ../xstypes/pstdint.h: 11 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xscontrol_def.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xscontrol_def.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdef.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsdef.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdef.dpp: -------------------------------------------------------------------------------- 1 | xsdef.cpp.o: xsdef.cpp xscontrollerconfig.h ../xscommon/journaller.h \ 2 | ../xscommon/journalloglevel.h ../xscommon/abstractadditionallogger.h \ 3 | ../xstypes/xsstring.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 4 | ../xstypes/pstdint.h ../xstypes/xsarray.h xsdef.h xscontrollerconfig.h 5 | xsdef.cpp: 6 | xscontrollerconfig.h: 7 | ../xscommon/journaller.h: 8 | ../xscommon/journalloglevel.h: 9 | ../xscommon/abstractadditionallogger.h: 10 | ../xstypes/xsstring.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/xstypedefs.h: 13 | ../xstypes/pstdint.h: 14 | ../xstypes/xsarray.h: 15 | xsdef.h: 16 | xscontrollerconfig.h: 17 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdevice_def.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsdevice_def.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceconfiguration.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceconfiguration.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceconfiguration.d: -------------------------------------------------------------------------------- 1 | xsdeviceconfiguration.c.o: xsdeviceconfiguration.c xscontrollerconfig.h \ 2 | xsdeviceconfiguration.h xscontrollerconfig.h ../xstypes/pstdint.h \ 3 | ../xstypes/xsbusid.h ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h \ 4 | ../xstypes/xstypedefs.h ../xstypes/pstdint.h ../xstypes/xsmessage.h \ 5 | ../xstypes/xsbytearray.h ../xstypes/xsarray.h \ 6 | ../xstypes/xsdataidentifier.h ../xstypes/xsdataidentifiervalue.h \ 7 | ../xstypes/xsxbusmessageid.h ../xstypes/xsstring.h \ 8 | ../xstypes/xsresultvalue.h ../xstypes/xsbusid.h ../xstypes/xsdeviceid.h \ 9 | ../xstypes/xshandid.h xsdef.h 10 | xsdeviceconfiguration.c: 11 | xscontrollerconfig.h: 12 | xsdeviceconfiguration.h: 13 | xscontrollerconfig.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsbusid.h: 16 | ../xstypes/xstypedefs.h: 17 | ../xstypes/xstypesconfig.h: 18 | ../xstypes/xstypedefs.h: 19 | ../xstypes/pstdint.h: 20 | ../xstypes/xsmessage.h: 21 | ../xstypes/xsbytearray.h: 22 | ../xstypes/xsarray.h: 23 | ../xstypes/xsdataidentifier.h: 24 | ../xstypes/xsdataidentifiervalue.h: 25 | ../xstypes/xsxbusmessageid.h: 26 | ../xstypes/xsstring.h: 27 | ../xstypes/xsresultvalue.h: 28 | ../xstypes/xsbusid.h: 29 | ../xstypes/xsdeviceid.h: 30 | ../xstypes/xshandid.h: 31 | xsdef.h: 32 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceptrarray.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceptrarray.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdeviceptrarray.d: -------------------------------------------------------------------------------- 1 | xsdeviceptrarray.c.o: xsdeviceptrarray.c xscontrollerconfig.h \ 2 | xsdeviceptrarray.h xscontrollerconfig.h xsdeviceptr.h \ 3 | ../xstypes/xsarray.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 4 | ../xstypes/pstdint.h 5 | xsdeviceptrarray.c: 6 | xscontrollerconfig.h: 7 | xsdeviceptrarray.h: 8 | xscontrollerconfig.h: 9 | xsdeviceptr.h: 10 | ../xstypes/xsarray.h: 11 | ../xstypes/xstypesconfig.h: 12 | ../xstypes/xstypedefs.h: 13 | ../xstypes/pstdint.h: 14 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdevicestate.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsdevicestate.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsdevicestate.d: -------------------------------------------------------------------------------- 1 | xsdevicestate.c.o: xsdevicestate.c xscontrollerconfig.h xsdevicestate.h \ 2 | xscontrollerconfig.h ../xstypes/xsarray.h ../xstypes/xstypesconfig.h \ 3 | ../xstypes/xstypedefs.h ../xstypes/pstdint.h ../xstypes/xstypedefs.h 4 | xsdevicestate.c: 5 | xscontrollerconfig.h: 6 | xsdevicestate.h: 7 | xscontrollerconfig.h: 8 | ../xstypes/xsarray.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/xstypedefs.h: 11 | ../xstypes/pstdint.h: 12 | ../xstypes/xstypedefs.h: 13 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xslibusb.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xslibusb.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xslibusb.dpp: -------------------------------------------------------------------------------- 1 | xslibusb.cpp.o: xslibusb.cpp xscontrollerconfig.h ../xscommon/journaller.h \ 2 | ../xscommon/journalloglevel.h ../xscommon/abstractadditionallogger.h \ 3 | ../xstypes/xsstring.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 4 | ../xstypes/pstdint.h ../xstypes/xsarray.h xslibusb.h \ 5 | ../xstypes/xslibraryloader.h ../xstypes/xsstring.h 6 | xslibusb.cpp: 7 | xscontrollerconfig.h: 8 | ../xscommon/journaller.h: 9 | ../xscommon/journalloglevel.h: 10 | ../xscommon/abstractadditionallogger.h: 11 | ../xstypes/xsstring.h: 12 | ../xstypes/xstypesconfig.h: 13 | ../xstypes/xstypedefs.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsarray.h: 16 | xslibusb.h: 17 | ../xstypes/xslibraryloader.h: 18 | ../xstypes/xsstring.h: 19 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsrejectreason.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsrejectreason.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsrejectreason.d: -------------------------------------------------------------------------------- 1 | xsrejectreason.c.o: xsrejectreason.c xscontrollerconfig.h xsrejectreason.h \ 2 | xscontrollerconfig.h ../xstypes/xstypedefs.h ../xstypes/xstypesconfig.h \ 3 | ../xstypes/xstypedefs.h ../xstypes/pstdint.h 4 | xsrejectreason.c: 5 | xscontrollerconfig.h: 6 | xsrejectreason.h: 7 | xscontrollerconfig.h: 8 | ../xstypes/xstypedefs.h: 9 | ../xstypes/xstypesconfig.h: 10 | ../xstypes/xstypedefs.h: 11 | ../xstypes/pstdint.h: 12 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsscanner.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsscanner.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsscanner.dpp: -------------------------------------------------------------------------------- 1 | xsscanner.cpp.o: xsscanner.cpp xscontrollerconfig.h ../xscommon/journaller.h \ 2 | ../xscommon/journalloglevel.h ../xscommon/abstractadditionallogger.h \ 3 | ../xstypes/xsstring.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 4 | ../xstypes/pstdint.h ../xstypes/xsarray.h xsscanner.h \ 5 | xscontrollerconfig.h ../xstypes/xsbaud.h ../xstypes/xsbaudcode.h \ 6 | ../xstypes/xsbaudrate.h ../xstypes/xsportinfoarray.h \ 7 | ../xstypes/xsportinfo.h ../xstypes/xsdeviceid.h ../xstypes/xsstring.h \ 8 | ../xstypes/xshandid.h ../xstypes/xsbaud.h ../xstypes/xsintarray.h \ 9 | ../xstypes/xsstringarray.h xsusbhubinfo.h scanner.h \ 10 | ../xstypes/xsresultvalue.h ../xstypes/xsportinfo.h \ 11 | ../xstypes/xsbaudrate.h enumerateusbdevices.h 12 | xsscanner.cpp: 13 | xscontrollerconfig.h: 14 | ../xscommon/journaller.h: 15 | ../xscommon/journalloglevel.h: 16 | ../xscommon/abstractadditionallogger.h: 17 | ../xstypes/xsstring.h: 18 | ../xstypes/xstypesconfig.h: 19 | ../xstypes/xstypedefs.h: 20 | ../xstypes/pstdint.h: 21 | ../xstypes/xsarray.h: 22 | xsscanner.h: 23 | xscontrollerconfig.h: 24 | ../xstypes/xsbaud.h: 25 | ../xstypes/xsbaudcode.h: 26 | ../xstypes/xsbaudrate.h: 27 | ../xstypes/xsportinfoarray.h: 28 | ../xstypes/xsportinfo.h: 29 | ../xstypes/xsdeviceid.h: 30 | ../xstypes/xsstring.h: 31 | ../xstypes/xshandid.h: 32 | ../xstypes/xsbaud.h: 33 | ../xstypes/xsintarray.h: 34 | ../xstypes/xsstringarray.h: 35 | xsusbhubinfo.h: 36 | scanner.h: 37 | ../xstypes/xsresultvalue.h: 38 | ../xstypes/xsportinfo.h: 39 | ../xstypes/xsbaudrate.h: 40 | enumerateusbdevices.h: 41 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsusbhubinfo.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xsusbhubinfo.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xsusbhubinfo.d: -------------------------------------------------------------------------------- 1 | xsusbhubinfo.c.o: xsusbhubinfo.c xscontrollerconfig.h xsusbhubinfo.h \ 2 | xscontrollerconfig.h 3 | xsusbhubinfo.c: 4 | xscontrollerconfig.h: 5 | xsusbhubinfo.h: 6 | xscontrollerconfig.h: 7 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xswinusb.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xscontroller/xswinusb.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xscontroller/xswinusb.dpp: -------------------------------------------------------------------------------- 1 | xswinusb.cpp.o: xswinusb.cpp xscontrollerconfig.h ../xscommon/journaller.h \ 2 | ../xscommon/journalloglevel.h ../xscommon/abstractadditionallogger.h \ 3 | ../xstypes/xsstring.h ../xstypes/xstypesconfig.h ../xstypes/xstypedefs.h \ 4 | ../xstypes/pstdint.h ../xstypes/xsarray.h xswinusb.h \ 5 | xscontrollerconfig.h 6 | xswinusb.cpp: 7 | xscontrollerconfig.h: 8 | ../xscommon/journaller.h: 9 | ../xscommon/journalloglevel.h: 10 | ../xscommon/abstractadditionallogger.h: 11 | ../xstypes/xsstring.h: 12 | ../xstypes/xstypesconfig.h: 13 | ../xstypes/xstypedefs.h: 14 | ../xstypes/pstdint.h: 15 | ../xstypes/xsarray.h: 16 | xswinusb.h: 17 | xscontrollerconfig.h: 18 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/Makefile: -------------------------------------------------------------------------------- 1 | TARGET:=libxstypes.a 2 | EXCLUDE:=xstypesdynlib.c 3 | C_FILES := $(filter-out $(EXCLUDE), $(wildcard *.c)) 4 | CPP_FILES := $(wildcard *.cpp) 5 | OBJECTS := $(C_FILES:.c=.c.o) $(CPP_FILES:.cpp=.cpp.o) 6 | CFLAGS+= -fPIC -I$(shell dirname $$(pwd))/xspublic 7 | CXXFLAGS+= -std=c++11 -I$(shell dirname $$(pwd))/xspublic 8 | 9 | .PHONY: all xstypes 10 | all: xstypes 11 | xstypes: $(TARGET) 12 | 13 | -include $(FILES:.c=.d) 14 | 15 | %.c.o: %.c 16 | $(CC) -c $(CFLAGS) $< -o $@ 17 | @$(CC) -MM $(CFLAGS) $< > $*.d 18 | @mv -f $*.d $*.d.tmp 19 | @sed -e 's|.*:|$*.c.o:|' < $*.d.tmp > $*.d 20 | @sed -e 's/.*://' -e 's/\\$$//' < $*.d.tmp | fmt -1 | \ 21 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.d 22 | @rm -f $*.d.tmp 23 | 24 | -include $(FILES:.cpp=.dpp) 25 | 26 | %.cpp.o: %.cpp 27 | $(CXX) -c $(CXXFLAGS) $< -o $@ 28 | @$(CXX) -MM $(CXXFLAGS) $< > $*.dpp 29 | @mv -f $*.dpp $*.dpp.tmp 30 | @sed -e 's|.*:|$*.c.o:|' < $*.dpp.tmp > $*.dpp 31 | @sed -e 's/.