Merge pull request #25 from SoftServeSAG/cleanup

Cleanup

.gitignore

@@ -17,7 +17,7 @@ build_isolated/
 devel_isolated/
 agitr/
 cr2_gazebo/
-explore_stack/worlds/p_worlds
+ast_stack/worlds/p_worlds
 
 # Generated by dynamic reconfigure
 *.cfgc

explore_lite_revised/CMakeLists.txt → ast_explore_lite/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(explore_lite_revised)
+project(ast_explore_lite)
 
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
@@ -48,18 +48,18 @@ include_directories(
   include
 )
 
-add_executable(explore_lite_revised
+add_executable(ast_explore_lite
   src/costmap_client.cpp
   src/explore.cpp
   src/frontier_search.cpp)
-add_dependencies(explore_lite_revised ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(explore_lite_revised ${catkin_LIBRARIES})
+add_dependencies(ast_explore_lite ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(ast_explore_lite ${catkin_LIBRARIES})
 
 #############
 ## Install ##
 #############
 # install nodes
-install(TARGETS explore_lite_revised
+install(TARGETS ast_explore_lite
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

ast_explore_lite/launch/explore.launch

@@ -0,0 +1,5 @@
+<launch>
+<node pkg="ast_explore_lite" type="ast_explore_lite" respawn="false" name="explore" output="screen">
+  <rosparam file="$(find ast_explore_lite)/param/ast_explore_lite.yaml" command="load" />
+</node>
+</launch>

ast_explore_lite/launch/explore_costmap.launch

@@ -0,0 +1,5 @@
+<launch>
+<node pkg="ast_explore_lite" type="ast_explore_lite" respawn="false" name="explore" output="screen">
+  <rosparam file="$(find ast_explore_lite)/param/ast_explore_lite.yaml" command="load" />
+</node>
+</launch>

explore_lite_revised/package.xml → ast_explore_lite/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>explore_lite_revised</name>
+  <name>ast_explore_lite</name>
   <version>2.1.1</version>
 
   <description>Lightweight frontier-based exploration.</description>

explore_lite_revised/src/explore.cpp → ast_explore_lite/src/explore.cpp

@@ -403,8 +403,6 @@ void initialize_variables(){
 }  // namespace explore
 
 
-
-
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "explore");

explore_lite_revised/src/frontier_search.cpp → ast_explore_lite/src/frontier_search.cpp

@@ -20,8 +20,7 @@ using costmap_2d::LETHAL_OBSTACLE;
 using costmap_2d::NO_INFORMATION;
 using costmap_2d::FREE_SPACE;
 
-
-inline double angular_vector_distance(const double x1,const double y1,const double x2,const double y2){
+inline double angular_vector_distance(const double x1, const double y1,const double x2,const double y2){
     return std::abs( atan2(y1, x1) - atan2(y2, x2) ) * 180.0 / M_PI;
 }
 inline double angular_vector_distance(const geometry_msgs::Point &v1,const  geometry_msgs::Point &v2) {

ast_move_base/CMakeLists.txt

@@ -0,0 +1,199 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ast_move_base)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msg
+  roscpp
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ast_move_base
+#  CATKIN_DEPENDS geometry_msg roscpp rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ast_move_base.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ast_move_base_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ast_move_base.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

explore_stack/launch/move_base.launch → ast_move_base/launch/move_base.launch

@@ -15,22 +15,22 @@
     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
 
     <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
-    <rosparam file="$(find explore_stack)/param/move_base.yaml" command="load" />
+    <rosparam file="$(find ast_move_base)/param/move_base.yaml" command="load" />
 
     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find ast_move_base)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find ast_move_base)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
 
     <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find explore_stack)/param/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find ast_move_base)/param/local_costmap_params.yaml" command="load" />
 
     <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find explore_stack)/param/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find ast_move_base)/param/global_costmap_params.yaml" command="load" />
 
 
     <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
-    <rosparam file="$(find explore_stack)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
+    <rosparam file="$(find ast_move_base)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
 
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>

ast_move_base/package.xml

@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ast_move_base</name>
+  <version>0.0.0</version>
+  <description>The ast_move_base package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">user</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ast_move_base</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msg</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>geometry_msg</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>geometry_msg</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>