├── .catkin_workspace ├── LICENSE ├── README.md ├── build ├── .built_by ├── CATKIN_IGNORE ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.5.1 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── CMakeRuleHashes.txt │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── clean_test_results.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── cmake.check_cache │ ├── download_extra_data.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── doxygen.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ ├── feature_tests.bin │ ├── feature_tests.c │ ├── feature_tests.cxx │ ├── progress.marks │ ├── run_tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make │ └── tests.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ └── progress.make ├── CTestTestfile.cmake ├── Makefile ├── catkin │ └── catkin_generated │ │ └── version │ │ └── package.cmake ├── catkin_generated │ ├── env_cached.sh │ ├── generate_cached_setup.py │ ├── installspace │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh │ ├── order_packages.cmake │ ├── order_packages.py │ ├── setup_cached.sh │ └── stamps │ │ └── Project │ │ ├── _setup_util.py.stamp │ │ ├── interrogate_setup_dot_py.py.stamp │ │ ├── order_packages.cmake.em.stamp │ │ └── package.xml.stamp ├── catkin_make.cache ├── cmake_install.cmake ├── gtest │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── gtest.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── gtest_main.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ └── cmake_install.cmake ├── map │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── currentXY.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── currentXY.cpp.o │ │ ├── dummy.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── dummyNode.cpp.o │ │ ├── dummyXY.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── dummyCurrentXY.cpp.o │ │ ├── geometry_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── map.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── markPoints.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── markPoints.cpp.o │ │ ├── progress.marks │ │ ├── roscpp_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ └── waypoints.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ └── waypoints.cpp.o │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── catkin_generated │ │ ├── installspace │ │ │ ├── map.pc │ │ │ ├── mapConfig-version.cmake │ │ │ └── mapConfig.cmake │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ └── stamps │ │ │ └── map │ │ │ ├── package.xml.stamp │ │ │ └── pkg.pc.em.stamp │ └── cmake_install.cmake └── planner │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── getPath.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── getPath.cpp.o │ ├── planning.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ └── planning.cpp.o │ └── progress.marks │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── catkin_generated │ ├── installspace │ │ ├── planner.pc │ │ ├── plannerConfig-version.cmake │ │ └── plannerConfig.cmake │ ├── ordered_paths.cmake │ ├── package.cmake │ ├── pkg.develspace.context.pc.py │ ├── pkg.installspace.context.pc.py │ └── stamps │ │ └── planner │ │ ├── package.xml.stamp │ │ └── pkg.pc.em.stamp │ └── cmake_install.cmake ├── commands ├── devel ├── .built_by ├── .catkin ├── .rosinstall ├── _setup_util.py ├── env.sh ├── lib │ ├── map │ │ ├── currentXY │ │ ├── dummy │ │ ├── dummyXY │ │ ├── map │ │ ├── markPoints │ │ └── waypoints │ ├── pkgconfig │ │ ├── map.pc │ │ └── planner.pc │ └── planner │ │ ├── getPath │ │ └── planning ├── setup.bash ├── setup.sh ├── setup.zsh └── share │ ├── map │ └── cmake │ │ ├── mapConfig-version.cmake │ │ └── mapConfig.cmake │ └── planner │ └── cmake │ ├── plannerConfig-version.cmake │ └── plannerConfig.cmake ├── longlatToDegrees.py ├── src ├── CMakeLists.txt ├── map │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── currentXY.cpp │ │ ├── dummyCurrentXY.cpp │ │ ├── dummyNode.cpp │ │ ├── markPoints.cpp │ │ ├── obstacles.cpp │ │ └── waypoints.cpp └── planner │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── getPath.cpp │ └── planning.cpp └── testing.sh /.catkin_workspace: -------------------------------------------------------------------------------- 1 | # This file currently only serves to mark the location of a catkin workspace for tool integration 2 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Sarthak Bhagat 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Obstacle Avoidance Simulator for Unmanned Aerial Vehicles (UAVs) 2 | 3 | [![Hits](https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fgithub.com%2Fsarthak268%2FObstacle_Avoidance_for_UAV&count_bg=%2379C83D&title_bg=%23555555&icon=&icon_color=%23E7E7E7&title=hits&edge_flat=false)](https://hits.seeyoufarm.com) 4 | 5 | This is a ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles, using a path planning algorithm. The testing is done through a node which plots the waypoints, obstacles and the current pose of UAV on RVIZ for examining the accuracy of the algorithm. 