*://' -e 's/\\$$//' < $*.dpp.tmp | fmt -1 | \ 32 | sed -e 's/^ *//' -e 's/$$/:/' >> $*.dpp 33 | @rm -f $*.dpp.tmp 34 | 35 | $(TARGET): $(OBJECTS) 36 | ar rcs $@ $^ 37 | 38 | clean: 39 | -$(RM) buildversion.h 40 | -$(RM) *.o *.d *.dpp 41 | -$(RM) $(TARGET) 42 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/datapacket_p.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/datapacket_p.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/datapacket_p.dpp: -------------------------------------------------------------------------------- 1 | datapacket_p.c.o: datapacket_p.cpp datapacket_p.h xsmessage.h \ 2 | xstypesconfig.h xstypedefs.h pstdint.h xsbytearray.h xsarray.h \ 3 | xsstring.h xsdataidentifier.h xsdataidentifiervalue.h xsxbusmessageid.h \ 4 | xsresultvalue.h xsbusid.h xsdeviceid.h xshandid.h xstimestamp.h \ 5 | xstimeinfo.h xsquaternion.h xsmath.h xsfloatmath.h xsmath2.h \ 6 | xsushortvector.h xsvector3.h xsvector.h xsscrdata.h \ 7 | xstriggerindicationdata.h xseuler.h xsmatrix3x3.h xsmatrix.h xsrange.h \ 8 | xsrawgnsspvtdata.h xsrawgnsssatinfo.h xsglovesnapshot.h xsglovedata.h \ 9 | xssnapshot.h 10 | datapacket_p.cpp: 11 | datapacket_p.h: 12 | xsmessage.h: 13 | xstypesconfig.h: 14 | xstypedefs.h: 15 | pstdint.h: 16 | xsbytearray.h: 17 | xsarray.h: 18 | xsstring.h: 19 | xsdataidentifier.h: 20 | xsdataidentifiervalue.h: 21 | xsxbusmessageid.h: 22 | xsresultvalue.h: 23 | xsbusid.h: 24 | xsdeviceid.h: 25 | xshandid.h: 26 | xstimestamp.h: 27 | xstimeinfo.h: 28 | xsquaternion.h: 29 | xsmath.h: 30 | xsfloatmath.h: 31 | xsmath2.h: 32 | xsushortvector.h: 33 | xsvector3.h: 34 | xsvector.h: 35 | xsscrdata.h: 36 | xstriggerindicationdata.h: 37 | xseuler.h: 38 | xsmatrix3x3.h: 39 | xsmatrix.h: 40 | xsrange.h: 41 | xsrawgnsspvtdata.h: 42 | xsrawgnsssatinfo.h: 43 | xsglovesnapshot.h: 44 | xsglovedata.h: 45 | xssnapshot.h: 46 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/libxstypes.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/libxstypes.a -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsarray.c.o: 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-------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsbaud.d: -------------------------------------------------------------------------------- 1 | xsbaud.c.o: xsbaud.c xsbaud.h xstypesconfig.h xstypedefs.h pstdint.h \ 2 | xsbaudcode.h xsbaudrate.h 3 | xsbaud.c: 4 | xsbaud.h: 5 | xstypesconfig.h: 6 | xstypedefs.h: 7 | pstdint.h: 8 | xsbaudcode.h: 9 | xsbaudrate.h: 10 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsbytearray.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xsbytearray.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsbytearray.d: -------------------------------------------------------------------------------- 1 | xsbytearray.c.o: xsbytearray.c xsbytearray.h xsarray.h xstypesconfig.h \ 2 | xstypedefs.h pstdint.h 3 | xsbytearray.c: 4 | xsbytearray.h: 5 | xsarray.h: 6 | xstypesconfig.h: 7 | xstypedefs.h: 8 | pstdint.h: 9 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscalibrateddata.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xscalibrateddata.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscalibrateddata.d: -------------------------------------------------------------------------------- 1 | xscalibrateddata.c.o: xscalibrateddata.c xscalibrateddata.h xstypesconfig.h \ 2 | xstypedefs.h pstdint.h xsvector3.h xsvector.h xsmath.h xsfloatmath.h 3 | xscalibrateddata.c: 4 | xscalibrateddata.h: 5 | xstypesconfig.h: 6 | xstypedefs.h: 7 | pstdint.h: 8 | xsvector3.h: 9 | xsvector.h: 10 | xsmath.h: 11 | xsfloatmath.h: 12 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfiguration.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfiguration.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfiguration.d: -------------------------------------------------------------------------------- 1 | xscanoutputconfiguration.c.o: xscanoutputconfiguration.c \ 2 | xscanoutputconfiguration.h xstypesconfig.h xstypedefs.h pstdint.h \ 3 | xscandataidentifier.h xscanframeformat.h 4 | xscanoutputconfiguration.c: 5 | xscanoutputconfiguration.h: 6 | xstypesconfig.h: 7 | xstypedefs.h: 8 | pstdint.h: 9 | xscandataidentifier.h: 10 | xscanframeformat.h: 11 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfigurationarray.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfigurationarray.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xscanoutputconfigurationarray.d: -------------------------------------------------------------------------------- 1 | xscanoutputconfigurationarray.c.o: xscanoutputconfigurationarray.c \ 2 | xscanoutputconfigurationarray.h xsarray.h xstypesconfig.h xstypedefs.h \ 3 | pstdint.h xscanoutputconfiguration.h xscandataidentifier.h \ 4 | xscanframeformat.h 5 | xscanoutputconfigurationarray.c: 6 | xscanoutputconfigurationarray.h: 7 | xsarray.h: 8 | xstypesconfig.h: 9 | xstypedefs.h: 10 | pstdint.h: 11 | xscanoutputconfiguration.h: 12 | xscandataidentifier.h: 13 | xscanframeformat.h: 14 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsdatapacket.cpp.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xsdatapacket.cpp.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsdatapacket.dpp: -------------------------------------------------------------------------------- 1 | xsdatapacket.c.o: xsdatapacket.cpp xsdatapacket.h xstypedefs.h \ 2 | xstypesconfig.h pstdint.h xsmessage.h xsbytearray.h xsarray.h xsstring.h \ 3 | xsdataidentifier.h xsdataidentifiervalue.h xsxbusmessageid.h \ 4 | xsresultvalue.h xsbusid.h xstimestamp.h xstimeinfo.h xsushortvector.h \ 5 | xsscrdata.h xscalibrateddata.h xsvector3.h xsvector.h xsmath.h \ 6 | xsfloatmath.h xsmath2.h xspressure.h xssdidata.h xsquaternion.h \ 7 | xsmatrix.h xseuler.h xsanalogindata.h xsrawgnsspvtdata.h \ 8 | xsrawgnsssatinfo.h xsdeviceid.h xshandid.h xsrange.h \ 9 | xstriggerindicationdata.h xssnapshot.h xsglovesnapshot.h xsglovedata.h \ 10 | datapacket_p.h xsmatrix3x3.h xsrssi.h 11 | xsdatapacket.cpp: 12 | xsdatapacket.h: 13 | xstypedefs.h: 14 | xstypesconfig.h: 15 | pstdint.h: 16 | xsmessage.h: 17 | xsbytearray.h: 18 | xsarray.h: 19 | xsstring.h: 20 | xsdataidentifier.h: 21 | xsdataidentifiervalue.h: 22 | xsxbusmessageid.h: 23 | xsresultvalue.h: 24 | xsbusid.h: 25 | xstimestamp.h: 26 | xstimeinfo.h: 27 | xsushortvector.h: 28 | xsscrdata.h: 29 | xscalibrateddata.h: 30 | xsvector3.h: 31 | xsvector.h: 32 | xsmath.h: 33 | xsfloatmath.h: 34 | xsmath2.h: 35 | xspressure.h: 36 | xssdidata.h: 37 | xsquaternion.h: 38 | 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xsdeviceid.h \ 3 | xsstring.h xshandid.h xsbaud.h xsbaudcode.h xsbaudrate.h 4 | xsportinfoarray.c: 5 | xsportinfoarray.h: 6 | xsarray.h: 7 | xstypesconfig.h: 8 | xstypedefs.h: 9 | pstdint.h: 10 | xsportinfo.h: 11 | xsdeviceid.h: 12 | xsstring.h: 13 | xshandid.h: 14 | xsbaud.h: 15 | xsbaudcode.h: 16 | xsbaudrate.h: 17 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsquaternion.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xsquaternion.