6 | 7 | # Requirements : 8 | 1. ROS 9 | 2. ardupilot 10 | 3. mavros 11 | 4. rviz 12 | 5. Mission Planner (preferred) or apm planner 13 | 14 | # Commands : 15 | 16 | ## Testing existing Algorithms : 17 | ``` 18 | 1. roscore 19 | 2. /(path to sim_vehicle)/sim_vehicle.py --console --map --aircraft test 20 | 3. roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@ 21 | 4. rosrun map currentXY 22 | 5. rosrun map markPoints 23 | 6. rviz 24 | (write the frame id i.e. /my_frame in the Fixed Frame) 25 | 7. rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10 26 | 8. rosrun map waypoints 27 | ``` 28 | 29 | # Citing 30 | 31 | ``` 32 | @misc{bhagat-obstacle-simulator-ros, 33 | author = {Sarthak Bhagat}, 34 | title = {sarthak268/Obstacle_Avoidance_for_UAV}, 35 | url = {https://github.com/sarthak268/Obstacle_Avoidance_for_UAV}, 36 | year = {2018} 37 | } 38 | ``` 39 | You may also want to look at the following paper (accepted at ICUAS'20). 40 | ``` 41 | @article{Bhagat2020UAVTT, 42 | title={UAV Target Tracking in Urban Environments Using Deep Reinforcement Learning}, 43 | author={Sarthak Bhagat and P. B. Sujit}, 44 | journal={ArXiv}, 45 | year={2020}, 46 | volume={abs/2007.10934} 47 | } 48 | ``` 49 | 50 | For any queries, please contact me via mail on sarthak16189@iiitd.ac.in 51 | 52 | # Support 53 | Like my work? Buy me a coffee: https://www.buymeacoffee.com/sarthakbhagat 54 | 55 | 56 | -------------------------------------------------------------------------------- /build/.built_by: -------------------------------------------------------------------------------- 1 | catkin_make -------------------------------------------------------------------------------- /build/CATKIN_IGNORE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/build/CATKIN_IGNORE -------------------------------------------------------------------------------- /build/CMakeFiles/3.5.1/CMakeCCompiler.cmake: -------------------------------------------------------------------------------- 1 | set(CMAKE_C_COMPILER "/usr/lib/ccache/cc") 2 | set(CMAKE_C_COMPILER_ARG1 "") 3 | set(CMAKE_C_COMPILER_ID "GNU") 4 | set(CMAKE_C_COMPILER_VERSION "5.4.0") 5 | set(CMAKE_C_COMPILER_WRAPPER "") 6 | set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11") 7 | set(CMAKE_C_COMPILE_FEATURES "c_function_prototypes;c_restrict;c_variadic_macros;c_static_assert") 8 | set(CMAKE_C90_COMPILE_FEATURES "c_function_prototypes") 9 | set(CMAKE_C99_COMPILE_FEATURES "c_restrict;c_variadic_macros") 10 | set(CMAKE_C11_COMPILE_FEATURES "c_static_assert") 11 | 12 | set(CMAKE_C_PLATFORM_ID "Linux") 13 | set(CMAKE_C_SIMULATE_ID "") 14 | set(CMAKE_C_SIMULATE_VERSION "") 15 | 16 | set(CMAKE_AR "/usr/bin/ar") 17 | set(CMAKE_RANLIB "/usr/bin/ranlib") 18 | set(CMAKE_LINKER "/usr/bin/ld") 19 | set(CMAKE_COMPILER_IS_GNUCC 1) 20 | set(CMAKE_C_COMPILER_LOADED 1) 21 | set(CMAKE_C_COMPILER_WORKS TRUE) 22 | set(CMAKE_C_ABI_COMPILED TRUE) 23 | set(CMAKE_COMPILER_IS_MINGW ) 24 | set(CMAKE_COMPILER_IS_CYGWIN ) 25 | if(CMAKE_COMPILER_IS_CYGWIN) 26 | set(CYGWIN 1) 27 | set(UNIX 1) 28 | endif() 29 | 30 | set(CMAKE_C_COMPILER_ENV_VAR "CC") 31 | 32 | if(CMAKE_COMPILER_IS_MINGW) 33 | set(MINGW 1) 34 | endif() 35 | set(CMAKE_C_COMPILER_ID_RUN 1) 36 | set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m) 37 | set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC) 38 | set(CMAKE_C_LINKER_PREFERENCE 10) 39 | 40 | # 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generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /build/catkin_generated/generate_cached_setup.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | from __future__ import print_function 3 | import argparse 4 | import os 5 | import stat 6 | import sys 7 | 8 | # find the import for catkin's python package - either from source space or from an installed underlay 9 | if os.path.exists(os.path.join('/opt/ros/kinetic/share/catkin/cmake', 'catkinConfig.cmake.in')): 10 | sys.path.insert(0, os.path.join('/opt/ros/kinetic/share/catkin/cmake', '..', 'python')) 11 | try: 12 | from catkin.environment_cache import generate_environment_script 13 | except ImportError: 14 | # search for catkin package in all workspaces and prepend to path 15 | for workspace in "/home/sarthak/Desktop/Aurora/aurora_ws/devel;/opt/ros/kinetic".split(';'): 16 | python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') 17 | if os.path.isdir(os.path.join(python_path, 'catkin')): 18 | sys.path.insert(0, python_path) 19 | break 20 | from catkin.environment_cache import generate_environment_script 21 | 22 | code = generate_environment_script('/home/sarthak/Desktop/Aurora/aurora_ws/devel/env.sh') 23 | 24 | output_filename = '/home/sarthak/Desktop/Aurora/aurora_ws/build/catkin_generated/setup_cached.sh' 25 | with open(output_filename, 'w') as f: 26 | #print('Generate script for cached setup "%s"' % output_filename) 27 | f.write('\n'.join(code)) 28 | 29 | mode = os.stat(output_filename).st_mode 30 | os.chmod(output_filename, mode | stat.S_IXUSR) 31 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/sarthak/Desktop/Aurora/aurora_ws/install/setup.sh 3 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /build/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /build/catkin_generated/order_packages.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/em/order_packages.cmake.em 2 | 3 | set(CATKIN_ORDERED_PACKAGES "") 4 | set(CATKIN_ORDERED_PACKAGE_PATHS "") 5 | set(CATKIN_ORDERED_PACKAGES_IS_META "") 6 | set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") 7 | list(APPEND CATKIN_ORDERED_PACKAGES "map") 8 | list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "map") 9 | list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") 10 | list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") 11 | list(APPEND CATKIN_ORDERED_PACKAGES "planner") 12 | list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "planner") 13 | list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") 14 | list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") 15 | 16 | set(CATKIN_MESSAGE_GENERATORS ) 17 | 18 | set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") 19 | -------------------------------------------------------------------------------- /build/catkin_generated/order_packages.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/order_packages.context.py.in 2 | source_root_dir = "/home/sarthak/Desktop/Aurora/aurora_ws/src" 3 | whitelisted_packages = "".split(';') if "" != "" else [] 4 | blacklisted_packages = "".split(';') if "" != "" else [] 5 | underlay_workspaces = "/home/sarthak/Desktop/Aurora/aurora_ws/devel;/opt/ros/kinetic".split(';') if "/home/sarthak/Desktop/Aurora/aurora_ws/devel;/opt/ros/kinetic" != "" else [] 6 | -------------------------------------------------------------------------------- /build/catkin_generated/setup_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/python/catkin/environment_cache.py 3 | 4 | # based on a snapshot of the environment before and after calling the setup script 5 | # it emulates the modifications of the setup script without recurring computations 6 | 7 | # new environment variables 8 | 9 | # modified environment variables 10 | export PWD="/home/sarthak/Desktop/Aurora/aurora_ws/build" -------------------------------------------------------------------------------- /build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/em/order_packages.cmake.em 2 | @{ 3 | import os 4 | try: 5 | from catkin_pkg.cmake import get_metapackage_cmake_template_path 6 | except ImportError as e: 7 | raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 8 | try: 9 | from catkin_pkg.topological_order import topological_order 10 | except ImportError as e: 11 | raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 12 | try: 13 | from catkin_pkg.package import InvalidPackage 14 | except ImportError as e: 15 | raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) 16 | # vars defined in order_packages.context.py.in 17 | try: 18 | ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) 19 | except InvalidPackage as e: 20 | print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) 21 | ordered_packages = [] 22 | fatal_error = False 23 | }@ 24 | 25 | set(CATKIN_ORDERED_PACKAGES "") 26 | set(CATKIN_ORDERED_PACKAGE_PATHS "") 27 | set(CATKIN_ORDERED_PACKAGES_IS_META "") 28 | set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") 29 | @[for path, package in ordered_packages]@ 30 | @[if path is None]@ 31 | message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") 32 | @{ 33 | fatal_error = True 34 | }@ 35 | @[elif package.name != 'catkin']@ 36 | list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") 37 | list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") 38 | list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") 39 | list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')") 40 | @{ 41 | deprecated = [e for e in package.exports if e.tagname == 'deprecated'] 42 | }@ 43 | @[if