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsquaternion.d: -------------------------------------------------------------------------------- 1 | xsquaternion.c.o: xsquaternion.c xsquaternion.h xsmath.h xstypesconfig.h \ 2 | xstypedefs.h pstdint.h 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| xssyncsettingarray.c: 5 | xssyncsettingarray.h: 6 | xsarray.h: 7 | xstypesconfig.h: 8 | xstypedefs.h: 9 | pstdint.h: 10 | xssyncsetting.h: 11 | xssyncline.h: 12 | xssyncfunction.h: 13 | xssyncpolarity.h: 14 | -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsthread.c.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xsthread.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsthread.d: -------------------------------------------------------------------------------- 1 | xsthread.c.o: xsthread.c xsthread.h xstime.h xstypesconfig.h xstypedefs.h \ 2 | pstdint.h xstimestamp.h 3 | xsthread.c: 4 | xsthread.h: 5 | xstime.h: 6 | xstypesconfig.h: 7 | xstypedefs.h: 8 | pstdint.h: 9 | xstimestamp.h: 10 | 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https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/lib/xspublic/xstypes/xsversion.c.o -------------------------------------------------------------------------------- /pp_xsens_imu/lib/xspublic/xstypes/xsversion.d: -------------------------------------------------------------------------------- 1 | xsversion.c.o: xsversion.c xsversion.h xstypesconfig.h xstypedefs.h \ 2 | pstdint.h xssimpleversion.h xsstring.h xsarray.h 3 | xsversion.c: 4 | xsversion.h: 5 | xstypesconfig.h: 6 | xstypedefs.h: 7 | pstdint.h: 8 | xssimpleversion.h: 9 | xsstring.h: 10 | xsarray.h: 11 | -------------------------------------------------------------------------------- /pp_xsens_imu/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | xsens_mti_driver 4 | 1.0.0 5 | ROS driver for Xsens MTi IMU sensors 6 | Xsens 7 | BSD 8 | 9 | catkin 10 | roscpp 11 | tf2 12 | tf2_ros 13 | std_msgs 14 | geometry_msgs 15 | sensor_msgs 16 | roscpp 17 | tf2 18 | tf2_ros 19 | std_msgs 20 | geometry_msgs 21 | sensor_msgs 22 | roscpp 23 | tf2 24 | tf2_ros 25 | std_msgs 26 | geometry_msgs 27 | sensor_msgs 28 | 29 | -------------------------------------------------------------------------------- /pp_xsens_imu/param/xsens_mti_node.yaml: -------------------------------------------------------------------------------- 1 | ## Device settings, provide one of the following: 2 | ## - device_id (most secure if you use multiple devices) 3 | ## - port + baudrate information 4 | ## - nothing: the driver scans for devices and selects the first found. 5 | # device_id: '077007EF' # uppercase hex string 6 | # port: '/dev/ttyUSB0' 7 | # baudrate: 921600 # non necessary for some devices 8 | 9 | ## Log file (optional), placed in ~/.ros/ otherwise use absolute path 10 | # log_file: log.mtb 11 | 12 | publisher_queue_size: 5 13 | 14 | # TF transform frame_id (default: imu_link), you may want to change it if you use multiple devices 15 | #frame_id: "imu_link" 16 | 17 | # Message publishers 18 | pub_imu: true 19 | pub_quaternion: false 20 | pub_mag: false 21 | pub_angular_velocity: false 22 | pub_acceleration: false 23 | pub_free_acceleration: false 24 | pub_dq: false 25 | pub_dv: false 26 | pub_sampletime: true 27 | pub_temperature: false 28 | pub_pressure: false 29 | pub_gnss: false 30 | pub_twist: false 31 | pub_transform: false 32 | pub_positionLLA: false 33 | pub_velocity: false 34 | 35 | 36 | ## Sensor standard deviation [x,y,z] (optional) 37 | ## This value is used to override the covariance matrix in sensor_msgs/Imu and 38 | ## sensor_msgs/MagneticField messages. 