deprecated]@ 44 | message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") 45 | @[end if]@ 46 | @[end if]@ 47 | @[end for]@ 48 | 49 | @[if not fatal_error]@ 50 | @{ 51 | message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] 52 | }@ 53 | set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) 54 | @[end if]@ 55 | 56 | set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") 57 | -------------------------------------------------------------------------------- /build/catkin_generated/stamps/Project/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | catkin 4 | 0.7.8 5 | Low-level build system macros and infrastructure for ROS. 6 | Dirk Thomas 7 | BSD 8 | 9 | http://www.ros.org/wiki/catkin 10 | https://github.com/ros/catkin/issues 11 | https://github.com/ros/catkin 12 | 13 | Troy Straszheim 14 | Morten Kjaergaard 15 | Brian Gerkey 16 | Dirk Thomas 17 | 18 | cmake 19 | cmake 20 | 21 | python-argparse 22 | python-catkin-pkg 23 | 24 | python-empy 25 | 26 | gtest 27 | python-empy 28 | python-nose 29 | 30 | python-mock 31 | python-nose 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /build/catkin_make.cache: -------------------------------------------------------------------------------- 1 | map:planner 2 | -DCATKIN_DEVEL_PREFIX=/home/sarthak/Desktop/Aurora/aurora_ws/devel -DCMAKE_INSTALL_PREFIX=/home/sarthak/Desktop/Aurora/aurora_ws/install -G Unix Makefiles -------------------------------------------------------------------------------- /build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake: -------------------------------------------------------------------------------- 1 | # 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generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /build/planner/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/kinetic/lib") -------------------------------------------------------------------------------- /build/planner/catkin_generated/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "planner") 2 | set(planner_VERSION "0.0.0") 3 | set(planner_MAINTAINER "sarthak ") 4 | set(planner_PACKAGE_FORMAT "2") 5 | set(planner_BUILD_DEPENDS "geometry_msgs" "rospp" "rospy" "std_msgs") 6 | set(planner_BUILD_EXPORT_DEPENDS "geometry_msgs" "rospp" "rospy" "std_msgs") 7 | set(planner_BUILDTOOL_DEPENDS "catkin") 8 | set(planner_BUILDTOOL_EXPORT_DEPENDS ) 9 | set(planner_EXEC_DEPENDS "geometry_msgs" "rospp" "rospy" "std_msgs") 10 | set(planner_RUN_DEPENDS "geometry_msgs" "rospp" "rospy" "std_msgs") 11 | set(planner_TEST_DEPENDS ) 12 | set(planner_DOC_DEPENDS ) 13 | set(planner_URL_WEBSITE "") 14 | set(planner_URL_BUGTRACKER "") 15 | set(planner_URL_REPOSITORY "") 16 | set(planner_DEPRECATED "") -------------------------------------------------------------------------------- /build/planner/catkin_generated/pkg.develspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "planner" 7 | PROJECT_SPACE_DIR = "/home/sarthak/Desktop/Aurora/aurora_ws/devel" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /build/planner/catkin_generated/pkg.installspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "planner" 7 | PROJECT_SPACE_DIR = "/home/sarthak/Desktop/Aurora/aurora_ws/install" 8 | PROJECT_VERSION = "0.0.0" 9 | -------------------------------------------------------------------------------- /build/planner/catkin_generated/stamps/planner/pkg.pc.em.stamp: -------------------------------------------------------------------------------- 1 | prefix=@PROJECT_SPACE_DIR 2 | 3 | Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) 4 | Description: Description of @PROJECT_NAME 5 | Version: @PROJECT_VERSION 6 | Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) 7 | Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) 8 | Requires: @(PROJECT_CATKIN_DEPENDS) 9 | -------------------------------------------------------------------------------- /build/planner/cmake_install.cmake: -------------------------------------------------------------------------------- 1 | # Install script for directory: /home/sarthak/Desktop/Aurora/aurora_ws/src/planner 2 | 3 | # Set the install prefix 4 | if(NOT DEFINED CMAKE_INSTALL_PREFIX) 5 | set(CMAKE_INSTALL_PREFIX "/home/sarthak/Desktop/Aurora/aurora_ws/install") 6 | endif() 7 | string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") 8 | 9 | # Set the install configuration name. 10 | if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 11 | if(BUILD_TYPE) 12 | string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | else() 15 | set(CMAKE_INSTALL_CONFIG_NAME "") 16 | endif() 17 | message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | endif() 19 | 20 | # Set the component getting installed. 21 | if(NOT CMAKE_INSTALL_COMPONENT) 22 | if(COMPONENT) 23 | message(STATUS "Install component: \"${COMPONENT}\"") 24 | set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | else() 26 | set(CMAKE_INSTALL_COMPONENT) 27 | endif() 28 | endif() 29 | 30 | # Install shared libraries without execute permission? 31 | if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | set(CMAKE_INSTALL_SO_NO_EXE "1") 33 | endif() 34 | 35 | if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") 36 | file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/sarthak/Desktop/Aurora/aurora_ws/build/planner/catkin_generated/installspace/planner.pc") 37 | endif() 38 | 39 | if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") 40 | file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/planner/cmake" TYPE FILE FILES 41 | "/home/sarthak/Desktop/Aurora/aurora_ws/build/planner/catkin_generated/installspace/plannerConfig.cmake" 42 | "/home/sarthak/Desktop/Aurora/aurora_ws/build/planner/catkin_generated/installspace/plannerConfig-version.cmake" 43 | ) 44 | endif() 45 | 46 | if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") 47 | file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/planner" TYPE FILE FILES "/home/sarthak/Desktop/Aurora/aurora_ws/src/planner/package.xml") 48 | endif() 49 | 50 | -------------------------------------------------------------------------------- /commands: -------------------------------------------------------------------------------- 1 | 1) roscore 2 | 3 | 2) /home/sarthak/Desktop/ardupilot/Tools/autotest/sim_vehicle.py --console --map --aircraft test 4 | 5 | 3) roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@ 6 | 7 | 4) rosrun map currentXY 8 | 9 | 5) rosrun map markPoints 10 | 11 | 6) rviz 12 | (write the frame id i.e. /my_frame in the Fixed Frame) 13 | 14 | 7) rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10 15 | 16 | 8) rosrun map waypoints 17 | 18 | 19 | 20 | EDITS: 21 | 22 | 1) NECESSARY : 23 | increase map size 24 | path planning code --- mandeep bhaiya 25 | 26 | 2) OPTIONAL : 27 | introduce height 28 | 29 | 30 | SITL : 31 | 32 | cd ardupilot/ArduPlane 33 | wp load ../Tools/autotest/ArduPlane-Missions/CMAC-toff-loop.txt 34 | arm throttle 35 | mode auto 36 | 37 | WAYPOINTS 38 | 39 | /-35.3612090557,149.162058657 40 | /-35.3611896113,149.164030884 41 | /-35.3654257308,149.164464218 42 | /-35.3641951728,149.162344769 43 | /-35.35946183,149.162639214 44 | /-35.359539608,149.161736435 45 | /-35.3645035068,149.164350329 46 | 47 | SOFTWARES: 48 | ugcs,neptus,vrep -------------------------------------------------------------------------------- /devel/.built_by: -------------------------------------------------------------------------------- 1 | catkin_make -------------------------------------------------------------------------------- /devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/sarthak/Desktop/Aurora/aurora_ws/src -------------------------------------------------------------------------------- /devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/sarthak/Desktop/Aurora/aurora_ws/devel/setup.sh 3 | -------------------------------------------------------------------------------- /devel/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /devel/lib/map/currentXY: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/currentXY -------------------------------------------------------------------------------- /devel/lib/map/dummy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/dummy -------------------------------------------------------------------------------- /devel/lib/map/dummyXY: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/dummyXY -------------------------------------------------------------------------------- /devel/lib/map/map: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/map -------------------------------------------------------------------------------- /devel/lib/map/markPoints: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/markPoints -------------------------------------------------------------------------------- /devel/lib/map/waypoints: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/map/waypoints -------------------------------------------------------------------------------- /devel/lib/pkgconfig/map.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/sarthak/Desktop/Aurora/aurora_ws/devel 2 | 3 | Name: map 4 | Description: Description of map 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L/home/sarthak/Desktop/Aurora/aurora_ws/devel/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /devel/lib/pkgconfig/planner.