39 | # linear_acceleration_stddev: [0, 0, 0] # [m/s^2] 40 | # angular_velocity_stddev: [0, 0, 0] # [rad/s] 41 | # orientation_stddev: [0, 0, 0] # [rad] 42 | # magnetic_field_stddev: [0, 0, 0] # [Tesla] 43 | -------------------------------------------------------------------------------- /pp_xsens_imu/urdf/MTi_1.stl: 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10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /pp_xsens_imu/urdf/MTi_6xx.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mac137/ConSLAM/29b50082e8f9917d9ced7b98cffa3e40886a08b6/pp_xsens_imu/urdf/MTi_6xx.stl -------------------------------------------------------------------------------- /pp_xsens_imu/urdf/MTi_6xx.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /tools/constrained_RMSE/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### CMakeLists.txt --- 2 | ## 3 | 4 | project(constrained_RMSE) 5 | 6 | cmake_minimum_required(VERSION 3.2) 7 | 8 | set(CMAKE_CXX_STANDARD 14) 9 | 10 | find_package(CGAL REQUIRED) 11 | find_package(TBB REQUIRED tbb) 12 | 13 | 14 | ## ############################################################################# 15 | ## Sources 16 | ## ############################################################################# 17 | 18 | set(${PROJECT_NAME}_SOURCES main.cpp ) 19 | 20 | 21 | ## ############################################################################# 22 | ## 23 | ## ############################################################################# 24 | 25 | add_executable(${PROJECT_NAME} ${${PROJECT_NAME}_SOURCES}) 26 | 27 | 28 | 29 | 30 | if (WIN32) 31 | target_link_libraries(${PROJECT_NAME} PRIVATE ${TBB_IMPORTED_TARGETS} CGAL) 32 | endif (WIN32) 33 | 34 | if (UNIX) 35 | target_link_libraries(${PROJECT_NAME} PRIVATE ${TBB_IMPORTED_TARGETS} CGAL stdc++fs) 36 | endif (UNIX) 37 | 38 | ###################################################################### 39 | ### CMakeLists.txt ends here 40 | -------------------------------------------------------------------------------- /tools/pp2evo/README.md: -------------------------------------------------------------------------------- 1 | # General 2 | 3 | The script can convert PointPix poses into two file formats that EVO uses. These file formats are TUM and KITTI. 4 | 5 | To run the code type: 6 | 7 | ```python.exe .\pp2evo.py -w -t -k ``` 8 | 9 | 10 | The tool can output a TUM, a KITTI file, or both if necessary. 11 | 12 | 13 | # Using EVO 14 | 15 | For general information about Evo, please, see the official project web page: https://github.com/MichaelGrupp/evo 16 | 17 | ## Plotting trajectories 18 | 19 | To plot trajectories against a reference, it is sufficient to call: 20 | 21 | ```evo_traj tum 00_ORB.txt 00_SPTAM.txt --ref=00_gt.txt -p --plot_mode=xy``` 22 | 23 | in the above example, TUM file format is used (see the first argument). The KITTI file format is quite limited, and it should not be used. 24 | 25 | To compute Absolute Pose Error we can simply call 26 | 27 | ```evo_ape tum 00_gt.txt 00_ORB.txt -v --plot --plot_mode xy --save_results results/ORB.zip``` 28 | 29 | In this example, the automatic alignment of trajectories is switched off. 30 | 31 | Note that the zip file can be used for further plotting in using `evo_res`, e.g., 32 | 33 | ```evo_res results/*.zip -p --save_table results/table.csv``` 34 | 35 | 36 | ## Generating high-quality polts 37 | 38 | TODO.... 39 | --------------------------------------------------------------------------------