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/sarthak/Desktop/Aurora/aurora_ws/devel 2 | 3 | Name: planner 4 | Description: Description of planner 5 | Version: 0.0.0 6 | Cflags: 7 | Libs: -L/home/sarthak/Desktop/Aurora/aurora_ws/devel/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /devel/lib/planner/getPath: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/planner/getPath -------------------------------------------------------------------------------- /devel/lib/planner/planning: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sarthak268/Obstacle_Avoidance_for_UAV/58c74ec5bcf76513b7106691880085082a70189a/devel/lib/planner/planning -------------------------------------------------------------------------------- /devel/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /devel/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /devel/share/map/cmake/mapConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /devel/share/planner/cmake/plannerConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "0.0.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /longlatToDegrees.py: -------------------------------------------------------------------------------- 1 | def convert(deg,min,sec): 2 | mindeg = 0.0166667*min 3 | secdeg = 0.00027777833333*sec 4 | deg = mindeg + secdeg + deg 5 | print (deg) 6 | 7 | deg = input ("Enter degrees : ") 8 | mindeg = input("Enter Minutes of Arc : ") 9 | secdeg = input("Enter Seconds of Arc : ") 10 | 11 | convert(deg,mindeg,secdeg) 12 | 13 | -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /src/map/src/currentXY.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | using namespace ros; 11 | using namespace std; 12 | 13 | geometry_msgs::Point current; 14 | double pi = 3.14; 15 | bool first_time = true; 16 | double reference_long_rad; 17 | double reference_lat_rad; 18 | 19 | double toRad(double deg) 20 | { 21 | return (deg*pi)/180; 22 | } 23 | 24 | double toDeg(double rad) 25 | { 26 | return (rad*180)/pi; 27 | } 28 | 29 | geometry_msgs::Point toXY(double longitude, double latitude) 30 | { 31 | double x = (longitude - reference_long_rad) * (40075000.0 / (2.0 * pi)) * cos(reference_lat_rad); 32 | double y = (latitude - reference_lat_rad) * (40007000.0 / (2.0 * pi)); 33 | geometry_msgs::Point p; 34 | p.x = x; 35 | p.y = y; 36 | return p; 37 | } 38 | 39 | void global_position_callback(const sensor_msgs::NavSatFix::ConstPtr& globalpos) // altitude // 40 | { 41 | double lat = globalpos->latitude; 42 | double longi = globalpos->longitude; 43 | if (first_time) 44 | { 45 | reference_lat_rad = toRad(lat); 46 | reference_long_rad = toRad(longi); 47 | first_time = false; 48 | } 49 | else 50 | { 51 | double long_rad = toRad(longi); 52 | double lat_rad = toRad(lat); 53 | current = toXY(long_rad,lat_rad); 54 | } 55 | } 56 | 57 | int main(int argc, char** argv) 58 | { 59 | ros::init(argc, argv, "currentXY"); 60 | ros::NodeHandle nh; 61 | Rate loop_rate(10); 62 | 63 | ros::Subscriber global_position_sub = nh.subscribe("/mavros/global_position/global",10,global_position_callback); 64 | 65 | //ros::Subscriber global_position_sub = nh.subscribe("navsatfix",10,global_position_callback); 66 | // for dummy node 67 | 68 | ros::Publisher currentXY_pub = nh.advertise("currentXY",10); 69 | ros::Publisher referenceLong_pub = nh.advertise("referenceLong",10); 70 | ros::Publisher referenceLat_pub = nh.advertise("referenceLat",10); 71 | 72 | std_msgs::Float64 reference_lat_ra; 73 | reference_lat_ra.data = reference_lat_rad; 74 | referenceLat_pub.publish(reference_lat_ra); 75 | 76 | std_msgs::Float64 reference_long_ra; 77 | reference_long_ra.data = reference_long_rad; 78 | referenceLong_pub.publish(reference_long_ra); 79 | 80 | while (ros::ok()) 81 | { 82 | cout << current << endl; 83 | ros::Duration(2).sleep(); 84 | currentXY_pub.publish(current); 85 | spinOnce(); 86 | } 87 | 88 | } -------------------------------------------------------------------------------- /src/map/src/dummyCurrentXY.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | using namespace ros; 9 | using namespace std; 10 | 11 | geometry_msgs::Point dummy_current; 12 | 13 | void send_current() 14 | { 15 | double x = rand() % 8; 16 | double y = rand() % 8; 17 | dummy_current.x = x; 18 | dummy_current.y = y; 19 | cout << "sending : " << x << " " << y << endl; 20 | } 21 | 22 | int main(int argc, char** argv) 23 | { 24 | ros::init(argc, argv, "dummyXY"); 25 | ros::NodeHandle nh; 26 | Rate loop_rate(10); 27 | 28 | ros::Publisher dummyXY_pub = nh.advertise("dummyXY",10); 29 | ros::Publisher dummy_refLong_pub = nh.advertise("dummy_lat",10); 30 | ros::Publisher dummy_refLat_pub = nh.advertise("dummy_long",10); 31 | 32 | std_msgs::Float64 dummy_long; 33 | std_msgs::Float64 dummy_lat; 34 | 35 | dummy_long.data = 0; 36 | dummy_lat.data = 0; 37 | 38 | while(ros::ok()) 39 | { 40 | send_current(); 41 | dummy_refLat_pub.publish(dummy_lat); 42 | dummy_refLong_pub.publish(dummy_long); 43 | dummyXY_pub.publish(dummy_current); 44 | } 45 | 46 | } -------------------------------------------------------------------------------- /src/map/src/dummyNode.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | using namespace ros; 9 | using namespace std; 10 | 11 | sensor_msgs::NavSatFix msg; 12 | 13 | void create() 14 | { 15 | msg.latitude = rand() % 8; 16 | msg.longitude = rand() % 8; 17 | ros::Duration(2).sleep(); 18 | //cout << "sending msg" << endl; 19 | } 20 | 21 | int main(int argc, char** argv) 22 | { 23 | ros::init (argc, argv, "dummy"); 24 | ros::NodeHandle nh; 25 | ros::Rate loop_rate(10); 26 | 27 | ros::Publisher pub = nh.advertise("navsatfix",10); 28 | 29 | while (ros::ok()) 30 | { 31 | create(); 32 | cout << msg << endl; 33 | pub.publish(msg); 34 | } 35 | } -------------------------------------------------------------------------------- /src/map/src/obstacles.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | using namespace ros; 12 | using namespace std; 13 | 14 | visualization_msgs::Marker obstacles; 15 | double referenceLat; 16 | double referenceLong; 17 | 18 | 19 | void readObstacleFile() 20 | { 21 | std::ifstream infile("/home/sarthak/Desktop/Aurora/obstacles.txt"); 22 | cout << "opened obstacles" << endl; 23 | double x, y, r; 24 | double min_dis = 0; 25 | double x_min = 0; 26 | double y_min = 0; 27 | double r_min = 0; 28 | bool first = true; 29 | while (infile >> x >> y >> r) 30 | { 31 | if (first == true) 32 | { 33 | min_dis = distance(current_x, current_y, x, y); 34 | x_min = x; 35 | y_min = y; 36 | r_min = r; 37 | first = false; 38 | } 39 | else 40 | { 41 | double dist = distance(current_x, current_y, x, y); 42 | if (dist < min_dis) 43 | { 44 | min_dis = dist; 45 | x_min = x; 46 | y_min = y; 47 | r_min = r; 48 | } 49 | } 50 | } 51 | obstacles.header.frame_id = "/my_frame"; 52 | obstacles.header.stamp = ros::Time::now(); 53 | obstacles.ns = "rviz_plot"; 54 | obstacles.action = visualization_msgs::Marker::ADD; 55 | obstacles.id = 2; 56 | obstacles.type = visualization_msgs::Marker::CYLINDER; 57 | obstacles.pose.position.x = x_min; 58 | obstacles.pose.position.y = y_min; 59 | obstacles.pose.position.z = 0; 60 | obstacles.pose.orientation.x = 0; 61 | obstacles.pose.orientation.y = 0; 62 | obstacles.pose.orientation.z = 0; 63 | obstacles.pose.orientation.w = 1; 64 | obstacles.scale.x = 2*r_min; 65 | obstacles.scale.y = 2*r_min; 66 | obstacles.scale.z = 2; 67 | obstacles.color.r = 1; 68 | obstacles.color.a = 1; 69 | cout << "obstacles : \n" << x_min << " " << y_min << " "<< r_min << endl; 70 | } 71 | 72 | void referenceLong_callback(const std_msgs::Float64::ConstPtr& longref) 73 | { 74 | cout << "receiving reference Long" << endl; 75 | referenceLong = longref->data; 76 | } 77 | 78 | void referenceLat_callback(const std_msgs::Float64::ConstPtr& latref) 79 | { 80 | cout << "receiving reference Lat" << endl; 81 | referenceLat = latref->data; 82 | } 83 | 84 | int main (int argc, char** argv) 85 | { 86 | ros::init (argc, argv, "obstacles"); 87 | ros::NodeHandle nh; 88 | ros::Rate loop_rate(10); 89 | 90 | ros::Subscriber referenceLong_Sub = nh.subscribe("referenceLong",10,referenceLong_callback); 91 | ros::Subscriber referenceLat_Sub = nh.subscribe("referenceLat",10,referenceLat_callback); 92 | 93 | ros::Publisher obs_pub = nh.advertise("obstacles",10); 94 | 95 | while (ros::ok()) 96 | { 97 | readObstacleFile(); 98 | obs_pub.publish(obstacles); 99 | spinOnce(); 100 | } 101 | 102 | } -------------------------------------------------------------------------------- /src/map/src/waypoints.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | using namespace ros; 12 | using namespace std; 13 | 14 | visualization_msgs::Marker waypoints; 15 | double referenceLat; 16 | double referenceLong; 17 | double pi = 3.14; 18 | 19 | geometry_msgs::Point toXY(double longitude, double latitude) 20 | { 21 | double x = (longitude - referenceLong) * (40075000.0 / (2.0 * pi)) * cos(referenceLat); 22 | double y = (latitude - referenceLat) * (40007000.0 / (2.0 * pi)); 23 | geometry_msgs::Point p; 24 | p.x = x; 25 | p.y = y; 26 | return p; 27 | } 28 | 29 | void readWaypointsFile() 30 | { 31 | std::ifstream infile("/home/sarthak/Desktop/Aurora/waypoints.txt"); 32 | cout << "opened waypoints" << endl; 33 | double lati, longi; 34 | while (infile >> longi >> lati) 35 | { 36 | waypoints.header.frame_id = "/my_frame"; 37 | waypoints.header.stamp = ros::Time::now(); 38 | waypoints.ns = "rviz_plot"; 39 | waypoints.action = visualization_msgs::Marker::ADD; 40 | waypoints.pose.orientation.w = 1; 41 | waypoints.id = 1; 42 | waypoints.type = visualization_msgs::Marker::POINTS; 43 | waypoints.scale.x = 0.1; 44 | waypoints.scale.y = 0.1; 45 | waypoints.color.r = 1; 46 | waypoints.color.a = 1; 47 | geometry_msgs::Point wp; 48 | geometry_msgs::Point pt = toXY(longi, lati); 49 | wp.x = pt.x; 50 | wp.y = pt.y; 51 | waypoints.points.push_back(wp); 52 | cout << "waypoints : \n" << wp << endl; 53 | } 54 | } 55 | 56 | void referenceLong_callback(const std_msgs::Float64::ConstPtr& longref) 57 | { 58 | cout << "receiving reference Long" << endl; 59 | referenceLong = longref->data; 60 | } 61 | 62 | void referenceLat_callback(const std_msgs::Float64::ConstPtr& latref) 63 | { 64 | cout << "receiving reference Lat" << endl; 65 | referenceLat = latref->data; 66 | } 67 | 68 | int main (int argc, char** argv) 69 | { 70 | ros::init (argc, argv, "waypoints"); 71 | ros::NodeHandle nh; 72 | ros::Rate loop_rate(10); 73 | 74 | ros::Subscriber referenceLong_Sub = nh.subscribe("referenceLong",10,referenceLong_callback); 75 | ros::Subscriber referenceLat_Sub = nh.subscribe("referenceLat",10,referenceLat_callback); 76 | 77 | ros::Publisher wp_pub = nh.advertise("waypoints",10); 78 | readWaypointsFile(); 79 | 80 | while (ros::ok()) 81 | { 82 | wp_pub.publish(waypoints); 83 | spinOnce(); 84 | } 85 | 86 | } -------------------------------------------------------------------------------- /src/planner/src/getPath.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | using namespace ros; 10 | using namespace std; 11 | 12 | double pi = 3.14; 13 | 14 | vector waypoint_x; 15 | vector waypoint_y; 16 | vector waypoint_passed; 17 | 18 | static double referenceLat, referenceLong; 19 | 20 | static int index1 = 0; 21 | 22 | geometry_msgs::Point toXY(double longitude, double latitude) 23 | { 24 | double x = (longitude - referenceLong) * (40075000.0 / (2.0 * pi)) * cos(referenceLat); 25 | double y = (latitude - referenceLat) * (40007000.0 / (2.0 * pi)); 26 | geometry_msgs::Point p; 27 | p.x = x; 28 | p.y = y; 29 | return p; 30 | } 31 | 32 | void referenceLong_callback(const std_msgs::Float64::ConstPtr& longref) 33 | { 34 | referenceLong = longref->data; 35 | } 36 | 37 | void referenceLat_callback(const std_msgs::Float64::ConstPtr& latref) 38 | { 39 | referenceLat = latref->data; 40 | } 41 | 42 | double distance(double x1, double y1, double x2, double y2) 43 | { 44 | return sqrt( pow((x1 - x2), 2) + pow((y1 - y2), 2) ); 45 | } 46 | 47 | void readWaypointsFile() 48 | { 49 | std::ifstream infile("/home/sarthak/Desktop/Aurora/waypoints.txt"); 50 | double lati, longi; 51 | while (infile >> longi >> lati) 52 | { 53 | geometry_msgs::Point pt = toXY(longi,lati); 54 | double x = pt.x; 55 | double y = pt.y; 56 | waypoint_x.push_back(x); 57 | waypoint_y.push_back(y); 58 | } 59 | } 60 | 61 | void main_callback(const std_msgs::Int8::ConstPtr& bol) 62 | { 63 | if (bol->data == 0) 64 | { 65 | index1 = index1 + 1; 66 | } 67 | } 68 | 69 | int main(int argc, char** argv) 70 | { 71 | init(argc, argv, "getPath"); 72 | NodeHandle nh; 73 | Rate loop_rate(10); 74 | 75 | ros::Subscriber referenceLong_Sub = nh.subscribe("referenceLong",10,referenceLong_callback); 76 | ros::Subscriber referenceLat_Sub = nh.subscribe("referenceLat",10,referenceLat_callback); 77 | ros::Subscriber reached_sub = nh.subscribe("reached",10,main_callback); 78 | 79 | ros::Publisher current_waypoint_pub = nh.advertise("next_waypoint",10); 80 | 81 | readWaypointsFile(); 82 | 83 | while(ros::ok()) 84 | { 85 | int index = index1; 86 | double wpx = waypoint_x[index]; 87 | double wpy = waypoint_y[index]; 88 | geometry_msgs::Point wp_msg; 89 | wp_msg.x = wpx; 90 | wp_msg.y = wpy; 91 | current_waypoint_pub.publish(wp_msg); 92 | } 93 | } -------------------------------------------------------------------------------- /testing.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # This script can be used when we use the workspace for testing by connecting it to MAVROS 4 | 5 | roscore & 6 | roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@ & 7 | rosrun map currentXY & 8 | rosrun map markPoints & 9 | rviz & 10 | rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10 & 11 | rosrun map waypoints 12 | 13 | 14 | # will have to run command separately: 15 | 16 | # cd /home/sarthak/Desktop/ardupilot/ArduPlane 17 | # /home/sarthak/Desktop/ardupilot/Tools/autotest/sim_vehicle.py --console --map --aircraft test 18 | 19 | --------------------------------------------------------------------------------